Functions
int	_CRarCameraParam (mmachine m)
	_CRarCameraParam : This function create a new camera parameter

int	_CRarCameraParamIntrinsics (mmachine m)
	_CRarCameraParamIntrinsics : This function create a new camera parameter

int	_DSarCameraParam (mmachine m)
	_DSarCameraParam : This function destroy a camera parameter

int	_SETcameraSensorsQuat (mmachine m)
	_SETcameraSensorsQuat : This function set the camera orientation from sensors Prototype: fun [ObjArCameraParam [F F F F]] ObjArCameraParam

int	_GETarProjectionMatrix (mmachine m)
	_GETarProjectionMatrix : This function return the projection matrix from a camera parameter Prototype: fun [ObjArCameraParam I I] [[F F F F] [F F F F] [F F F F] [F F F F]]

int	_SETcameraOffset (mmachine m)
	_SETcameraOffset : This function set the camera offset for stereo cameras Prototype: fun [ObjArCameraParam [F F F]] ObjArCameraParam

int	_GETcameraOffset (mmachine m)
	_GETcameraOffset : This function get the camera offset for stereo cameras Prototype: fun [ObjArCameraParam] [F F F]

int	_DSblobDetector (mmachine m)
	_DSblobDetector : This function destroy a blob detector

int	_CRblobDetector (mmachine m)
	_CRblobDetector : This function create a new blob detector

int	_GETdetectedBlobs (mmachine m)
	_GETdetectedBlobs : This function list the current detected blobs

int	_GETblobDetectorSize (mmachine m)
	_GETblobDetectorSize : This function return the size of the picture used for detection

int	_AddcameraSensorsImu (mmachine m)
	_AddcameraSensorsImu : This function set the gyroscope and acceleration data from sensors for slam Prototype: fun [[F F F] [F F F] F] I

int	_DSarMarker (mmachine m)
	_DSarMarker : This function destroy a capture device

int	_CRarMarker (mmachine m)
	_CRarMarker : This function create a new marker with a aruco marker id

int	_CRarMarkerFromFile (mmachine m)
	_CRarMarkerFromFile : This function create a new marker from a data or picture file

int	_CRarMarkerFromFileEx (mmachine m)
	_CRarMarkerFromFileEx : This function create a new featured empty marker with advanced parameter

int	_CRarMarkerFromFileEx2 (mmachine m)
	_CRarMarkerFromFileEx2 : This function create a picture file and alert when the trainning is done;

int	_CRarMarkerFromFace (mmachine m)
	_CRarMarkerFromFace : This function create a new face detection marker

int	_UPDATEarMarkers (mmachine m)
	_UPDATEarMarkers : This function update the markers states Prototype: fun [ObjBitmap ObjArCameraParam I I] ObjBitmap

int	_UPDATEarMarkersBuff (mmachine m)
	_UPDATEarMarkersBuff : This function update the markers states from a pixel buffer Prototype: fun [ObjBuff I I I ObjArCameraParam I I] ObjBuff

int	_GETarMarkerBitmap (mmachine m)
	_GETarMarkerBitmap : This function return a marker bitmap Prototype: fun [Chn ObjArMarker I] ObjBitmap

int	_GETarMarkerPosition (mmachine m)
	_GETarMarkerPosition : This function return a marker position Prototype: fun [ObjArMarker] [F F F]

int	_GETarMarkerPixelPosition (mmachine m)
	_GETarMarkerPixelPosition : This function return a marker position Prototype: fun [ObjArMarker] [I I I]

int	_GETarMarkerOrientation (mmachine m)
	_GETarMarkerOrientation : This function return a marker orientation Prototype: fun [ObjArMarker] [F F F F]

int	_ISarMarkerVisible (mmachine m)
	_ISarMarkerVisible : This function return a marker visibility Prototype: fun [ObjArMarker] I

int	_GETarMarkerSize (mmachine m)
	_GETarMarkerSize: This function return a marker bitmap Prototype: fun [ObjArMarker] F

int	_SETarMarkerSize (mmachine m)
	_SETarMarkerSize: This function return a marker bitmap Prototype: fun [ObjArMarker F] I

int	_SETarMarkerFromPictureZone (mmachine m)
	_SETarMarkerFromPictureZone: This function make a featured marker to use the next input frame zone as marker Prototype: fun [ObjArMarker I I I I] I

int	_GETarMarkerWarpedBitmap (mmachine m)
	_GETarMarkerWarpedBitmap: This function get a featured marker picture warped from the detected marker Prototype: fun [ObjArMarker ObjBitmap] I

int	_SAVEarMarkerTrainnedData (mmachine m)
	_SAVEarMarkerTrainnedData: This function get a featured marker and save the trainned data into a data file Prototype: fun [ObjArMarker W] I

Detailed Description

Scol functions for Augmented Reality

Function Documentation

◆ _AddcameraSensorsImu()

int _AddcameraSensorsImu ( mmachine m )

_AddcameraSensorsImu : This function set the gyroscope and acceleration data from sensors for slam Prototype: fun [[F F F] [F F F] F] I

Parameters

[F	F F] : Gyro sensors
[F	F F] : Accelerometer sensors
F	: Delta time

Returns: return 0 on success or NIL otherwise

Definition at line 884 of file ArToolkit.cpp.

◆ _CRarCameraParam()

int _CRarCameraParam ( mmachine m )

_CRarCameraParam : This function create a new camera parameter

Prototype: fun [Chn I I F F P] ObjArCameraParam

Parameters

Chn	: Scol channel
I	: camera picture width
I	: camera picture height
F	: camera near clip
F	: camera far clip
P	: camera parameter definition file (openCV yaml)

Returns: ObjArCameraParam : new camera param object, NIL on error

Definition at line 83 of file ArToolkit.cpp.

◆ _CRarCameraParamIntrinsics()

int _CRarCameraParamIntrinsics ( mmachine m )

_CRarCameraParamIntrinsics : This function create a new camera parameter

Prototype: fun [Chn I I F F [F F] [F F]] ObjArCameraParam

Parameters

Chn	: Scol channel
I	: camera picture width
I	: camera picture height
F	: camera near clip
F	: camera far clip
[F	F] : focal lenth vector
[F	F] : center vector

Returns: ObjArCameraParam : new camera param object, NIL on error

Definition at line 158 of file ArToolkit.cpp.

◆ _CRarMarker()

int _CRarMarker ( mmachine m )

_CRarMarker : This function create a new marker with a aruco marker id

Prototype: fun [Chn I F] ObjArMarker

Parameters

Chn	: Scol channel
I	: Aruco marker Id (from 1 to 1022)
F	: Marker size in meter

Returns: ObjArMarker : new ArMarker object, NIL on error

Definition at line 1155 of file ArToolkit.cpp.

◆ _CRarMarkerFromFace()

int _CRarMarkerFromFace ( mmachine m )

_CRarMarkerFromFace : This function create a new face detection marker

Prototype: fun [Chn F] ObjArMarker

Parameters

Chn	: Scol channel
F	: Marker size in meter

Returns: ObjArMarker : new ArMarker object, NIL on error

Definition at line 1385 of file ArToolkit.cpp.

◆ _CRarMarkerFromFile()

int _CRarMarkerFromFile ( mmachine m )

_CRarMarkerFromFile : This function create a new marker from a data or picture file

Prototype: fun [Chn P F] ObjArMarker

Parameters

Chn	: Scol channel
P	: picture file
F	: Marker size in meter

Returns: ObjArMarker : new ArMarker object, NIL on error

Definition at line 1211 of file ArToolkit.cpp.

◆ _CRarMarkerFromFileEx()

int _CRarMarkerFromFileEx ( mmachine m )

_CRarMarkerFromFileEx : This function create a new featured empty marker with advanced parameter

Prototype: fun [Chn P F I] ObjArMarker

Parameters

Chn	: Scol channel
P	: picture file, nil for empty marker
F	: Marker size in meter
I	: Maximum number of detected features

Returns: ObjArMarker : new ArMarker object, NIL on error

Definition at line 1268 of file ArToolkit.cpp.

◆ _CRarMarkerFromFileEx2()

int _CRarMarkerFromFileEx2 ( mmachine m )

_CRarMarkerFromFileEx2 : This function create a picture file and alert when the trainning is done;

Prototype: fun [Chn P F I fun [ObjArMarker u0 I] u1 u0] ObjArMarker

Parameters

Chn	: Scol channel
P	: picture file
F	: Marker size in meter
I	: Maximum number of detected features
fun	[ObjArMarker u0 I] u1: callback on marker trainned, I parameter return 1 on success, 0 on fail
u0	: user param for callback

Returns: ObjArMarker : new ArMarker object, NIL on error

Definition at line 1321 of file ArToolkit.cpp.

◆ _CRblobDetector()

int _CRblobDetector ( mmachine m )

_CRblobDetector : This function create a new blob detector

Prototype: fun [Chn I I [I I I] [I I I] [I F F] [I I] [I F F] [I F F]] ObjBlobDetector

Parameters

Chn	: Scol channel
I	: min distance
I	: min repeat
I	: threshold step
I	: min threshold
I	: max threshold
I	: filter by area (1 enable, 0 disable)
I	: min area
I	: max area
I	: filter by circularity (1 enable, 0 disable)
F	: min circularity
F	: max circularity
I	: filter by brightness (1 enable, 0 disable)
I	: brightness to detect (0 to 255)
I	: filter by convexity (1 enable, 0 disable)
F	: min convexity
F	: max convexity
I	: filter by inertia (1 enable, 0 disable)
F	: min inertia
F	: max inertia

Returns: ObjBlobDetector : new blob detector object, NIL on error

Definition at line 576 of file ArToolkit.cpp.

◆ _DSarCameraParam()

int _DSarCameraParam ( mmachine m )

_DSarCameraParam : This function destroy a camera parameter

Prototype: fun [ObjArCameraParam] I

Parameters

ObjArCameraParam : camera parameter to destroy

Returns: I : return 0 if success or NIL otherwise

Definition at line 247 of file ArToolkit.cpp.

◆ _DSarMarker()

int _DSarMarker ( mmachine m )

_DSarMarker : This function destroy a capture device

Prototype: fun [ObjArMarker] I

Parameters

ObjArMarker : ArMarker to destroy

Returns: I : return 0 if success or NIL otherwise

Definition at line 1122 of file ArToolkit.cpp.

◆ _DSblobDetector()

int _DSblobDetector ( mmachine m )

_DSblobDetector : This function destroy a blob detector

Prototype: fun [ObjBlobDetector] I

Parameters

ObjBlobDetector : BlobDetector to destroy

Returns: I : return 0 if success or NIL otherwise

Definition at line 526 of file ArToolkit.cpp.

◆ _GETarMarkerBitmap()

int _GETarMarkerBitmap ( mmachine m )

_GETarMarkerBitmap : This function return a marker bitmap Prototype: fun [Chn ObjArMarker I] ObjBitmap

Parameters

Chn	: scol channel
ObjArMarker	: Marker which give the bitmap
I	: Size of the returned bitmap

Returns: ObjBitmap : bitmap of a marker

Definition at line 1560 of file ArToolkit.cpp.

◆ _GETarMarkerOrientation()

int _GETarMarkerOrientation ( mmachine m )

_GETarMarkerOrientation : This function return a marker orientation Prototype: fun [ObjArMarker] [F F F F]

Parameters

ObjArMarker : Marker which takes orientation

Returns: [F F F F] : Orientation BtQuaternion

Definition at line 1752 of file ArToolkit.cpp.

◆ _GETarMarkerPixelPosition()

int _GETarMarkerPixelPosition ( mmachine m )

_GETarMarkerPixelPosition : This function return a marker position Prototype: fun [ObjArMarker] [I I I]

Parameters

ObjArMarker : Marker which takes position

Returns: [I I I] : X, Y position and marker size in pixel if success, NIL otherwise

Definition at line 1705 of file ArToolkit.cpp.

◆ _GETarMarkerPosition()

int _GETarMarkerPosition ( mmachine m )

_GETarMarkerPosition : This function return a marker position Prototype: fun [ObjArMarker] [F F F]

Parameters

ObjArMarker : Marker which takes position

Returns: [F F F] : Position if success, NIL otherwise

Definition at line 1658 of file ArToolkit.cpp.

◆ _GETarMarkerSize()

int _GETarMarkerSize ( mmachine m )

_GETarMarkerSize: This function return a marker bitmap Prototype: fun [ObjArMarker] F

Parameters

ObjArMarker : Marker

Returns: F : Size of a marker in meter if success or NIL otherwise

Definition at line 1837 of file ArToolkit.cpp.

◆ _GETarMarkerWarpedBitmap()

int _GETarMarkerWarpedBitmap ( mmachine m )

_GETarMarkerWarpedBitmap: This function get a featured marker picture warped from the detected marker Prototype: fun [ObjArMarker ObjBitmap] I

Parameters

ObjArMarker	: Marker
ObjBitmap	: bitmap buffer

Returns: I : 0 if success or NIL otherwise

Definition at line 1984 of file ArToolkit.cpp.

◆ _GETarProjectionMatrix()

int _GETarProjectionMatrix ( mmachine m )

_GETarProjectionMatrix : This function return the projection matrix from a camera parameter Prototype: fun [ObjArCameraParam I I] [[F F F F] [F F F F] [F F F F] [F F F F]]

Parameters

ObjArCameraParam	: camera parameter object
I	: screen width
I	: screen height

Returns: [[F F F F] [F F F F] [F F F F] [F F F F]] : Projection matrix

Definition at line 328 of file ArToolkit.cpp.

◆ _GETblobDetectorSize()

int _GETblobDetectorSize ( mmachine m )

_GETblobDetectorSize : This function return the size of the picture used for detection

Prototype: fun [ObjBlobDetector] [I I]

Parameters

ObjBlobDetector : blob detector

Returns: [I I] : picture size, NIL on error

Definition at line 831 of file ArToolkit.cpp.

◆ _GETcameraOffset()

int _GETcameraOffset ( mmachine m )

_GETcameraOffset : This function get the camera offset for stereo cameras Prototype: fun [ObjArCameraParam] [F F F]

Parameters

ObjArCameraParam : camera parameter object

Returns: [F F F] : camera offset on success or NIL otherwise

Definition at line 461 of file ArToolkit.cpp.

◆ _GETdetectedBlobs()

int _GETdetectedBlobs ( mmachine m )

_GETdetectedBlobs : This function list the current detected blobs

Prototype: fun [ObjBlobDetector] [[I I F] r1]

Parameters

ObjBlobDetector : blob detector

Returns: [[I I F] r1] : list of blobs with [X Y Size], NIL on error

Definition at line 767 of file ArToolkit.cpp.

◆ _ISarMarkerVisible()

int _ISarMarkerVisible ( mmachine m )

_ISarMarkerVisible : This function return a marker visibility Prototype: fun [ObjArMarker] I

Parameters

ObjArMarker : Marker visible or not

Returns: I : 1 if marker is visible, 0 or NIL otherwise

Definition at line 1800 of file ArToolkit.cpp.

◆ _SAVEarMarkerTrainnedData()

int _SAVEarMarkerTrainnedData ( mmachine m )

_SAVEarMarkerTrainnedData: This function get a featured marker and save the trainned data into a data file Prototype: fun [ObjArMarker W] I

Parameters

ObjArMarker	: Marker
W	: write file location

Returns: I : 0 if success or NIL otherwise

Definition at line 2062 of file ArToolkit.cpp.

◆ _SETarMarkerFromPictureZone()

int _SETarMarkerFromPictureZone ( mmachine m )

_SETarMarkerFromPictureZone: This function make a featured marker to use the next input frame zone as marker Prototype: fun [ObjArMarker I I I I] I

Parameters

ObjArMarker	: Marker
I	: X position in frame in pixel
I	: Y position in frame in pixel
I	: Width in pixel
I	: Height in pixel

Returns: I : 0 if success or NIL otherwise

Definition at line 1926 of file ArToolkit.cpp.

◆ _SETarMarkerSize()

int _SETarMarkerSize ( mmachine m )

_SETarMarkerSize: This function return a marker bitmap Prototype: fun [ObjArMarker F] I

Parameters

ObjArMarker	: Marker
F	: Size of the marker in meter

Returns: I : 0 if success or NIL otherwise

Definition at line 1875 of file ArToolkit.cpp.

◆ _SETcameraOffset()

int _SETcameraOffset ( mmachine m )

_SETcameraOffset : This function set the camera offset for stereo cameras Prototype: fun [ObjArCameraParam [F F F]] ObjArCameraParam

Parameters

ObjArCameraParam	: camera parameter object
[F	F F] : camera offset (usually IPD / 2 on X)

Returns: return same object on success or NIL otherwise

Definition at line 413 of file ArToolkit.cpp.

◆ _SETcameraSensorsQuat()

int _SETcameraSensorsQuat ( mmachine m )

_SETcameraSensorsQuat : This function set the camera orientation from sensors Prototype: fun [ObjArCameraParam [F F F F]] ObjArCameraParam

Parameters

ObjArCameraParam	: camera parameter object
[F	F F F] : sensors quaternion

Returns: return same object on success or NIL otherwise

Definition at line 278 of file ArToolkit.cpp.

◆ _UPDATEarMarkers()

int _UPDATEarMarkers ( mmachine m )

_UPDATEarMarkers : This function update the markers states Prototype: fun [ObjBitmap ObjArCameraParam I I] ObjBitmap

Parameters

ObjBitmap	: Bitmap to analyze
ObjArCameraParam	: camera parameter object
I	: 1 if bitmap is mirrored, 0 otherwise
I	: 1 if debug is activated, 0 otherwise

Returns: ObjBitmap : return same bitmap if success or NIL otherwise

Definition at line 1430 of file ArToolkit.cpp.

◆ _UPDATEarMarkersBuff()

int _UPDATEarMarkersBuff ( mmachine m )

_UPDATEarMarkersBuff : This function update the markers states from a pixel buffer Prototype: fun [ObjBuff I I I ObjArCameraParam I I] ObjBuff

Parameters

ObjBuff	: ObjBuff to analyze
I	: buffer pixel width
I	: buffer pixel height
I	: number of bits per pixel
ObjArCameraParam	: camera parameter object
I	: 1 if bitmap is mirrored, 0 otherwise
I	: 1 if debug is activated, 0 otherwise

Returns: ObjBitmap : return same buffer if success or NIL otherwise

Definition at line 1499 of file ArToolkit.cpp.

Functions

Detailed Description

Function Documentation

◆ _AddcameraSensorsImu()

◆ _CRarCameraParam()

◆ _CRarCameraParamIntrinsics()

◆ _CRarMarker()

◆ _CRarMarkerFromFace()

◆ _CRarMarkerFromFile()

◆ _CRarMarkerFromFileEx()

◆ _CRarMarkerFromFileEx2()

◆ _CRblobDetector()

◆ _DSarCameraParam()

◆ _DSarMarker()

◆ _DSblobDetector()

◆ _GETarMarkerBitmap()

◆ _GETarMarkerOrientation()

◆ _GETarMarkerPixelPosition()

◆ _GETarMarkerPosition()

◆ _GETarMarkerSize()

◆ _GETarMarkerWarpedBitmap()

◆ _GETarProjectionMatrix()

◆ _GETblobDetectorSize()

◆ _GETcameraOffset()

◆ _GETdetectedBlobs()

◆ _ISarMarkerVisible()

◆ _SAVEarMarkerTrainnedData()

◆ _SETarMarkerFromPictureZone()

◆ _SETarMarkerSize()

◆ _SETcameraOffset()

◆ _SETcameraSensorsQuat()

◆ _UPDATEarMarkers()

◆ _UPDATEarMarkersBuff()