ARToolKit feature comparison

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ARToolKit v2.x vs ARToolKit Professional v4.x feature comparison
ARToolKit v2.x ARToolKit v5.x (Desktop) ARToolKit v5.x (iOS) ARToolKit v5.x (Android)
Platform support Windows, Linux, OS X Windows XP SP 3-, Linux, OS X 10.5- iOS v4.3- Android 2.2-
 
64-bit support
x86-64 x x . .
PowerPC G5 x x . .
IA64 . . . .
ARM64 (ARM AArch64) . . x .
 
USB webcam input x x . .
DV video input x x . .
IIDC firewire video input x x . .
AVI file video streaming x x . .
QuickTime/MP4 video streaming from file . x x x
QuickTime/MP4 video streaming from network . x . .
Multiple video streams supported x x x .
Video input type able to be changed at runtime . x x .
Multiple video streams from different sources . x x .
 
RGB pixel format support x x x x
Grayscale pixel format . x x x
YUV pixel formats x x x x
Packed pixel formats . x x x
 
Kato's heuristic pose estimator x . . .
Pose estimate optimization using non-linear refinement . x x x
Robust pose estimator using M-estimation . x x x
Support for stereo pose estimation . x x x
Filtering of continuous pose estimates x (1) x x x
 
Pinhole lens model x x x x
Pinhole lens model with pixel aspect ratio . x x x
OpenCV lens models with scale factor supported . x x x
Rapid OpenCV-based camera calibration . x . x
Stereo video calibration . x . .
 
Automatic binarization threshold selection . x x x
Tracking from interlaced sources x x x x
Simultaneous tracking of multiple camera views x (1) x x x
Pictorial (template) markers x x x x
2D-barcode markers . x x x
Marker border width variable at runtime . x x x
Barcode marker error detection and correction . x x x
 
Rendering support
OpenGL x x . .
OpenGL ES . . x x
OpenGL ES 2.0 . . x x
OpenVRML x x . .
OpenSceneGraph x (2) x x x
DirectX . . . .
Unity 3D . x x x
 
Language bindings
C x x x x
C (OO)/C++ . x x x
Objective-C . x x .
Java x x (3) . x
C# . x (3)(4) . (4) . (4)
Flash AS3 . x (3) . .
Proce55ing . x (3) . .
MATLAB x . . .
SilverLight . x (3) . .
 
Licensing
Open source license, GPLv2 compatible x . . .
Commercial license possible . x x x
 
Notes
(1) Multiple tracking instances possible only when pose estimate filtering is disabled.
(2) Via osgART
(3) Via FLARToolKit/NyARToolKit/SLARToolKit
(4) Also supported via ARToolKit for Unity
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