This can then be copied to an image cast member or loaded into texture memory for viewing. If the thresholded image was generated (debugging is on), replace the current video image in the DART xtra with the thresholded image.If corner refinement is not used, blue dots show the corners used. If corner refinement is used, red and green dots show the crude and refined corners. If debugging is on, the thresholded image is computed when the marker tracker is run, and small red, blue and green dots are placed in the image.The parameter is a boolean, indicating if debugging of the marker tracker should be turned on or not.The correct values depend on many factors (lighting, the distance between markers, etc.).If the pixel moves by less than this distance, stop refining. the second paramter is iterations, the maximum number of iterations to refine the estimate.the first parameter is size, the radius in pixels of the window to look for the best corner in.Sets the ARtoolkit to refine the corners before using the OpenCV tracker.' videoMarkerCornerRefinement int, int, float '.Run marker tracking on the saved video frame.Copy the currently saved video frame to the provided texture.Return 0 if there was no video, and the timestamp if there was a video frame.Read the next frame from the camera, saving it in the xtra.Assumes that the first large texture it finds is the correct one. Find the texture to be used for background video.When lighting is good, the history will cause the tracker to be smoother and have less drop-outs. The lite tracker does not take history into account, and should be used when there is a lot of noice and false recognition (which would cause problems with the history mechanism). Says whether to use the 'lite' marker tracker (1) or not (0).The threshold is a number from 0 to 255, which defines the brightness of a pixel above which it should be considered white (pixel brightness below this value are considered black).

Set the threshold for the ARToolkit fiducial tracker.the panel number for this panel is returned.This panel is added to the list of known panels. the first parameter is the path to a single fiducial panel file to be loaded and used.returns the number of fiducial panels (-1 on error).The fourth parameter is a boolean, saying if OpenCV should be used (should always be 1).int panelId, int timestamp, poseMatrix.For each marker panel found, a message will be sent of the form.the third parameter is the lingo callback for marker poses.

the second parameter is the ARToolkit threshold value.

You can add additional panels using the loadPanel command below. This file contains a list of all panels to use.

the first parameter is the path to the fiducial panel definition file.

Initialize marker tracking on the video stream.

' videoMarkerTrackingInit string, int, string, int'.

All paths to marker pattern files and camera calibration files are relative to this directory.

Define where on your hard disk the data directory is.

This method is used to undistort the given x,y point using the current camera calibration file.

the return value is a list of the resulting un-distorted values.

the second paramter is the y value of the (x,y) location for which to perform the undistortion.

the first parameter is the x value of the (x,y) location for which to perform the undistortion.

This method is used to distort the given x,y point using the current camera calibration file.

get the depth (in bits) of the video stream.

get the height(in pixels) of the video stream.

get the width (in pixels) of the video stream.

The parameters are the width, height and depth of the images.

Not actually used during replay in DART, since we can replay without the xtra, but this is needed to support loading images into texture memory, or running the ARToolkit on them.Set the size of the video that will be fed in when replaying.The parameter is the camera configuration string.The first parameter is the path the camera calibration data file.initialize the video subsystem, but don't open the camera yet.Currently, only one camera can be open at a time. The commands that deal with cameras, video and marker tracking within video. Here are the current calls into the DART Xtra. DART Xtra interface docs DART Xtra interface docs

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