ARToolKit 生成标记文件
内容纲要
ARToolKit 生成.dat与.hiro文件
一、相机校验 生成.dat文件
1、下载ARToolKit SDK
官网：artoolkit
2、打开命令提示符
键入：
./calib_camera
终端会输出：
Current working directory is '/Users/indeex'
CHESSBOARD_CORNER_NUM_X = 7
CHESSBOARD_CORNER_NUM_Y = 5
CHESSBOARD_PATTERN_WIDTH = 30.000000
CALIB_IMAGE_NUM = 10
Video parameter: -width=640 -height=480
Using supplied video config "-width=640 -height=480".
Video formatType is BGRA, size is 640x480.
Image size (x,y) = (640,480)
3、捕获校准图像
a、当相机可以清楚地看到所有中间角时，“X”标志变为红色，并且可以捕获校准图像
b、如果某些角落被相机框架的边缘遮挡，或者光线不足或反射不良，“X”将变绿
c、得到所有红色的’X’图像后，按键盘空格键
d、一旦所有的校准图像被捕获后，（默认是10个）按空格键，校准数据被列出，并且计算与相机设备相关联的数据。列表的校准数据将从命令行窗口中列出。此时，应用程序会提示输入文件名以将校准数据写入。
---------- 1/10 -----------
144.076370, 291.613403
144.456818, 252.336823
144.749252, 212.604477
145.076935, 172.563477
145.322845, 131.888062
176.117798, 291.802124
176.576157, 253.243393
177.129333, 214.239731
177.479813, 174.552658
178.071030, 134.636795
207.178284, 292.123047
207.633133, 254.058655
208.349854, 215.455887
209.010834, 176.445145
209.593765, 137.104828
237.140656, 292.605072
237.880585, 254.845963
238.714752, 216.903198
239.449921, 178.267014
240.394409, 139.394958
266.489899, 292.999084
267.367889, 255.726318
268.252960, 218.109665
269.356354, 179.871567
270.283875, 141.492859
295.249390, 293.412689
296.281433, 256.571411
297.401459, 219.327545
298.428589, 181.590149
299.542358, 143.624557
323.362274, 293.692261
324.510162, 257.355408
325.676300, 220.461243
326.922394, 183.278748
328.191101, 145.824615
---------- 1/10 -----------
---------- 2/10 -----------
148.050690, 293.106384
148.414490, 253.998062
148.774414, 214.468643
149.182388, 174.529022
149.467361, 134.103973
179.731491, 293.450256
180.367905, 254.884293
181.045914, 216.114410
181.443024, 176.569839
182.089340, 136.724365
210.619583, 293.681030
211.286148, 255.776764
212.024734, 217.376785
212.694183, 178.501968
213.473358, 139.250153
240.466492, 294.313446
241.377625, 256.627411
242.251205, 218.769958
243.143188, 180.262177
244.110855, 141.500137
269.722961, 294.706543
270.634094, 257.539307
271.625610, 219.951859
272.701599, 181.906219
273.792236, 143.649017
298.386902, 295.147797
299.474823, 258.397278
300.615479, 221.248398
301.765320, 183.569580
303.005432, 145.761093
326.351868, 295.436584
327.585724, 259.213715
328.827087, 222.433777
330.226166, 185.355087
331.472870, 148.060959
---------- 2/10 -----------
---------- 3/10 -----------
147.498947, 293.119263
147.883179, 254.019272
148.415573, 214.486771
148.684967, 174.593918
149.091690, 134.227646
179.455032, 293.466339
180.003616, 254.865768
180.576416, 216.057159
181.121155, 176.579559
181.654922, 136.787933
210.369919, 293.653381
210.938843, 255.717880
211.682419, 217.324966
212.478592, 178.483063
213.229279, 139.289459
240.310745, 294.277191
241.166946, 256.605560
241.967392, 218.694977
242.799835, 180.276917
243.800751, 141.530243
269.590637, 294.632385
270.537109, 257.496490
271.493378, 219.894333
272.571198, 181.887146
273.624817, 143.653000
298.324127, 295.077576
299.415924, 258.383240
300.550629, 221.200409
301.643951, 183.544464
302.827118, 145.762772
326.410156, 295.375397
327.580933, 259.050964
328.829865, 222.317810
330.214905, 185.311523
331.428741, 148.052521
---------- 3/10 -----------
---------- 4/10 -----------
147.404877, 292.467773
147.736572, 253.368301
148.236679, 213.789017
148.441345, 173.935043
148.671219, 133.478012
179.276840, 292.780884
179.672180, 254.264832
180.290619, 215.400833
180.687347, 175.953705
181.322006, 136.193863
210.126740, 292.999237
210.621307, 255.120209
211.358810, 216.615921
212.091476, 177.769547
212.661774, 138.536850
239.899918, 293.527222
240.645935, 255.876511
241.574982, 218.052917
242.362076, 179.542572
243.325027, 140.811127
269.256470, 293.898315
270.123260, 256.769836
270.922729, 219.241013
272.155121, 181.226852
273.086029, 142.884735
297.736908, 294.322235
298.860382, 257.531799
299.983643, 220.436447
301.072510, 182.765381
302.269379, 145.114380
325.769409, 294.554260
326.972412, 258.306488
328.251434, 221.544556
329.473083, 184.465958
330.658691, 147.230652
---------- 4/10 -----------
---------- 5/10 -----------
149.260559, 295.517792
149.680573, 256.267395
150.159592, 216.470856
150.498886, 176.421814
150.727448, 135.735687
181.272278, 295.736420
181.683975, 257.108704
182.386627, 218.051971
182.861603, 178.471375
183.461609, 138.514038
212.284485, 296.009369
212.822861, 258.031555
213.537674, 219.377121
214.314728, 180.381744
215.019836, 140.910797
242.207825, 296.674042
243.067505, 258.802368
243.884872, 220.825027
244.728394, 182.168182
245.730469, 143.229156
271.527985, 297.018860
272.501251, 259.732147
273.467896, 222.035095
274.538910, 183.766388
275.613922, 145.410767
300.264648, 297.455322
301.423309, 260.590332
302.556732, 223.312790
303.720428, 185.528992
304.992432, 147.563705
328.376648, 297.749695
329.621216, 261.395416
330.898895, 224.442474
332.314117, 187.303024
333.519836, 149.811874
---------- 5/10 -----------
---------- 6/10 -----------
149.159988, 295.321747
149.585617, 256.158905
149.873108, 216.471313
150.297806, 176.431381
150.500092, 135.795685
181.170990, 295.593689
181.581512, 256.900909
182.204208, 218.002502
182.594162, 178.483704
183.248322, 138.538803
212.116318, 295.739594
212.607574, 257.781738
213.316269, 219.311081
214.063004, 180.340515
214.635437, 140.891129
242.012604, 296.343536
242.717697, 258.618134
243.624008, 220.643448
244.452728, 182.115707
245.478226, 143.183472
271.336731, 296.648834
272.284363, 259.488495
273.227905, 221.772537
274.285828, 183.703171
275.324341, 145.379120
299.914551, 297.004242
301.153778, 260.285858
302.248138, 223.029572
303.402344, 185.380173
304.638855, 147.489197
328.039948, 297.293610
329.331451, 260.970245
330.543579, 224.221283
331.841553, 186.968338
333.194031, 149.637436
---------- 6/10 -----------
---------- 7/10 -----------
150.563599, 298.052155
150.982834, 258.731842
151.315750, 219.051651
151.510208, 178.917633
151.699280, 138.236862
182.510666, 298.137787
183.089264, 259.407410
183.537567, 220.420563
184.025070, 180.752304
184.497925, 140.661209
213.457581, 298.230042
214.076172, 260.262238
214.658585, 221.530624
215.416733, 182.540192
216.194412, 143.064957
243.388336, 298.569550
244.225113, 260.911835
245.033157, 222.834137
245.904953, 184.209778
246.816574, 145.269211
272.611053, 298.754944
273.557190, 261.675568
274.515076, 223.979874
275.591614, 185.767700
276.716125, 147.364685
301.205139, 299.086914
302.349670, 262.412720
303.540985, 225.154495
304.681335, 187.460251
305.999176, 149.443176
329.153198, 299.163391
330.443207, 262.926086
331.737701, 226.206818
333.157684, 189.025238
334.412323, 151.548965
---------- 7/10 -----------
---------- 8/10 -----------
151.386826, 294.299194
151.580322, 255.392044
151.692703, 215.862106
151.815140, 176.035858
151.970261, 135.604233
183.088547, 294.289612
183.438126, 255.778519
183.712326, 217.134323
184.126663, 177.725403
184.421524, 137.993500
213.723038, 294.178436
214.250641, 256.458130
214.669434, 218.062439
215.307709, 179.388107
215.763123, 140.171814
243.389938, 294.361206
244.057465, 256.937225
244.671021, 219.130997
245.450760, 180.824646
246.303833, 142.256790
272.431610, 294.434021
273.238525, 257.566101
274.031647, 220.124283
274.956787, 182.347549
275.875671, 144.089508
300.624603, 294.461456
301.686798, 258.043091
302.702820, 221.104492
303.708984, 183.713104
304.807953, 146.010620
328.426270, 294.446381
329.536926, 258.488098
330.676819, 222.027298
331.833008, 185.222794
333.037354, 148.000397
---------- 8/10 -----------
---------- 9/10 -----------
151.999924, 294.519348
152.191147, 255.657196
152.285187, 216.259827
152.410339, 176.424194
152.390259, 135.935760
183.549072, 294.504761
183.914734, 256.102875
184.299225, 217.403717
184.540085, 178.166611
184.903809, 138.382050
214.302765, 294.406921
214.661896, 256.676575
215.257401, 218.326523
215.712219, 179.654877
216.278931, 140.450974
243.845139, 294.565460
244.525909, 257.249298
245.275208, 219.468231
245.955780, 181.214432
246.703430, 142.514359
272.943512, 294.647400
273.661194, 257.793854
274.527283, 220.410416
275.469116, 182.571045
276.409088, 144.383026
301.287018, 294.691528
302.285461, 258.353577
303.300293, 221.358780
304.279999, 184.043228
305.413788, 146.322037
328.908569, 294.644348
330.155701, 258.706512
331.308502, 222.317932
332.426880, 185.446381
333.531494, 148.306839
---------- 9/10 -----------
---------- 10/10 -----------
149.210327, 289.635864
149.338776, 251.056442
149.413773, 211.706299
149.385117, 172.212769
149.482101, 131.905930
180.753555, 289.658966
181.040939, 251.403183
181.329803, 212.928970
181.523880, 173.800201
181.844574, 134.361816
211.363098, 289.444244
211.677399, 251.987045
212.160568, 213.758392
212.561478, 175.360641
213.098114, 136.343353
240.770401, 289.538788
241.449463, 252.404922
242.134201, 214.841476
242.645782, 176.692551
243.456573, 138.395477
269.777252, 289.543457
270.472992, 252.844559
271.232819, 215.638458
272.097961, 178.133057
272.891510, 140.173141
298.108704, 289.566620
298.939056, 253.301559
299.839081, 216.539093
300.722076, 179.471649
301.731506, 141.940186
325.625427, 289.484955
326.654572, 253.645508
327.735352, 217.354614
328.799744, 180.691162
329.765839, 143.824707
---------- 10/10 -----------
--------------------------------------
SIZE = 640, 480
Distortion factor: k1=-0.1139601320, k2=0.4718702137, p1=-0.0025231263, p2=0.0003442638
fx=528.066284, fy=687.449524, x0=353.831116, y0=237.499893, s=0.937337
563.36860 0.00000 353.83112 0.00000
0.00000 733.40694 237.49989 0.00000
0.00000 0.00000 1.00000 0.00000
--------------------------------------
Err[ 1]: 0.076778[pixel]
Err[ 2]: 0.080084[pixel]
Err[ 3]: 0.119460[pixel]
Err[ 4]: 0.078608[pixel]
Err[ 5]: 0.083900[pixel]
Err[ 6]: 0.084490[pixel]
Err[ 7]: 0.082097[pixel]
Err[ 8]: 0.081740[pixel]
Err[ 9]: 0.074089[pixel]
Err[10]: 0.090010[pixel]
Filename[camera_para.dat]:
e 、保存数据：
如果校准数据良好，每个图像中的估计误差应该非常低：小于1像素。大于2像素表示校准差，应放弃并重新开始。
此时，按键盘上的返回键或Enter键将数据保存在名为“camera_para.dat”文件。
f、其他选项：
Options:
--pattRatio f: Specify the proportion of the marker width/height, occupied
by the marker pattern. Range (0.0 - 1.0) (not inclusive).
(I.e. 1.0 - 2*borderSize). Default value is 0.5.
--borderSize f: DEPRECATED specify the width of the pattern border, as a
percentage of the marker width. Range (0.0 - 0.5) (not inclusive).
(I.e. (1.0 - pattRatio)/2). Default value is 0.25.
-border=f: Alternate syntax for --borderSize f.
--cpara <\camera parameter file for the camera>
-cpara=<\camera parameter file for the camera>
--vconf <\video parameter for the camera>
--pattSize n: Specify the number of rows and columns in the pattern space
for template (pictorial) markers.
Default value 16 (required for compatibility with ARToolKit prior
to version 5.2). Range is [16, 64] (inclusive).
-h -help --help: show this message
二、生成识别图片
打开网页：marker
a、上传你的图片
b、获取生成的标记图像
c、下载包含图像元素的代码（此步骤用于其他，可忽略）
三、训练标记图片 生成hiro文件
a、键入./mk_patt命令打开相机
b、将相机直接对准你的标记
尽量让标记在屏幕上显示成矩形，并填满相机的视图。如果已经识别出标记，会有红色和绿色的线标出你的标记。
c、生成文件
让红色标记在你屏幕的左上角开始对其铺面屏幕，然后按鼠标左键（对于左撇子，你可能需要配置你的鼠标右键为你的主键）。接着捕获图像，并且，你会在终端窗口中会看到提示：
Enter filename:
键入你的文件位置和文件名保存到本地。
e、在训练标记（例如标记边框的大小）时，你可以自定义选项。使用–help选项得到帮助。
配置选项：./mk_patt (options)
(not inclusive).
-border=f: specify the width of the pattern border, as a percentage
of the marker width. Range (0.0 - 0.5) (not inclusive).
--cpara <\camera parameter file for the camera>
-cpara=<\camera parameter file for the camera>
--vconf <\video parameter for the camera>
-h -help --help: show this message
所有文件都已生成好。
Have Enjoy. ️️️️:-)