this library adds good features to ARToolKit, have a look.
http://studierstube.org/handheld_ar/artoolkitplus.php
? Class-based API
? Low-level configuration via C++ Templates
? Variable border width for markers
? Support for 8-bit greyscale Images (useful for PDA)
? Support for 16-bit RGB565 Images (useful for PDA)
? Thomas Pintaric's pointer index optimization
? Lens un-distortion lookup-table
? Id-based markers
? Single-precision floating point support
? Support for special case when AR_PATT_SIZE_X and AR_PATT_SIZE_Y are same as
? Improved pattern detection for half-resolution mode
? Automatic threshold for lighting
? Installable custom memory de/allocator
? Radial luminance falloff compensation


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