static int setupCamera(const char *cparam_name, char *vconf, ARParamLT **cparamLT_p)
{
ARParam cparam;
int xsize, ysize;
AR_PIXEL_FORMAT pixFormat;
// Open the video path.
if (arVideoOpen(vconf) < 0) {
ARLOGe("setupCamera(): Unable to open connection to camera.\n");
return (FALSE);
}
// Find the size of the window.
if (arVideoGetSize(&xsize, &ysize) < 0) {
ARLOGe("setupCamera(): Unable to determine camera frame size.\n");
arVideoClose();
return (FALSE);
}
ARLOGi("Camera image size (x,y) = (%d,%d)\n", xsize, ysize);
// Get the format in which the camera is returning pixels.
pixFormat = arVideoGetPixelFormat();
if (pixFormat == AR_PIXEL_FORMAT_INVALID) {
ARLOGe("setupCamera(): Camera is using unsupported pixel format.\n");
arVideoClose();
return (FALSE);
}
// Load the camera parameters, resize for the window and init.
if (arParamLoad(cparam_name, 1, &cparam) < 0) {
ARLOGe("setupCamera(): Error loading parameter file %s for camera.\n", cparam_name);
arVideoClose();
return (FALSE);
}
if (cparam.xsize != xsize || cparam.ysize != ysize) {
ARLOGw("*** Camera Parameter resized from %d, %d. ***\n", cparam.xsize, cparam.ysize);
arParamChangeSize(&cparam, xsize, ysize, &cparam);
}
#ifdef DEBUG
ARLOG("*** Camera Parameter ***\n");
arParamDisp(&cparam);
#endif
if ((*cparamLT_p = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET)) == NULL) {
ARLOGe("setupCamera(): Error: arParamLTCreate.\n");
arVideoClose();
return (FALSE);
}
return (TRUE);
}
static void printMode()
{
int len, thresh, line, mode, xsize, ysize;
AR_LABELING_THRESH_MODE threshMode;
ARdouble tempF;
char text[256], *text_p;
float hMargin = 2.0f;
float vMargin = 2.0f;
glColor4ub(255, 255, 255, 255);
line = 1;
// Image size and processing mode.
arVideoGetSize(&xsize, &ysize);
arGetImageProcMode(gARHandle, &mode);
if (mode == AR_IMAGE_PROC_FRAME_IMAGE) text_p = "full frame";
else text_p = "even field only";
snprintf(text, sizeof(text), "Processing %dx%d video frames %s", xsize, ysize, text_p);
print(text, hMargin, (line - 1)*(FONT_SIZE + FONT_LINE_SPACING) + vMargin, 0, 1);
line++;
// Threshold mode, and threshold, if applicable.
arGetLabelingThreshMode(gARHandle, &threshMode);
switch (threshMode) {
case AR_LABELING_THRESH_MODE_MANUAL: text_p = "MANUAL"; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: text_p = "AUTO_MEDIAN"; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: text_p = "AUTO_OTSU"; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: text_p = "AUTO_ADAPTIVE"; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING: text_p = "AUTO_BRACKETING"; break;
default: text_p = "UNKNOWN"; break;
}
snprintf(text, sizeof(text), "Threshold mode: %s", text_p);
if (threshMode != AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE) {
arGetLabelingThresh(gARHandle, &thresh);
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", thresh=%d", thresh);
}
print(text, hMargin, (line - 1)*(FONT_SIZE + FONT_LINE_SPACING) + vMargin, 0, 1);
line++;
// Border size, image processing mode, pattern detection mode.
arGetBorderSize(gARHandle, &tempF);
snprintf(text, sizeof(text), "Border: %0.1f%%", tempF*100.0);
arGetPatternDetectionMode(gARHandle, &mode);
switch (mode) {
case AR_TEMPLATE_MATCHING_COLOR: text_p = "Colour template (pattern)"; break;
case AR_TEMPLATE_MATCHING_MONO: text_p = "Mono template (pattern)"; break;
case AR_MATRIX_CODE_DETECTION: text_p = "Matrix (barcode)"; break;
case AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX: text_p = "Colour template + Matrix (2 pass, pattern + barcode)"; break;
case AR_TEMPLATE_MATCHING_MONO_AND_MATRIX: text_p = "Mono template + Matrix (2 pass, pattern + barcode "; break;
default: text_p = "UNKNOWN"; break;
}
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", Pattern detection mode: %s", text_p);
print(text, hMargin, (line - 1)*(FONT_SIZE + FONT_LINE_SPACING) + vMargin, 0, 1);
line++;
// Window size.
snprintf(text, sizeof(text), "Drawing into %dx%d window", gWindowW, gWindowH);
print(text, hMargin, (line - 1)*(FONT_SIZE + FONT_LINE_SPACING) + vMargin, 0, 1);
line++;
}
static void init(int argc, char *argv[])
{
ARParam cparam;
ARGViewport viewport;
ARPattHandle *arPattHandle;
char vconf[512];
AR_PIXEL_FORMAT pixFormat;
ARUint32 id0, id1;
int i;
if (argc == 1)
vconf[0] = '\0';
else
{
strcpy(vconf, argv[1]);
for (i = 2; i < argc; i++)
{
strcat(vconf, " "); strcat(vconf, argv[i]);
}
}
/* open the video path */
if (arVideoOpen(vconf) < 0)
exit(0);
if (arVideoGetSize(&xsize, &ysize) < 0)
exit(0);
ARLOG("Image size (x,y) = (%d,%d)\n", xsize, ysize);
if ((pixFormat = arVideoGetPixelFormat()) < 0)
exit(0);
if (arVideoGetId(&id0, &id1) == 0)
{
ARLOG("Camera ID = (%08x, %08x)\n", id1, id0);
sprintf(vconf, VPARA_NAME, id1, id0);
if (arVideoLoadParam(vconf) < 0)
{
ARLOGe("No camera setting data!!\n");
}
}
/* set the initial camera parameters */
if (arParamLoad(CPARA_NAME, 1, &cparam) < 0)
{
ARLOGe("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize(&cparam, xsize, ysize, &cparam);
ARLOG("*** Camera Parameter ***\n");
arParamDisp(&cparam);
if ((gCparamLT = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET)) == NULL)
{
ARLOGe("Error: arParamLTCreate.\n");
exit(-1);
}
if ((arHandle = arCreateHandle(gCparamLT)) == NULL)
{
ARLOGe("Error: arCreateHandle.\n");
exit(0);
}
if (arSetPixelFormat(arHandle, pixFormat) < 0)
{
ARLOGe("Error: arSetPixelFormat.\n");
exit(0);
}
if ((ar3DHandle = ar3DCreateHandle(&cparam)) == NULL)
{
ARLOGe("Error: ar3DCreateHandle.\n");
exit(0);
}
if ((arPattHandle = arPattCreateHandle()) == NULL)
{
ARLOGe("Error: arPattCreateHandle.\n");
exit(0);
}
if ((patt_id = arPattLoad(arPattHandle, PATT_NAME)) < 0)
{
ARLOGe("pattern load error !!\n");
exit(0);
}
arPattAttach(arHandle, arPattHandle);
/* open the graphics window */
w1 = argCreateWindow(xsize, ysize);
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = xsize;
viewport.ysize = ysize;
if ((vp1 = argCreateViewport(&viewport)) == NULL)
exit(0);
argViewportSetCparam(vp1, &cparam);
argViewportSetPixFormat(vp1, pixFormat);
argViewportSetDispMethod(vp1, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME);
argViewportSetDispMode(vp1, AR_GL_DISP_MODE_FIT_TO_VIEWPORT);
argViewportSetDistortionMode(vp1, AR_GL_DISTORTION_COMPENSATE_ENABLE);
w2 = argCreateWindow(xsize, ysize);
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = xsize;
viewport.ysize = ysize;
if ((vp2 = argCreateViewport(&viewport)) == NULL)
exit(0);
argViewportSetCparam(vp2, &cparam);
argViewportSetPixFormat(vp2, pixFormat);
argViewportSetDispMethod(vp2, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME);
argViewportSetDispMode(vp2, AR_GL_DISP_MODE_FIT_TO_VIEWPORT);
argViewportSetDistortionMode(vp2, AR_GL_DISTORTION_COMPENSATE_DISABLE);
return;
}
static void printMode()
{
int len, thresh, line, mode, xsize, ysize;
AR_LABELING_THRESH_MODE threshMode;
ARdouble tempF;
char text[256], *text_p;
glColor3ub(255, 255, 255);
line = 1;
// Image size and processing mode.
arVideoGetSize(&xsize, &ysize);
arGetImageProcMode(gARHandle, &mode);
if (mode == AR_IMAGE_PROC_FRAME_IMAGE) text_p = "full frame";
else text_p = "even field only";
snprintf(text, sizeof(text), "Processing %dx%d video frames %s", xsize, ysize, text_p);
print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1);
line++;
// Threshold mode, and threshold, if applicable.
arGetLabelingThreshMode(gARHandle, &threshMode);
switch (threshMode) {
case AR_LABELING_THRESH_MODE_MANUAL: text_p = "MANUAL"; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: text_p = "AUTO_MEDIAN"; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: text_p = "AUTO_OTSU"; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: text_p = "AUTO_ADAPTIVE"; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING: text_p = "AUTO_BRACKETING"; break;
default: text_p = "UNKNOWN"; break;
}
snprintf(text, sizeof(text), "Threshold mode: %s", text_p);
if (threshMode != AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE) {
arGetLabelingThresh(gARHandle, &thresh);
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", thresh=%d", thresh);
}
print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1);
line++;
// Border size, image processing mode, pattern detection mode.
arGetBorderSize(gARHandle, &tempF);
snprintf(text, sizeof(text), "Border: %0.1f%%", tempF*100.0);
arGetPatternDetectionMode(gARHandle, &mode);
switch (mode) {
case AR_TEMPLATE_MATCHING_COLOR: text_p = "Colour template (pattern)"; break;
case AR_TEMPLATE_MATCHING_MONO: text_p = "Mono template (pattern)"; break;
case AR_MATRIX_CODE_DETECTION: text_p = "Matrix (barcode)"; break;
case AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX: text_p = "Colour template + Matrix (2 pass, pattern + barcode)"; break;
case AR_TEMPLATE_MATCHING_MONO_AND_MATRIX: text_p = "Mono template + Matrix (2 pass, pattern + barcode "; break;
default: text_p = "UNKNOWN"; break;
}
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", Pattern detection mode: %s", text_p);
print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1);
line++;
// Draw mode.
if (arglDrawModeGet(gArglSettings) == AR_DRAW_BY_GL_DRAW_PIXELS) text_p = "GL_DRAW_PIXELS";
else {
if (arglTexmapModeGet(gArglSettings) == AR_DRAW_TEXTURE_FULL_IMAGE) text_p = "texture mapping";
else text_p = "texture mapping (even field only)";
}
snprintf(text, sizeof(text), "Drawing using %s into %dx%d window", text_p, windowWidth, windowHeight);
print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1);
line++;
}
static void init( int argc, char *argv[] )
{
char vconf[256];
ARGViewport viewport;
ARUint32 euid0, euid1;
double length;
int i, j;
// Allow user to choose file version for backwards compatibility.
ARLOG("A calibrated camera parameter file for ARToolKit will be produced.\n");
ARLOG("The file can be generated to be backwards compatible with previous ARToolKit versions.\n");
ARLOG(" 1: ARToolKit v1.0 and later\n");
ARLOG(" 2: ARToolKit v4.0 and later\n");
ARLOG(" 3: ARToolKit v4.1 and later\n");
printf("Enter the number (1 to %d) of the camera parameter file version: ", AR_DIST_FUNCTION_VERSION_MAX);
scanf("%d", &dist_function_version); while (getchar() != '\n');
patt.h_num = H_NUM;
patt.v_num = V_NUM;
patt.loop_num = 0;
if( patt.h_num < 3 || patt.v_num < 3 ) exit(0);
printf("Input the distance between each marker dot, in millimeters: ");
scanf("%lf", &length); while( getchar()!='\n' );
patt.world_coord = (CALIB_COORD_T *)malloc( sizeof(CALIB_COORD_T)*patt.h_num*patt.v_num );
for( j = 0; j < patt.v_num; j++ ) {
for( i = 0; i < patt.h_num; i++ ) {
patt.world_coord[j*patt.h_num+i].x_coord = length * i;
patt.world_coord[j*patt.h_num+i].y_coord = length * j;
}
}
if( argc == 1 ) {
strcpy(vconf, VCONF);
}
else {
strcpy(vconf, argv[1]);
for( i = 2; i < argc; i++ ) {
strcat(vconf, " ");
strcat(vconf, argv[i]);
}
}
if( arVideoOpen(vconf) < 0 ) exit(0);
if( arVideoGetSize(&xsize, &ysize) < 0 ) exit(0);
if( (pixelFormat=arVideoGetPixelFormat()) < 0 ) exit(0);
if( (pixelSize=arVideoGetPixelSize()) < 0 ) exit(0);
ARLOG("Camera image size (x,y) = (%d,%d)\n", xsize, ysize);
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = xsize/SCALE;
viewport.ysize = ysize/SCALE;
if( (vp=argCreateViewport(&viewport)) == NULL ) exit(0);
argViewportSetImageSize( vp, xsize, ysize );
argViewportSetPixFormat( vp, pixelFormat );
argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_GL_DRAW_PIXELS );
argViewportSetDispMode( vp, AR_GL_DISP_MODE_FIT_TO_VIEWPORT );
argViewportSetDistortionMode( vp, AR_GL_DISTORTION_COMPENSATE_DISABLE );
clipImage = (unsigned char *)malloc( xsize*ysize*pixelSize );
if( clipImage == NULL ) exit(0);
save_filename[0] = '\0';
if( arVideoGetId(&euid0, &euid1) == 0 ) {
sprintf(save_filename, "cpara.%08x%08x", euid0, euid1);
}
}
static void printMode()
{
int len, thresh, line, mode, xsize, ysize, textPatternCount;
AR_LABELING_THRESH_MODE threshMode;
ARdouble tempF;
char text[256], *text_p;
glColor3ub(255, 255, 255);
line = 1;
// Image size and processing mode.
arVideoGetSize(&xsize, &ysize);
arGetImageProcMode(gARHandle, &mode);
if (mode == AR_IMAGE_PROC_FRAME_IMAGE)
text_p = "full frame";
else
text_p = "even field only";
snprintf(text, sizeof(text), "Processing %dx%d video frames %s", xsize, ysize, text_p);
print(text, 2.0f, (line - 1) * 12.0f + 2.0f, 0, 1);
line++;
// Threshold mode, and threshold, if applicable.
arGetLabelingThreshMode(gARHandle, &threshMode);
switch (threshMode)
{
case AR_LABELING_THRESH_MODE_MANUAL: text_p = "MANUAL"; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: text_p = "AUTO_MEDIAN"; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: text_p = "AUTO_OTSU"; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: text_p = "AUTO_ADAPTIVE"; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING: text_p = "AUTO_BRACKETING"; break;
default: text_p = "UNKNOWN"; break;
}
snprintf(text, sizeof(text), "Threshold mode: %s", text_p);
if (threshMode != AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE)
{
arGetLabelingThresh(gARHandle, &thresh);
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", thresh=%d", thresh);
}
print(text, 2.0f, (line - 1) * 12.0f + 2.0f, 0, 1);
line++;
// Border size, image processing mode, pattern detection mode.
arGetBorderSize(gARHandle, &tempF);
snprintf(text, sizeof(text), "Border: %0.2f%%", tempF * 100.0);
arGetPatternDetectionMode(gARHandle, &mode);
textPatternCount = 0;
switch (mode)
{
case AR_TEMPLATE_MATCHING_COLOR: text_p = "Colour template (pattern)"; break;
case AR_TEMPLATE_MATCHING_MONO: text_p = "Mono template (pattern)"; break;
case AR_MATRIX_CODE_DETECTION: text_p = "Matrix (barcode)"; textPatternCount = -1; break;
case AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX: text_p = "Colour template + Matrix (2 pass, pattern + barcode)"; break;
case AR_TEMPLATE_MATCHING_MONO_AND_MATRIX: text_p = "Mono template + Matrix (2 pass, pattern + barcode "; break;
default: text_p = "UNKNOWN"; textPatternCount = -1; break;
}
if (textPatternCount != -1)
textPatternCount = gARPattHandle->patt_num;
len = (int)strlen(text);
if (textPatternCount != -1)
snprintf(text + len, sizeof(text) - len, ", Pattern detection mode: %s, %d patterns loaded", text_p, textPatternCount);
else
snprintf(text + len, sizeof(text) - len, ", Pattern detection mode: %s", text_p);
print(text, 2.0f, (line - 1) * 12.0f + 2.0f, 0, 1);
line++;
// Robust mode.
if (gMultiConfigCount)
{
snprintf(text, sizeof(text), "Robust multi-marker pose estimation %s", (gRobustFlag ? "ON" : "OFF"));
if (gRobustFlag)
{
icpGetInlierProbability(gAR3DHandle->icpHandle, &tempF);
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", inliner prob. %0.1f%%", tempF * 100.0f);
}
print(text, 2.0f, (line - 1) * 12.0f + 2.0f, 0, 1);
line++;
}
// Window size.
snprintf(text, sizeof(text), "Drawing into %dx%d window", windowWidth, windowHeight);
print(text, 2.0f, (line - 1) * 12.0f + 2.0f, 0, 1);
line++;
}
static int setupCamera(const char *cparam_name, char *vconf, ARParamLT **cparamLT_p, ARHandle **arhandle, AR3DHandle **ar3dhandle)
{
ARParam cparam;
int xsize, ysize;
AR_PIXEL_FORMAT pixFormat;
// Open the video path.
if (arVideoOpen(vconf) < 0) {
ARLOGe("setupCamera(): Unable to open connection to camera.\n");
return (FALSE);
}
// Find the size of the window.
if (arVideoGetSize(&xsize, &ysize) < 0) {
ARLOGe("setupCamera(): Unable to determine camera frame size.\n");
arVideoClose();
return (FALSE);
}
ARLOGi("Camera image size (x,y) = (%d,%d)\n", xsize, ysize);
// Get the format in which the camera is returning pixels.
pixFormat = arVideoGetPixelFormat();
if (pixFormat == AR_PIXEL_FORMAT_INVALID) {
ARLOGe("setupCamera(): Camera is using unsupported pixel format.\n");
arVideoClose();
return (FALSE);
}
// Load the camera parameters, resize for the window and init.
if (arParamLoad(cparam_name, 1, &cparam) < 0) {
ARLOGe("setupCamera(): Error loading parameter file %s for camera.\n", cparam_name);
arVideoClose();
return (FALSE);
}
if (cparam.xsize != xsize || cparam.ysize != ysize) {
ARLOGw("*** Camera Parameter resized from %d, %d. ***\n", cparam.xsize, cparam.ysize);
arParamChangeSize(&cparam, xsize, ysize, &cparam);
}
#ifdef DEBUG
ARLOG("*** Camera Parameter ***\n");
arParamDisp(&cparam);
#endif
if ((*cparamLT_p = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET)) == NULL) {
ARLOGe("setupCamera(): Error: arParamLTCreate.\n");
arVideoClose();
return (FALSE);
}
if ((*arhandle = arCreateHandle(*cparamLT_p)) == NULL) {
ARLOGe("setupCamera(): Error: arCreateHandle.\n");
return (FALSE);
}
if (arSetPixelFormat(*arhandle, pixFormat) < 0) {
ARLOGe("setupCamera(): Error: arSetPixelFormat.\n");
return (FALSE);
}
if (arSetDebugMode(*arhandle, AR_DEBUG_DISABLE) < 0) {
ARLOGe("setupCamera(): Error: arSetDebugMode.\n");
return (FALSE);
}
if (arSetImageProcMode(*arhandle, AR_IMAGE_PROC_FRAME_IMAGE) < 0) { // Change to AR_IMAGE_PROC_FIELD_IMAGE if using a DVCam.
ARLOGe("setupCamera(): Error: arSetImageProcMode.\n");
return (FALSE);
}
if ((*ar3dhandle = ar3DCreateHandle(&(*cparamLT_p)->param)) == NULL) {
ARLOGe("setupCamera(): Error: ar3DCreateHandle.\n");
return (FALSE);
}
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
return (TRUE);
}
static void init(int argc, char *argv[])
{
ARGViewport viewport;
char *vconf = NULL;
int i;
int gotTwoPartOption;
int screenWidth, screenHeight, screenMargin;
chessboardCornerNumX = 0;
chessboardCornerNumY = 0;
calibImageNum = 0;
patternWidth = 0.0f;
arMalloc(cwd, char, MAXPATHLEN);
if (!getcwd(cwd, MAXPATHLEN))
ARLOGe("Unable to read current working directory.\n");
else
ARLOG("Current working directory is '%s'\n", cwd);
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc)
{
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc)
{
if (strcmp(argv[i], "--vconf") == 0)
{
i++;
vconf = argv[i];
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption)
{
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0)
{
usage(argv[0]);
}
else if (strcmp(argv[i], "--version") == 0 || strcmp(argv[i], "-version") == 0 || strcmp(argv[i], "-v") == 0)
{
ARLOG("%s version %s\n", argv[0], AR_HEADER_VERSION_STRING);
exit(0);
}
else if (strncmp(argv[i], "-cornerx=", 9) == 0)
{
if (sscanf(&(argv[i][9]), "%d", &chessboardCornerNumX) != 1)
usage(argv[0]);
if (chessboardCornerNumX <= 0)
usage(argv[0]);
}
else if (strncmp(argv[i], "-cornery=", 9) == 0)
{
if (sscanf(&(argv[i][9]), "%d", &chessboardCornerNumY) != 1)
usage(argv[0]);
if (chessboardCornerNumY <= 0)
usage(argv[0]);
}
else if (strncmp(argv[i], "-imagenum=", 10) == 0)
{
if (sscanf(&(argv[i][10]), "%d", &calibImageNum) != 1)
usage(argv[0]);
if (calibImageNum <= 0)
usage(argv[0]);
}
else if (strncmp(argv[i], "-pattwidth=", 11) == 0)
{
if (sscanf(&(argv[i][11]), "%f", &patternWidth) != 1)
usage(argv[0]);
if (patternWidth <= 0)
usage(argv[0]);
}
else
{
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
if (chessboardCornerNumX == 0)
chessboardCornerNumX = CHESSBOARD_CORNER_NUM_X;
if (chessboardCornerNumY == 0)
chessboardCornerNumY = CHESSBOARD_CORNER_NUM_Y;
if (calibImageNum == 0)
calibImageNum = CALIB_IMAGE_NUM;
if (patternWidth == 0.0f)
patternWidth = (float)CHESSBOARD_PATTERN_WIDTH;
ARLOG("CHESSBOARD_CORNER_NUM_X = %d\n", chessboardCornerNumX);
ARLOG("CHESSBOARD_CORNER_NUM_Y = %d\n", chessboardCornerNumY);
ARLOG("CHESSBOARD_PATTERN_WIDTH = %f\n", patternWidth);
ARLOG("CALIB_IMAGE_NUM = %d\n", calibImageNum);
ARLOG("Video parameter: %s\n", vconf);
if (arVideoOpen(vconf) < 0)
exit(0);
if (arVideoGetSize(&xsize, &ysize) < 0)
exit(0);
ARLOG("Image size (x,y) = (%d,%d)\n", xsize, ysize);
if ((pixFormat = arVideoGetPixelFormat()) == AR_PIXEL_FORMAT_INVALID)
exit(0);
screenWidth = glutGet(GLUT_SCREEN_WIDTH);
screenHeight = glutGet(GLUT_SCREEN_HEIGHT);
if (screenWidth > 0 && screenHeight > 0)
{
screenMargin = (int)(MAX(screenWidth, screenHeight) * SCREEN_SIZE_MARGIN);
if ((screenWidth - screenMargin) < xsize || (screenHeight - screenMargin) < ysize)
{
viewport.xsize = screenWidth - screenMargin;
viewport.ysize = screenHeight - screenMargin;
ARLOG("Scaling window to fit onto %dx%d screen (with %2.0f%% margin).\n", screenWidth, screenHeight, SCREEN_SIZE_MARGIN * 100.0);
}
else
{
viewport.xsize = xsize;
viewport.ysize = ysize;
}
}
else
{
viewport.xsize = xsize;
viewport.ysize = ysize;
}
viewport.sx = 0;
viewport.sy = 0;
if ((vp = argCreateViewport(&viewport)) == NULL)
exit(0);
argViewportSetImageSize(vp, xsize, ysize);
argViewportSetPixFormat(vp, pixFormat);
argViewportSetDispMethod(vp, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME);
argViewportSetDistortionMode(vp, AR_GL_DISTORTION_COMPENSATE_DISABLE);
argViewportSetDispMode(vp, AR_GL_DISP_MODE_FIT_TO_VIEWPORT_KEEP_ASPECT_RATIO);
// Set up the grayscale image.
arIPI = arImageProcInit(xsize, ysize, pixFormat, 1); // 1 -> always copy, since we need OpenCV to be able to wrap the memory.
if (!arIPI)
{
ARLOGe("Error initialising image processing.\n");
exit(-1);
}
calibImage = cvCreateImageHeader(cvSize(xsize, ysize), IPL_DEPTH_8U, 1);
cvSetData(calibImage, arIPI->image, xsize); // Last parameter is rowBytes.
// Allocate space for results.
arMalloc(corners, CvPoint2D32f, chessboardCornerNumX * chessboardCornerNumY);
arMalloc(cornerSet, CvPoint2D32f, chessboardCornerNumX * chessboardCornerNumY * calibImageNum);
}