127 lines
3.1 KiB
Markdown
127 lines
3.1 KiB
Markdown
**js-aruco** is a port to JavaScript of the ArUco library.
|
|
|
|
[ArUco](http://www.uco.es/investiga/grupos/ava/node/26) is a minimal library for Augmented Reality applications based on OpenCv.
|
|
|
|
### Demos ###
|
|
|
|
100% JavaScript (see details bellow):
|
|
|
|
- [Webcam live demo!](https://jcmellado.github.io/js-aruco/getusermedia/getusermedia.html)
|
|
|
|
3D Pose Estimation:
|
|
|
|
- [3D Earth!](https://jcmellado.github.io/js-aruco/debug-posit/debug-posit.html)
|
|
|
|
Visual Debugging:
|
|
|
|
- [Debug session jam!](https://jcmellado.github.io/js-aruco/debug/debug.html)
|
|
|
|
Flash camera access (see details bellow):
|
|
|
|
- [Webcam live demo!](https://jcmellado.github.io/js-aruco/webcam/webcam.html)
|
|
|
|
### Videos ###
|
|
|
|
Webcam video adquisition:
|
|
|
|
[](http://www.youtube.com/watch?v=_wzPupbww4I)
|
|
|
|
3D Pose estimation:
|
|
|
|
[](http://www.youtube.com/watch?v=9WD4wR3_-JM)
|
|
|
|
Visual Debugging:
|
|
|
|
[](http://www.youtube.com/watch?v=xvTMRdgySUQ)
|
|
|
|
### Markers ###
|
|
|
|
A 7x7 grid with an external unused black border. Internal 5x5 cells contains id information.
|
|
|
|
Each row must follow any of the following patterns:
|
|
|
|
`white - black - black - black - black`
|
|
|
|
`white - black - white - white - white`
|
|
|
|
`black - white - black - black - white`
|
|
|
|
`black - white - white - white - black`
|
|
|
|
Example:
|
|
|
|
|
|
|
|
### Usage ###
|
|
Create an `AR.Detector` object:
|
|
|
|
```
|
|
var detector = new AR.Detector();
|
|
```
|
|
|
|
Call `detect` function:
|
|
|
|
```
|
|
var markers = detector.detect(imageData);
|
|
```
|
|
|
|
`markers` result will be an array of `AR.Marker` objects with detected markers.
|
|
|
|
`AR.Marker` objects have two properties:
|
|
|
|
* `id`: Marker id.
|
|
* `corners`: 2D marker corners.
|
|
|
|
`imageData` argument must be a valid `ImageData` canvas object.
|
|
|
|
```
|
|
var canvas = document.getElementById("canvas");
|
|
|
|
var context = canvas.getContext("2d");
|
|
|
|
var imageData = context.getImageData(0, 0, width, height);
|
|
```
|
|
|
|
### 3D Pose Estimation ###
|
|
Create an `POS.Posit` object:
|
|
|
|
```
|
|
var posit = new POS.Posit(modelSize, canvas.width);
|
|
```
|
|
|
|
`modelSize` argument must be the real marker size (millimeters).
|
|
|
|
Call `pose` function:
|
|
|
|
```
|
|
var pose = posit.pose(corners);
|
|
```
|
|
|
|
`corners` must be centered on canvas:
|
|
|
|
```
|
|
var corners = marker.corners;
|
|
|
|
for (var i = 0; i < corners.length; ++ i){
|
|
var corner = corners[i];
|
|
|
|
corner.x = corner.x - (canvas.width / 2);
|
|
corner.y = (canvas.height / 2) - corner.y;
|
|
}
|
|
```
|
|
|
|
`pose` result will be a `POS.Pose` object with two estimated pose (if any):
|
|
|
|
* `bestError`: Error of the best estimated pose.
|
|
* `bestRotation`: 3x3 rotation matrix of the best estimated pose.
|
|
* `bestTranslation`: Translation vector of the best estimated pose.
|
|
* `alternativeError`: Error of the alternative estimated pose.
|
|
* `alternativeRotation`: 3x3 rotation matrix of the alternative estimated pose.
|
|
* `alternativeTranslation`: Translation vector of the alternative estimated pose.
|
|
|
|
Note: POS namespace can be taken from posit1.js or posit2.js.
|
|
|
|
### Flash Demo (deprecated) ###
|
|
|
|
It uses [Flashcam](https://github.com/jcmellado/flashcam), a minimal Flash library to capture video.
|