jsartoolkit5

ARToolKit.js

Emscripten port of ARToolKit to JavaScript.

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NOTE:

When writing JavaScript and making changes be aware that the emscripten uglifier does not support the ES6 syntax.

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Project Structure

• build/ (compiled debug and minified versions of ARToolKit.js)
• doc/ (documentation, coming…)
• emscripten/ (source code for ARToolKit.js)
• examples/ (demos and examples using ARToolKit.js)
• js/ (compiled versions of ARToolKit.js with Three.js helper api)
• tools/ (build scripts for building ARToolKit.js)

WebAssembly

JSARToolKit5 supports WebAssembly. The libary builds two WebAssembly artifacts during the build process. These are build/artoolkit_wasm.js and build/artoolkit_wasm.wasm. To use those, include the artoolkit_wasm.js into your html page and define var artoolkit_wasm_url = '<<PATH TO>>/artoolkit_wasm.wasm'; before loading the artoolkit_wasm.js file, like this:

<script type='text/javascript'>
      var artoolkit_wasm_url = '../build/artoolkit_wasm.wasm';
</script>
<script src="../build/artoolkit_wasm.js"></script>

As loading the WebAssembly artifact is done asynchronously, there is a callback that is called when everything is ready.

window.addEventListener('artoolkit-loaded', () => {
    //do artoolkit stuff here
});

See examples/simple_image_wasm.html for details.

Clone the repository

1. Clone this repository
2. Clone ARToolKit5 project to get the latest source files. From within jsartoolkit5 directory do git submodule update --init. If you already cloned ARToolKit5 to a different directory you can:
   • create a link in the jsartoolkit5/emscripten/ directory that points to ARToolKit5 (jsartoolkit5/emscripten/artoolkit5) (Linux and macOS only)
   • or, set the ARTOOLKIT5_ROOT environment variable to point to your ARToolKit5 clone
   • or, change the tools/makem.js file to point to your artoolkit5 clone (line 62, 83, 107, 140)

Build the project

Recommended: Build using Docker

1. Install Docker (if you havn’t already): get Docker
2. Clone artoolkit5 repository on your machine: git submodule update --init
3. npm install
4. From inside jsartoolkit5 directory run docker run -dit --name emscripten -v $(pwd):/src trzeci/emscripten-slim:latest bash to download and start the container, in preparation for the build
5. docker exec emscripten npm run build-local to build JS version of artoolkit5
6. docker stop emscripten to stop the container after the build, if needed
7. docker rm emscripten to remove the container
8. docker rmi trzeci/emscripten-slim:latest to remove the Docker image, if you don’t need it anymore
9. The build artifacts will appear in /build. There’s a build with debug symbols in artoolkit.debug.js file and the optimized build with bundled JS API in artoolkit.min.js; also, a WebAssembly build artoolkit_wasm.js and artoolkit_wasm.wasm

⚠️ Not recommended ⚠️ : Build local with manual emscripten setup

To prevent issues with Emscripten setup and to not have to maintain several build environments (macOS, Windows, Linux) we only maintain the Build using Docker. Following are the instructions of the last know build on Linux which we verified are working. Use at own risk. ** Not working on macOS!**

1. Install build tools
2. Install node.js (https://nodejs.org/en/)
3. Install python2 (https://www.python.org/downloads/)
4. Install emscripten (https://emscripten.org/docs/getting_started/downloads.html#download-and-install) We used emscripten version 1.38.44-fastcomp

jsartoolkit5 aim is to create a Javascript version of artoolkit5. First, you need the artoolkit5 repository on your machine:

1. Clone ARToolKit5 project to get the latest source files. From within jsartoolkit5 directory do git submodule update --init. If you already cloned ARToolKit5 to a different directory you can:
   • create a link in the jsartoolkit5/emscripten/ directory that points to ARToolKit5 (jsartoolkit5/emscripten/artoolkit5)
   • or, set the ARTOOLKIT5_ROOT environment variable to point to your ARToolKit5 clone
   • or, change the tools/makem.js file to point to your artoolkit5 clone (line 62, 83, 107, 140)
2. Building
3. Make sure EMSCRIPTEN env variable is set (e.g. EMSCRIPTEN=/usr/lib/emsdk_portable/emscripten/master/ node tools/makem.js
4. Run npm install
5. Run npm run build-local

During development, you can run npm run watch, it will rebuild the library everytime you change ./js/ directory.

1. The built ASM.js files are in /build. There’s a build with debug symbols in artoolkit.debug.js and the optimized build with bundled JS API in artoolkit.min.js.

ARToolKit JS API

<script async src="build/artoolkit.min.js">
// include optimized ASM.js build and JS API
</script>

ARToolKit JS debug build

<script src="build/artoolkit.debug.js">
// - include debug build
</script>
<script src="js/artoolkit.api.js">
// - include JS API
</script>

ARToolKit Three.js helper API

<script async src="build/artoolkit.min.js">
// - include optimized ASM.js build and JS API
</script>
<script async src="three.min.js">
// - include Three.js
</script>
<script async src="js/artoolkit.three.js">
// - include Three.js helper API
</script>
<script>
window.ARThreeOnLoad = function () {
console.log("Three.js helper API loaded");
};
if (window.ARController && window.ARController.getUserMediaThreeScene) {
ARThreeOnLoad();
}
</script>

Examples

See examples/ for examples on using the raw API and the Three.js helper API.

The basic operation goes like this:

1. Load a ARCameraParam object
2. Create a ARController object
3. Set pattern detection mode
4. Load pattern markers or multimarkers if needed
5. Add a 'getMarker' event listener
6. Call ARController.process(img)

<script src="build/artoolkit.min.js"></script>
<script>
  var param = new ARCameraParam();

  param.onload = function () {
    var img = document.getElementById('my-image');
    var ar = new ARController(img.width, img.height, param);

    // Set pattern detection mode to detect both pattern markers and barcode markers.
    // This is more error-prone than detecting only pattern markers (default) or only barcode markers.
    //
    // For barcode markers, use artoolkit.AR_MATRIX_CODE_DETECTION
    // For pattern markers, use artoolkit.AR_TEMPLATE_MATCHING_COLOR
    //
    ar.setPatternDetectionMode(artoolkit.AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX);

    ar.addEventListener('markerNum', function (ev) {
      console.log('got markers', markerNum);
    });
    ar.addEventListener('getMarker', function (ev) {
      console.log('found marker?', ev);
    });
    ar.loadMarker('Data/patt.hiro', function (marker) {
      console.log('loaded marker', marker);
      ar.process(img);
    });
};

  param.src = 'Data/camera_para.dat';
</script>

Public

the calls your JS apps needs

• artoolkit.init(path, camera_param_path) - load path for artoolkit emscripten files
• artoolkit.onReady(callback) - runs callback when artoolkit has completely downloaded, initalized and ready to run
• artoolkit.setup(width, height); - initalize a buffer size for a canvas of width & height
• artoolkit.process(canvas); - extracts a frame from a canvas and process it
• artoolkit.debugSetup() - enables debugging, adds a threshold image to the dom
• artoolkit.getDetectedMarkers() - returns an array of detected markers from last detection process
• artoolkit.getCameraMatrix() - returns the projection matrix computed from camera parameters
• artoolkit.getTransformationMatrix() - returns the 16-element WebGL transformation matrix

Internals

calls called from emscripten runtime -> artoolkit.js

• artoolkit.onFrameMalloc(object) - gets called when frame buffer gets allocated for canvas
• artoolkit.onMarkerNum(number) - gets called with the numbers of markers detected
• artoolkit.onGetMarker(object, index) - gets called with the marker struct for the positioned marker

calls available from js -> emscripten

• _setup(width, height)
• _setThreshold(int) - 0 to 255
• _process()
• _setDebugMode(boolean)
• _addMarker(string)
• setThreshold
• setThresholdMode() eg. `Module.setThresholdMode(Module.AR_LABELING_THRESH_MODE_AUTO_MEDIAN / AR_LABELING_THRESH_MODE_AUTO_OTSU );
• setLabelingMode
• setPatternDetectionMode
• setMatrixCodeType() : Eg. Module.setMatrixCodeType(Module.AR_MATRIX_CODE_3x3);
• setImageProcMode
• setPattRatio

Examples

artoolkit.init('', 'camera_para.dat').onReady(function() {
artoolkit.setProjectionNearPlane(1);
artoolkit.setProjectionFarPlane(1000);
artoolkit.setPatternDetectionMode(artoolkit.CONSTANTS.AR_MATRIX_CODE_DETECTION);
artoolkit.setMatrixCodeType(artoolkit.CONSTANTS.AR_MATRIX_CODE_4x4);
})

artoolkit.init('', 'camera_para.dat').onReady(function() {
artoolkit.addMarker('../bin/Data/patt.hiro', function(marker) {
artoolkit.process(v);
})
})

Constants

prepend all these constants with Module. or artoolkit.CONSTANTS to access them

- AR_DEBUG_DISABLE
- AR_DEBUG_ENABLE
- AR_DEFAULT_DEBUG_MODE
- AR_LABELING_WHITE_REGION
- AR_LABELING_BLACK_REGION
- AR_DEFAULT_LABELING_MODE
- AR_DEFAULT_LABELING_THRESH
- AR_IMAGE_PROC_FRAME_IMAGE
- AR_IMAGE_PROC_FIELD_IMAGE
- AR_DEFAULT_IMAGE_PROC_MODE
- AR_TEMPLATE_MATCHING_COLOR
- AR_TEMPLATE_MATCHING_MONO
- AR_MATRIX_CODE_DETECTION
- AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX
- AR_TEMPLATE_MATCHING_MONO_AND_MATRIX
- AR_DEFAULT_PATTERN_DETECTION_MODE
- AR_USE_TRACKING_HISTORY
- AR_NOUSE_TRACKING_HISTORY
- AR_USE_TRACKING_HISTORY_V2
- AR_DEFAULT_MARKER_EXTRACTION_MODE
- AR_MAX_LOOP_COUNT
- AR_LOOP_BREAK_THRESH
- AR_MATRIX_CODE_3x3
- AR_MATRIX_CODE_3x3_HAMMING63 5
- AR_MATRIX_CODE_3x3_PARITY65 2
- AR_MATRIX_CODE_4x4
- AR_MATRIX_CODE_4x4_BCH_13_9_3 7
- AR_MATRIX_CODE_4x4_BCH_13_5_5 10
- AR_LABELING_THRESH_MODE_MANUAL
- AR_LABELING_THRESH_MODE_AUTO_MEDIAN
- AR_LABELING_THRESH_MODE_AUTO_OTSU
- AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE
- AR_MARKER_INFO_CUTOFF_PHASE_NONE
- AR_MARKER_INFO_CUTOFF_PHASE_PATTERN_EXTRACTION
- AR_MARKER_INFO_CUTOFF_PHASE_MATCH_GENERIC
- AR_MARKER_INFO_CUTOFF_PHASE_MATCH_CONTRAST
- AR_MARKER_INFO_CUTOFF_PHASE_MATCH_BARCODE_NOT_FOUND
- AR_MARKER_INFO_CUTOFF_PHASE_MATCH_BARCODE_EDC_FAIL
- AR_MARKER_INFO_CUTOFF_PHASE_MATCH_CONFIDENCE
- AR_MARKER_INFO_CUTOFF_PHASE_POSE_ERROR
- AR_MARKER_INFO_CUTOFF_PHASE_POSE_ERROR_MULTI
- AR_MARKER_INFO_CUTOFF_PHASE_HEURISTIC_TROUBLESOME_MATRIX_CODES

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