void *ar2Tracking2d( THREAD_HANDLE_T *threadHandle )
{
AR2Tracking2DParamT *arg;
int ID;
arg = (AR2Tracking2DParamT *)threadGetArg(threadHandle);
ID = threadGetID(threadHandle);
ARLOGi("Start tracking_thread #%d.\n", ID);
for(;;) {
if( threadStartWait(threadHandle) < 0 ) break;
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
arg->ret = ar2Tracking2dSub( arg->ar2Handle, arg->surfaceSet, arg->candidate,
arg->dataPtr, arg->mfImage, &(arg->templ), &(arg->templ2), &(arg->result) );
#else
arg->ret = ar2Tracking2dSub( arg->ar2Handle, arg->surfaceSet, arg->candidate,
arg->dataPtr, arg->mfImage, &(arg->templ), &(arg->result) );
#endif
threadEndSignal(threadHandle);
}
ARLOGi("End tracking_thread #%d.\n", ID);
return NULL;
}
static void *trackingInitMain( THREAD_HANDLE_T *threadHandle )
{
TrackingInitHandle *trackingInitHandle;
KpmHandle *kpmHandle;
KpmResult *kpmResult = NULL;
int kpmResultNum;
ARUint8 *imagePtr;
float err;
int i, j, k;
if (!threadHandle) {
ARLOGe("Error starting tracking thread: empty THREAD_HANDLE_T.\n");
return (NULL);
}
trackingInitHandle = (TrackingInitHandle *)threadGetArg(threadHandle);
if (!threadHandle) {
ARLOGe("Error starting tracking thread: empty trackingInitHandle.\n");
return (NULL);
}
kpmHandle = trackingInitHandle->kpmHandle;
imagePtr = trackingInitHandle->imagePtr;
if (!kpmHandle || !imagePtr) {
ARLOGe("Error starting tracking thread: empty kpmHandle/imagePtr.\n");
return (NULL);
}
ARLOGi("Start tracking thread.\n");
kpmGetResult( kpmHandle, &kpmResult, &kpmResultNum );
for(;;) {
if( threadStartWait(threadHandle) < 0 ) break;
kpmMatching(kpmHandle, imagePtr);
trackingInitHandle->flag = 0;
for( i = 0; i < kpmResultNum; i++ ) {
if( kpmResult[i].camPoseF != 0 ) continue;
ARLOGd("kpmGetPose OK.\n");
if( trackingInitHandle->flag == 0 || err > kpmResult[i].error ) { // Take the first or best result.
trackingInitHandle->flag = 1;
trackingInitHandle->page = kpmResult[i].pageNo;
for (j = 0; j < 3; j++) for (k = 0; k < 4; k++) trackingInitHandle->trans[j][k] = kpmResult[i].camPose[j][k];
err = kpmResult[i].error;
}
}
threadEndSignal(threadHandle);
}
ARLOGi("End tracking thread.\n");
return (NULL);
}
// References globals: markersNFTCount
// Modifies globals: threadHandle, surfaceSet[], surfaceSetCount, markersNFT[]
static int loadNFTData(void)
{
int i;
KpmRefDataSet *refDataSet;
// If data was already loaded, stop KPM tracking thread and unload previously loaded data.
if (threadHandle) {
ARLOGi("Reloading NFT data.\n");
unloadNFTData();
} else {
ARLOGi("Loading NFT data.\n");
}
refDataSet = NULL;
for (i = 0; i < markersNFTCount; i++) {
// Load KPM data.
KpmRefDataSet *refDataSet2;
ARLOGi("Reading %s.fset3\n", markersNFT[i].datasetPathname);
if (kpmLoadRefDataSet(markersNFT[i].datasetPathname, "fset3", &refDataSet2) < 0 ) {
ARLOGe("Error reading KPM data from %s.fset3\n", markersNFT[i].datasetPathname);
markersNFT[i].pageNo = -1;
continue;
}
markersNFT[i].pageNo = surfaceSetCount;
ARLOGi(" Assigned page no. %d.\n", surfaceSetCount);
if (kpmChangePageNoOfRefDataSet(refDataSet2, KpmChangePageNoAllPages, surfaceSetCount) < 0) {
ARLOGe("Error: kpmChangePageNoOfRefDataSet\n");
exit(-1);
}
if (kpmMergeRefDataSet(&refDataSet, &refDataSet2) < 0) {
ARLOGe("Error: kpmMergeRefDataSet\n");
exit(-1);
}
ARLOGi(" Done.\n");
// Load AR2 data.
ARLOGi("Reading %s.fset\n", markersNFT[i].datasetPathname);
if ((surfaceSet[surfaceSetCount] = ar2ReadSurfaceSet(markersNFT[i].datasetPathname, "fset", NULL)) == NULL ) {
ARLOGe("Error reading data from %s.fset\n", markersNFT[i].datasetPathname);
}
ARLOGi(" Done.\n");
surfaceSetCount++;
if (surfaceSetCount == PAGES_MAX) break;
}
if (kpmSetRefDataSet(kpmHandle, refDataSet) < 0) {
ARLOGe("Error: kpmSetRefDataSet\n");
exit(-1);
}
kpmDeleteRefDataSet(&refDataSet);
// Start the KPM tracking thread.
threadHandle = trackingInitInit(kpmHandle);
if (!threadHandle) exit(-1);
ARLOGi("Loading of NFT data complete.\n");
return (TRUE);
}
// Modifies globals: threadHandle, surfaceSet[], surfaceSetCount
static int unloadNFTData(void)
{
int i, j;
if (threadHandle) {
ARLOGi("Stopping NFT2 tracking thread.\n");
trackingInitQuit(&threadHandle);
}
j = 0;
for (i = 0; i < surfaceSetCount; i++) {
if (j == 0) ARLOGi("Unloading NFT tracking surfaces.\n");
ar2FreeSurfaceSet(&surfaceSet[i]); // Also sets surfaceSet[i] to NULL.
j++;
}
if (j > 0) ARLOGi("Unloaded %d NFT tracking surfaces.\n", j);
surfaceSetCount = 0;
return 0;
}
// Modifies globals: kpmHandle, ar2Handle.
static int initNFT(ARParamLT *cparamLT, AR_PIXEL_FORMAT pixFormat)
{
ARLOGd("Initialising NFT.\n");
//
// NFT init.
//
// KPM init.
kpmHandle = kpmCreateHandle(cparamLT, pixFormat);
if (!kpmHandle) {
ARLOGe("Error: kpmCreateHandle.\n");
return (FALSE);
}
//kpmSetProcMode( kpmHandle, KpmProcHalfSize );
// AR2 init.
if( (ar2Handle = ar2CreateHandle(cparamLT, pixFormat, AR2_TRACKING_DEFAULT_THREAD_NUM)) == NULL ) {
ARLOGe("Error: ar2CreateHandle.\n");
kpmDeleteHandle(&kpmHandle);
return (FALSE);
}
if (threadGetCPU() <= 1) {
ARLOGi("Using NFT tracking settings for a single CPU.\n");
ar2SetTrackingThresh(ar2Handle, 5.0);
ar2SetSimThresh(ar2Handle, 0.50);
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 6);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
} else {
ARLOGi("Using NFT tracking settings for more than one CPU.\n");
ar2SetTrackingThresh(ar2Handle, 5.0);
ar2SetSimThresh(ar2Handle, 0.50);
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 12);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
}
// NFT dataset loading will happen later.
return (TRUE);
}
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);
}
int main(int argc, char** argv)
{
char glutGamemode[32] = "";
char *vconf = NULL;
char cparaDefault[] = "Data2/camera_para.dat";
char *cpara = NULL;
int i;
int gotTwoPartOption;
const char markerConfigDataFilename[] = "Data2/markers.dat";
const char objectDataFilename[] = "Data2/objects.dat";
#ifdef DEBUG
arLogLevel = AR_LOG_LEVEL_DEBUG;
#endif
//
// Process command-line options.
//
glutInit(&argc, argv);
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;
} else if (strcmp(argv[i], "--cpara") == 0) {
i++;
cpara = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--width") == 0) {
i++;
// Get width from second field.
if (sscanf(argv[i], "%d", &prefWidth) != 1) {
ARLOGe("Error: --width option must be followed by desired width.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--height") == 0) {
i++;
// Get height from second field.
if (sscanf(argv[i], "%d", &prefHeight) != 1) {
ARLOGe("Error: --height option must be followed by desired height.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--refresh") == 0) {
i++;
// Get refresh rate from second field.
if (sscanf(argv[i], "%d", &prefRefresh) != 1) {
ARLOGe("Error: --refresh option must be followed by desired refresh rate.\n");
}
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 (strncmp(argv[i], "-cpara=", 7) == 0) {
cpara = &(argv[i][7]);
} 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 (strcmp(argv[i],"--windowed") == 0) {
prefWindowed = TRUE;
} else if (strcmp(argv[i],"--fullscreen") == 0) {
prefWindowed = FALSE;
} else {
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!setupCamera((cpara ? cpara : cparaDefault), vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
if (!initNFT(gCparamLT, arVideoGetPixelFormat())) {
ARLOGe("main(): Unable to init NFT.\n");
exit(-1);
}
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, &markersNFT, &markersNFTCount);
if (!markersNFTCount) {
ARLOGe("Error loading markers from config. file '%s'.\n", markerConfigDataFilename);
cleanup();
exit(-1);
}
ARLOGi("Marker count = %d\n", markersNFTCount);
// Marker data has been loaded, so now load NFT data.
if (!loadNFTData()) {
ARLOGe("Error loading NFT data.\n");
cleanup();
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (prefWindowed) {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
else glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
} else {
if (glutGameModeGet(GLUT_GAME_MODE_POSSIBLE)) {
if (prefWidth && prefHeight) {
if (prefDepth) {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i", prefWidth, prefHeight, prefDepth);
} else {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i@%i", prefWidth, prefHeight, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
} else {
prefWidth = glutGameModeGet(GLUT_GAME_MODE_WIDTH);
prefHeight = glutGameModeGet(GLUT_GAME_MODE_HEIGHT);
snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
glutFullScreen();
}
}
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
cameraPoseValid = FALSE;
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
// Load objects (i.e. OSG models).
VirtualEnvironmentInit(objectDataFilename);
VirtualEnvironmentHandleARViewUpdatedCameraLens(cameraLens);
//
// Setup complete. Start tracking.
//
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
arUtilTimerReset();
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
AR2SurfaceSetT *ar2ReadSurfaceSet( const char *filename, const char *ext, ARPattHandle *pattHandle )
{
AR2SurfaceSetT *surfaceSet;
FILE *fp = NULL;
int readMode;
char buf[256], name[256];
int i, j, k;
if( ext == NULL || *ext == '\0' || strcmp(ext,"fset") == 0 ) {
strncpy(name, filename, sizeof(name) - 1);
name[sizeof(name) - 1] = '\0';
readMode = 0;
}
else {
char namebuf[512];
sprintf(namebuf, "%s.%s", filename, ext);
if ((fp = fopen(namebuf,"r")) == NULL) {
ARLOGe("Error opening file '%s': ", filename);
ARLOGperror(NULL);
return (NULL);
}
readMode = 1;
}
arMalloc(surfaceSet, AR2SurfaceSetT, 1);
if( readMode ) {
if( get_buff(buf, 256, fp) == NULL ) {
fclose(fp);
free(surfaceSet);
return (NULL);
}
if( sscanf(buf, "%d", &i) != 1 ) {
fclose(fp);
free(surfaceSet);
return (NULL);
}
if( i < 1 ) {
fclose(fp);
free(surfaceSet);
return (NULL);
}
surfaceSet->num = i;
surfaceSet->contNum = 0;
}
else {
surfaceSet->num = 1;
surfaceSet->contNum = 0;
}
arMalloc(surfaceSet->surface, AR2SurfaceT, surfaceSet->num);
for( i = 0; i < surfaceSet->num; i++ ) {
ARLOGi("\n### Surface No.%d ###\n", i+1);
if( readMode ) {
if( get_buff(buf, 256, fp) == NULL ) break;
if( sscanf(buf, "%s", name) != 1 ) break;
ar2UtilRemoveExt( name );
}
ARLOGi(" Read ImageSet.\n");
surfaceSet->surface[i].imageSet = ar2ReadImageSet( name );
if( surfaceSet->surface[i].imageSet == NULL ) {
ARLOGe("Error opening file '%s.iset'.\n", name);
free(surfaceSet->surface);
free(surfaceSet);
if (fp) fclose(fp); //COVHI10426
return (NULL);
}
ARLOGi(" end.\n");
ARLOGi(" Read FeatureSet.\n");
surfaceSet->surface[i].featureSet = ar2ReadFeatureSet( name, "fset" );
if( surfaceSet->surface[i].featureSet == NULL ) {
ARLOGe("Error opening file '%s.fset'.\n", name);
ar2FreeImageSet(&surfaceSet->surface[i].imageSet);
free(surfaceSet->surface);
free(surfaceSet);
if (fp) fclose(fp); //COVHI10426
return (NULL);
}
ARLOGi(" end.\n");
if (pattHandle) {
ARLOGi(" Read MarkerSet.\n");
ar2UtilRemoveExt( name );
surfaceSet->surface[i].markerSet = ar2ReadMarkerSet( name, "mrk", pattHandle );
if( surfaceSet->surface[i].markerSet == NULL ) {
ARLOGe("Error opening file '%s.mrk'.\n", name);
ar2FreeFeatureSet(&surfaceSet->surface[i].featureSet);
ar2FreeImageSet(&surfaceSet->surface[i].imageSet);
free(surfaceSet->surface);
free(surfaceSet);
if (fp) fclose(fp); //COVHI10426
return (NULL);
}
ARLOGi(" end.\n");
} else {
surfaceSet->surface[i].markerSet = NULL;
}
if (readMode) {
if( get_buff(buf, 256, fp) == NULL ) break;
if( sscanf(buf, "%f %f %f %f",
&(surfaceSet->surface[i].trans[0][0]),
&(surfaceSet->surface[i].trans[0][1]),
&(surfaceSet->surface[i].trans[0][2]),
&(surfaceSet->surface[i].trans[0][3])) != 4 ) {
ARLOGe("Transformation matrix read error!!\n");
fclose(fp);
exit(0);
}
if( get_buff(buf, 256, fp) == NULL ) break;
if( sscanf(buf, "%f %f %f %f",
&(surfaceSet->surface[i].trans[1][0]),
&(surfaceSet->surface[i].trans[1][1]),
&(surfaceSet->surface[i].trans[1][2]),
&(surfaceSet->surface[i].trans[1][3])) != 4 ) {
ARLOGe("Transformation matrix read error!!\n");
fclose(fp);
exit(0);
}
if( get_buff(buf, 256, fp) == NULL ) break;
if( sscanf(buf, "%f %f %f %f",
&(surfaceSet->surface[i].trans[2][0]),
&(surfaceSet->surface[i].trans[2][1]),
&(surfaceSet->surface[i].trans[2][2]),
&(surfaceSet->surface[i].trans[2][3])) != 4 ) {
ARLOGe("Transformation matrix read error!!\n");
fclose(fp);
exit(0);
}
} else {
for( j = 0; j < 3; j++ ) {
for( k = 0; k < 4; k++ ) {
surfaceSet->surface[i].trans[j][k] = (j == k)? 1.0f: 0.0f;
}
}
}
arUtilMatInvf( (const float (*)[4])surfaceSet->surface[i].trans, surfaceSet->surface[i].itrans );
ar2UtilReplaceExt( name, 256, "jpg");
arMalloc( surfaceSet->surface[i].jpegName, char, 256);
strncpy( surfaceSet->surface[i].jpegName, name, 256 );
}
if (fp) fclose(fp); //COVHI10459
if (i < surfaceSet->num) exit(0);
return surfaceSet;
}
int main(int argc, char** argv)
{
char glutGamemode[32] = "";
char *vconf = NULL;
char cparaDefault[] = "../share/artoolkit-examples/Data/camera_para.dat";
char *cpara = NULL;
int i;
int gotTwoPartOption;
const char markerConfigDataFilename[] = "../share/artoolkit-examples/Data/markers.dat";
const char objectDataFilename[] = "../share/artoolkit-examples/Data/objects.dat";
//
// Process command-line options.
//
glutInit(&argc, argv);
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;
} else if (strcmp(argv[i], "--cpara") == 0) {
i++;
cpara = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--width") == 0) {
i++;
// Get width from second field.
if (sscanf(argv[i], "%d", &prefWidth) != 1) {
ARLOGe("Error: --width option must be followed by desired width.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--height") == 0) {
i++;
// Get height from second field.
if (sscanf(argv[i], "%d", &prefHeight) != 1) {
ARLOGe("Error: --height option must be followed by desired height.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--refresh") == 0) {
i++;
// Get refresh rate from second field.
if (sscanf(argv[i], "%d", &prefRefresh) != 1) {
ARLOGe("Error: --refresh option must be followed by desired refresh rate.\n");
}
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 (strncmp(argv[i], "-cpara=", 7) == 0) {
cpara = &(argv[i][7]);
} 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 (strcmp(argv[i],"--windowed") == 0) {
prefWindowed = TRUE;
} else if (strcmp(argv[i],"--fullscreen") == 0) {
prefWindowed = FALSE;
} else {
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!setupCamera((cpara ? cpara : cparaDefault), vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
// Init AR.
gARPattHandle = arPattCreateHandle();
if (!gARPattHandle) {
ARLOGe("Error creating pattern handle.\n");
exit(-1);
}
gARHandle = arCreateHandle(gCparamLT);
if (!gARHandle) {
ARLOGe("Error creating AR handle.\n");
exit(-1);
}
arPattAttach(gARHandle, gARPattHandle);
if (arSetPixelFormat(gARHandle, arVideoGetPixelFormat()) < 0) {
ARLOGe("Error setting pixel format.\n");
exit(-1);
}
gAR3DHandle = ar3DCreateHandle(&gCparamLT->param);
if (!gAR3DHandle) {
ARLOGe("Error creating 3D handle.\n");
exit(-1);
}
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, gARPattHandle, &markersSquare, &markersSquareCount, &gARPattDetectionMode);
ARLOGi("Marker count = %d\n", markersSquareCount);
//
// Other ARToolKit setup.
//
arSetMarkerExtractionMode(gARHandle, AR_USE_TRACKING_HISTORY_V2);
//arSetMarkerExtractionMode(gARHandle, AR_NOUSE_TRACKING_HISTORY);
//arSetLabelingThreshMode(gARHandle, AR_LABELING_THRESH_MODE_MANUAL); // Uncomment to force manual thresholding.
// Set the pattern detection mode (template (pictorial) vs. matrix (barcode) based on
// the marker types as defined in the marker config. file.
arSetPatternDetectionMode(gARHandle, gARPattDetectionMode); // Default = AR_TEMPLATE_MATCHING_COLOR
// Other application-wide marker options. Once set, these apply to all markers in use in the application.
// If you are using standard ARToolKit picture (template) markers, leave commented to use the defaults.
// If you are usign a different marker design (see http://www.artoolworks.com/support/app/marker.php )
// then uncomment and edit as instructed by the marker design application.
//arSetLabelingMode(gARHandle, AR_LABELING_BLACK_REGION); // Default = AR_LABELING_BLACK_REGION
//arSetBorderSize(gARHandle, 0.25f); // Default = 0.25f
//arSetMatrixCodeType(gARHandle, AR_MATRIX_CODE_3x3); // Default = AR_MATRIX_CODE_3x3
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (prefWindowed) {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
else glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
} else {
if (glutGameModeGet(GLUT_GAME_MODE_POSSIBLE)) {
if (prefWidth && prefHeight) {
if (prefDepth) {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i", prefWidth, prefHeight, prefDepth);
} else {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i@%i", prefWidth, prefHeight, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
} else {
prefWidth = glutGameModeGet(GLUT_GAME_MODE_WIDTH);
prefHeight = glutGameModeGet(GLUT_GAME_MODE_HEIGHT);
snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
glutFullScreen();
}
}
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
cameraPoseValid = FALSE;
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
// Load objects (i.e. OSG models).
VirtualEnvironmentInit(objectDataFilename);
VirtualEnvironmentHandleARViewUpdatedCameraLens(cameraLens);
//
// Setup complete. Start tracking.
//
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
arUtilTimerReset();
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
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);
}
void LogFramesRate()
{
ARLOGi("Frames received: %d\n", m_framesReceived);
}
static int readImageFromFile(const char *filename, ARUint8 **image_p, int *xsize_p, int *ysize_p, int *nc_p, float *dpi_p)
{
char *ext;
char buf[256];
char buf1[512], buf2[512];
if (!filename || !image_p || !xsize_p || !ysize_p || !nc_p || !dpi_p) return (E_BAD_PARAMETER);
ext = arUtilGetFileExtensionFromPath(filename, 1);
if (!ext) {
ARLOGe("Error: unable to determine extension of file '%s'. Exiting.\n", filename);
EXIT(E_INPUT_DATA_ERROR);
}
if (strcmp(ext, "jpeg") == 0 || strcmp(ext, "jpg") == 0 || strcmp(ext, "jpe") == 0) {
ARLOGi("Reading JPEG file...\n");
ar2UtilDivideExt( filename, buf1, buf2 );
jpegImage = ar2ReadJpegImage( buf1, buf2 );
if( jpegImage == NULL ) {
ARLOGe("Error: unable to read JPEG image from file '%s'. Exiting.\n", filename);
EXIT(E_INPUT_DATA_ERROR);
}
ARLOGi(" Done.\n");
*image_p = jpegImage->image;
if (jpegImage->nc != 1 && jpegImage->nc != 3) {
ARLOGe("Error: Input JPEG image is in neither RGB nor grayscale format. %d bytes/pixel %sformat is unsupported. Exiting.\n", jpegImage->nc, (jpegImage->nc == 4 ? "(possibly CMYK) " : ""));
EXIT(E_INPUT_DATA_ERROR);
}
*nc_p = jpegImage->nc;
ARLOGi("JPEG image '%s' is %dx%d.\n", filename, jpegImage->xsize, jpegImage->ysize);
if (jpegImage->xsize < KPM_MINIMUM_IMAGE_SIZE || jpegImage->ysize < KPM_MINIMUM_IMAGE_SIZE) {
ARLOGe("Error: JPEG image width and height must be at least %d pixels. Exiting.\n", KPM_MINIMUM_IMAGE_SIZE);
EXIT(E_INPUT_DATA_ERROR);
}
*xsize_p = jpegImage->xsize;
*ysize_p = jpegImage->ysize;
if (*dpi_p == -1.0) {
if( jpegImage->dpi == 0.0f ) {
for (;;) {
printf("JPEG image '%s' does not contain embedded resolution data, and no resolution specified on command-line.\nEnter resolution to use (in decimal DPI): ", filename);
if( fgets( buf, 256, stdin ) == NULL ) {
EXIT(E_USER_INPUT_CANCELLED);
}
if( sscanf(buf, "%f", &(jpegImage->dpi)) == 1 ) break;
}
}
*dpi_p = jpegImage->dpi;
}
//} else if (strcmp(ext, "png") == 0) {
} else {
ARLOGe("Error: file '%s' has extension '%s', which is not supported for reading. Exiting.\n", filename, ext);
free(ext);
EXIT(E_INPUT_DATA_ERROR);
}
free(ext);
return 0;
}
// Reads dpiMinAllowable, xsize, ysize, dpi, background, dpiMin, dpiMax.
// Sets dpiMin, dpiMax, dpi_num, dpi_list.
static int setDPI( void )
{
float dpiWork, dpiMinAllowable;
char buf1[256];
int i;
// Determine minimum allowable DPI, truncated to 3 decimal places.
dpiMinAllowable = truncf(((float)KPM_MINIMUM_IMAGE_SIZE / (float)(MIN(xsize, ysize))) * dpi * 1000.0) / 1000.0f;
if (background) {
if (dpiMin == -1.0f) dpiMin = dpiMinAllowable;
if (dpiMax == -1.0f) dpiMax = dpi;
}
if (dpiMin == -1.0f) {
for (;;) {
printf("Enter the minimum image resolution (DPI, in range [%.3f, %.3f]): ", dpiMinAllowable, (dpiMax == -1.0f ? dpi : dpiMax));
if( fgets( buf1, 256, stdin ) == NULL ) EXIT(E_USER_INPUT_CANCELLED);
if( sscanf(buf1, "%f", &dpiMin) == 0 ) continue;
if (dpiMin >= dpiMinAllowable && dpiMin <= (dpiMax == -1.0f ? dpi : dpiMax)) break;
else printf("Error: you entered %.3f, but value must be greater than or equal to %.3f and less than or equal to %.3f.\n", dpiMin, dpiMinAllowable, (dpiMax == -1.0f ? dpi : dpiMax));
}
} else if (dpiMin < dpiMinAllowable) {
ARLOGe("Warning: -min_dpi=%.3f smaller than minimum allowable. Value will be adjusted to %.3f.\n", dpiMin, dpiMinAllowable);
dpiMin = dpiMinAllowable;
}
if (dpiMax == -1.0f) {
for (;;) {
printf("Enter the maximum image resolution (DPI, in range [%.3f, %.3f]): ", dpiMin, dpi);
if( fgets( buf1, 256, stdin ) == NULL ) EXIT(E_USER_INPUT_CANCELLED);
if( sscanf(buf1, "%f", &dpiMax) == 0 ) continue;
if (dpiMax >= dpiMin && dpiMax <= dpi) break;
else printf("Error: you entered %.3f, but value must be greater than or equal to minimum resolution (%.3f) and less than or equal to image resolution (%.3f).\n", dpiMax, dpiMin, dpi);
}
} else if (dpiMax > dpi) {
ARLOGe("Warning: -max_dpi=%.3f larger than maximum allowable. Value will be adjusted to %.3f.\n", dpiMax, dpi);
dpiMax = dpi;
}
// Decide how many levels we need.
if (dpiMin == dpiMax) {
dpi_num = 1;
} else {
dpiWork = dpiMin;
for( i = 1;; i++ ) {
dpiWork *= powf(2.0f, 1.0f/3.0f); // *= 1.25992104989487
if( dpiWork >= dpiMax*0.95f ) {
break;
}
}
dpi_num = i + 1;
}
arMalloc(dpi_list, float, dpi_num);
// Determine the DPI values of each level.
dpiWork = dpiMin;
for( i = 0; i < dpi_num; i++ ) {
ARLOGi("Image DPI (%d): %f\n", i+1, dpiWork);
dpi_list[dpi_num - i - 1] = dpiWork; // Lowest value goes at tail of array, highest at head.
dpiWork *= powf(2.0f, 1.0f/3.0f);
if( dpiWork >= dpiMax*0.95f ) dpiWork = dpiMax;
}
return 0;
}
int main( int argc, char *argv[] )
{
AR2JpegImageT *jpegImage = NULL;
ARUint8 *image = NULL;
AR2ImageSetT *imageSet = NULL;
AR2FeatureMapT *featureMap = NULL;
AR2FeatureSetT *featureSet = NULL;
KpmRefDataSet *refDataSet = NULL;
float scale1, scale2;
int procMode;
char buf[1024];
int num;
int i, j;
char *sep = NULL;
time_t clock;
int maxFeatureNum;
int err;
for( i = 1; i < argc; i++ ) {
if( strncmp(argv[i], "-dpi=", 5) == 0 ) {
if( sscanf(&argv[i][5], "%f", &dpi) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-sd_thresh=", 11) == 0 ) {
if( sscanf(&argv[i][11], "%f", &sd_thresh) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-max_thresh=", 12) == 0 ) {
if( sscanf(&argv[i][12], "%f", &max_thresh) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-min_thresh=", 12) == 0 ) {
if( sscanf(&argv[i][12], "%f", &min_thresh) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-feature_density=", 13) == 0 ) {
if( sscanf(&argv[i][13], "%d", &featureDensity) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-level=", 7) == 0 ) {
if( sscanf(&argv[i][7], "%d", &tracking_extraction_level) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-leveli=", 8) == 0 ) {
if( sscanf(&argv[i][8], "%d", &initialization_extraction_level) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-max_dpi=", 9) == 0 ) {
if( sscanf(&argv[i][9], "%f", &dpiMax) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-min_dpi=", 9) == 0 ) {
if( sscanf(&argv[i][9], "%f", &dpiMin) != 1 ) usage(argv[0]);
} else if( strcmp(argv[i], "-background") == 0 ) {
background = 1;
} else if( strcmp(argv[i], "-nofset") == 0 ) {
genfset = 0;
} else if( strcmp(argv[i], "-fset") == 0 ) {
genfset = 1;
} else if( strcmp(argv[i], "-nofset2") == 0 ) {
ARLOGe("Error: -nofset2 option no longer supported as of ARToolKit v5.3.\n");
exit(-1);
} else if( strcmp(argv[i], "-fset2") == 0 ) {
ARLOGe("Error: -fset2 option no longer supported as of ARToolKit v5.3.\n");
exit(-1);
} else if( strcmp(argv[i], "-nofset3") == 0 ) {
genfset3 = 0;
} else if( strcmp(argv[i], "-fset3") == 0 ) {
genfset3 = 1;
} else if( strncmp(argv[i], "-log=", 5) == 0 ) {
strncpy(logfile, &(argv[i][5]), sizeof(logfile) - 1);
logfile[sizeof(logfile) - 1] = '\0'; // Ensure NULL termination.
} else if( strncmp(argv[i], "-loglevel=", 10) == 0 ) {
if (strcmp(&(argv[i][10]), "DEBUG") == 0) arLogLevel = AR_LOG_LEVEL_DEBUG;
else if (strcmp(&(argv[i][10]), "INFO") == 0) arLogLevel = AR_LOG_LEVEL_INFO;
else if (strcmp(&(argv[i][10]), "WARN") == 0) arLogLevel = AR_LOG_LEVEL_WARN;
else if (strcmp(&(argv[i][10]), "ERROR") == 0) arLogLevel = AR_LOG_LEVEL_ERROR;
else usage(argv[0]);
} else if( strncmp(argv[i], "-exitcode=", 10) == 0 ) {
strncpy(exitcodefile, &(argv[i][10]), sizeof(exitcodefile) - 1);
exitcodefile[sizeof(exitcodefile) - 1] = '\0'; // Ensure NULL termination.
} 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 (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "-?") == 0) {
usage(argv[0]);
} else if( filename[0] == '\0' ) {
strncpy(filename, argv[i], sizeof(filename) - 1);
filename[sizeof(filename) - 1] = '\0'; // Ensure NULL termination.
} else {
ARLOGe("Error: unrecognised option '%s'\n", argv[i]);
usage(argv[0]);
}
}
// Do some checks on the input.
if (filename[0] == '\0') {
ARLOGe("Error: no input file specified. Exiting.\n");
usage(argv[0]);
}
sep = strrchr(filename, '.');
if (!sep || (strcmp(sep, ".jpeg") && strcmp(sep, ".jpg") && strcmp(sep, ".jpe") && strcmp(sep, ".JPEG") && strcmp(sep, ".JPE") && strcmp(sep, ".JPG"))) {
ARLOGe("Error: input file must be a JPEG image (with suffix .jpeg/.jpg/.jpe). Exiting.\n");
usage(argv[0]);
}
if (background) {
#if HAVE_DAEMON_FUNC
if (filename[0] != '/' || logfile[0] != '/' || exitcodefile[0] != '/') {
ARLOGe("Error: -background flag requires full pathname of files (input, -log or -exitcode) to be specified. Exiting.\n");
EXIT(E_BAD_PARAMETER);
}
if (tracking_extraction_level == -1 && (sd_thresh == -1.0 || min_thresh == -1.0 || max_thresh == -1.0)) {
ARLOGe("Error: -background flag requires -level or -sd_thresh, -min_thresh and -max_thresh -to be set. Exiting.\n");
EXIT(E_BAD_PARAMETER);
}
if (initialization_extraction_level == -1 && (featureDensity == -1)) {
ARLOGe("Error: -background flag requires -leveli or -surf_thresh to be set. Exiting.\n");
EXIT(E_BAD_PARAMETER);
}
if (dpi == -1.0) {
ARLOGe("Error: -background flag requires -dpi to be set. Exiting.\n");
EXIT(E_BAD_PARAMETER);
}
if (dpiMin != -1.0f && (dpiMin <= 0.0f || dpiMin > dpi)) {
ARLOGe("Error: -min_dpi must be greater than 0 and less than or equal to -dpi. Exiting.n\n");
EXIT(E_BAD_PARAMETER);
}
if (dpiMax != -1.0f && (dpiMax < dpiMin || dpiMax > dpi)) {
ARLOGe("Error: -max_dpi must be greater than or equal to -min_dpi and less than or equal to -dpi. Exiting.n\n");
EXIT(E_BAD_PARAMETER);
}
#else
ARLOGe("Error: -background flag not supported on this operating system. Exiting.\n");
exit(E_BACKGROUND_OPERATION_UNSUPPORTED);
#endif
}
if (background) {
#if HAVE_DAEMON_FUNC
// Daemonize.
if (daemon(0, 0) == -1) {
perror("Unable to detach from controlling terminal");
EXIT(E_UNABLE_TO_DETACH_FROM_CONTROLLING_TERMINAL);
}
// At this point, stdin, stdout and stderr point to /dev/null.
#endif
}
if (logfile[0]) {
if (!freopen(logfile, "a", stdout) ||
!freopen(logfile, "a", stderr)) ARLOGe("Unable to redirect stdout or stderr to logfile.\n");
}
if (exitcodefile[0]) {
atexit(write_exitcode);
}
// Print the start date and time.
clock = time(NULL);
if (clock != (time_t)-1) {
struct tm *timeptr = localtime(&clock);
if (timeptr) {
char stime[26+8] = "";
if (strftime(stime, sizeof(stime), "%Y-%m-%d %H:%M:%S %z", timeptr)) // e.g. "1999-12-31 23:59:59 NZDT".
ARLOGi("--\nGenerator started at %s\n", stime);
}
}
if (genfset) {
if (tracking_extraction_level == -1 && (sd_thresh == -1.0 || min_thresh == -1.0 || max_thresh == -1.0 || occ_size == -1)) {
do {
printf("Select extraction level for tracking features, 0(few) <--> 4(many), [default=%d]: ", TRACKING_EXTRACTION_LEVEL_DEFAULT);
if( fgets(buf, sizeof(buf), stdin) == NULL ) EXIT(E_USER_INPUT_CANCELLED);
if (buf[0] == '\n') tracking_extraction_level = TRACKING_EXTRACTION_LEVEL_DEFAULT;
else sscanf(buf, "%d", &tracking_extraction_level);
} while (tracking_extraction_level < 0 || tracking_extraction_level > 4);
}
switch (tracking_extraction_level) {
case 0:
if( sd_thresh == -1.0f ) sd_thresh = AR2_DEFAULT_SD_THRESH_L0;
if( min_thresh == -1.0f ) min_thresh = AR2_DEFAULT_MIN_SIM_THRESH_L0;
if( max_thresh == -1.0f ) max_thresh = AR2_DEFAULT_MAX_SIM_THRESH_L0;
if( occ_size == -1 ) occ_size = AR2_DEFAULT_OCCUPANCY_SIZE;
break;
case 1:
if( sd_thresh == -1.0f ) sd_thresh = AR2_DEFAULT_SD_THRESH_L1;
if( min_thresh == -1.0f ) min_thresh = AR2_DEFAULT_MIN_SIM_THRESH_L1;
if( max_thresh == -1.0f ) max_thresh = AR2_DEFAULT_MAX_SIM_THRESH_L1;
if( occ_size == -1 ) occ_size = AR2_DEFAULT_OCCUPANCY_SIZE;
break;
case 2:
if( sd_thresh == -1.0f ) sd_thresh = AR2_DEFAULT_SD_THRESH_L2;
if( min_thresh == -1.0f ) min_thresh = AR2_DEFAULT_MIN_SIM_THRESH_L2;
if( max_thresh == -1.0f ) max_thresh = AR2_DEFAULT_MAX_SIM_THRESH_L2;
if( occ_size == -1 ) occ_size = AR2_DEFAULT_OCCUPANCY_SIZE*2/3;
break;
case 3:
if( sd_thresh == -1.0f ) sd_thresh = AR2_DEFAULT_SD_THRESH_L3;
if( min_thresh == -1.0f ) min_thresh = AR2_DEFAULT_MIN_SIM_THRESH_L3;
if( max_thresh == -1.0f ) max_thresh = AR2_DEFAULT_MAX_SIM_THRESH_L3;
if( occ_size == -1 ) occ_size = AR2_DEFAULT_OCCUPANCY_SIZE*2/3;
break;
case 4: // Same as 3, but with smaller AR2_DEFAULT_OCCUPANCY_SIZE.
if( sd_thresh == -1.0f ) sd_thresh = AR2_DEFAULT_SD_THRESH_L3;
if( min_thresh == -1.0f ) min_thresh = AR2_DEFAULT_MIN_SIM_THRESH_L3;
if( max_thresh == -1.0f ) max_thresh = AR2_DEFAULT_MAX_SIM_THRESH_L3;
if( occ_size == -1 ) occ_size = AR2_DEFAULT_OCCUPANCY_SIZE*1/2;
break;
default: // We only get to here if the parameters are already set.
break;
}
ARLOGi("MAX_THRESH = %f\n", max_thresh);
ARLOGi("MIN_THRESH = %f\n", min_thresh);
ARLOGi("SD_THRESH = %f\n", sd_thresh);
}
if (genfset3) {
if (initialization_extraction_level == -1 && featureDensity == -1) {
do {
printf("Select extraction level for initializing features, 0(few) <--> 3(many), [default=%d]: ", INITIALIZATION_EXTRACTION_LEVEL_DEFAULT);
if( fgets(buf,1024,stdin) == NULL ) EXIT(E_USER_INPUT_CANCELLED);
if (buf[0] == '\n') initialization_extraction_level = INITIALIZATION_EXTRACTION_LEVEL_DEFAULT;
else sscanf(buf, "%d", &initialization_extraction_level);
} while (initialization_extraction_level < 0 || initialization_extraction_level > 3);
}
switch(initialization_extraction_level) {
case 0:
if( featureDensity == -1 ) featureDensity = KPM_SURF_FEATURE_DENSITY_L0;
break;
default:
case 1:
if( featureDensity == -1 ) featureDensity = KPM_SURF_FEATURE_DENSITY_L1;
break;
case 2:
if( featureDensity == -1 ) featureDensity = KPM_SURF_FEATURE_DENSITY_L2;
break;
case 3:
if( featureDensity == -1 ) featureDensity = KPM_SURF_FEATURE_DENSITY_L3;
break;
}
ARLOGi("SURF_FEATURE = %d\n", featureDensity);
}
if ((err = readImageFromFile(filename, &image, &xsize, &ysize, &nc, &dpi)) != 0) {
ARLOGe("Error reading image from file '%s'.\n", filename);
EXIT(err);
}
setDPI();
ARLOGi("Generating ImageSet...\n");
ARLOGi(" (Source image xsize=%d, ysize=%d, channels=%d, dpi=%.1f).\n", xsize, ysize, nc, dpi);
imageSet = ar2GenImageSet( image, xsize, ysize, nc, dpi, dpi_list, dpi_num );
ar2FreeJpegImage(&jpegImage);
if( imageSet == NULL ) {
ARLOGe("ImageSet generation error!!\n");
EXIT(E_DATA_PROCESSING_ERROR);
}
ARLOGi(" Done.\n");
ar2UtilRemoveExt( filename );
ARLOGi("Saving to %s.iset...\n", filename);
if( ar2WriteImageSet( filename, imageSet ) < 0 ) {
ARLOGe("Save error: %s.iset\n", filename );
EXIT(E_DATA_PROCESSING_ERROR);
}
ARLOGi(" Done.\n");
if (genfset) {
arMalloc( featureSet, AR2FeatureSetT, 1 ); // A featureSet with a single image,
arMalloc( featureSet->list, AR2FeaturePointsT, imageSet->num ); // and with 'num' scale levels of this image.
featureSet->num = imageSet->num;
ARLOGi("Generating FeatureList...\n");
for( i = 0; i < imageSet->num; i++ ) {
ARLOGi("Start for %f dpi image.\n", imageSet->scale[i]->dpi);
featureMap = ar2GenFeatureMap( imageSet->scale[i],
AR2_DEFAULT_TS1*AR2_TEMP_SCALE, AR2_DEFAULT_TS2*AR2_TEMP_SCALE,
AR2_DEFAULT_GEN_FEATURE_MAP_SEARCH_SIZE1, AR2_DEFAULT_GEN_FEATURE_MAP_SEARCH_SIZE2,
AR2_DEFAULT_MAX_SIM_THRESH2, AR2_DEFAULT_SD_THRESH2 );
if( featureMap == NULL ) {
ARLOGe("Error!!\n");
EXIT(E_DATA_PROCESSING_ERROR);
}
ARLOGi(" Done.\n");
featureSet->list[i].coord = ar2SelectFeature2( imageSet->scale[i], featureMap,
AR2_DEFAULT_TS1*AR2_TEMP_SCALE, AR2_DEFAULT_TS2*AR2_TEMP_SCALE, AR2_DEFAULT_GEN_FEATURE_MAP_SEARCH_SIZE2,
occ_size,
max_thresh, min_thresh, sd_thresh, &num );
if( featureSet->list[i].coord == NULL ) num = 0;
featureSet->list[i].num = num;
featureSet->list[i].scale = i;
scale1 = 0.0f;
for( j = 0; j < imageSet->num; j++ ) {
if( imageSet->scale[j]->dpi < imageSet->scale[i]->dpi ) {
if( imageSet->scale[j]->dpi > scale1 ) scale1 = imageSet->scale[j]->dpi;
}
}
if( scale1 == 0.0f ) {
featureSet->list[i].mindpi = imageSet->scale[i]->dpi * 0.5f;
}
else {
/*
scale2 = imageSet->scale[i]->dpi;
scale = sqrtf( scale1 * scale2 );
featureSet->list[i].mindpi = scale2 / ((scale2/scale - 1.0f)*1.1f + 1.0f);
*/
featureSet->list[i].mindpi = scale1;
}
scale1 = 0.0f;
for( j = 0; j < imageSet->num; j++ ) {
if( imageSet->scale[j]->dpi > imageSet->scale[i]->dpi ) {
if( scale1 == 0.0f || imageSet->scale[j]->dpi < scale1 ) scale1 = imageSet->scale[j]->dpi;
}
}
if( scale1 == 0.0f ) {
featureSet->list[i].maxdpi = imageSet->scale[i]->dpi * 2.0f;
}
else {
//scale2 = imageSet->scale[i]->dpi * 1.2f;
scale2 = imageSet->scale[i]->dpi;
/*
scale = sqrtf( scale1 * scale2 );
featureSet->list[i].maxdpi = scale2 * ((scale/scale2 - 1.0f)*1.1f + 1.0f);
*/
featureSet->list[i].maxdpi = scale2*0.8f + scale1*0.2f;
}
ar2FreeFeatureMap( featureMap );
}
ARLOGi(" Done.\n");
ARLOGi("Saving FeatureSet...\n");
if( ar2SaveFeatureSet( filename, "fset", featureSet ) < 0 ) {
ARLOGe("Save error: %s.fset\n", filename );
EXIT(E_DATA_PROCESSING_ERROR);
}
ARLOGi(" Done.\n");
ar2FreeFeatureSet( &featureSet );
}
if (genfset3) {
ARLOGi("Generating FeatureSet3...\n");
refDataSet = NULL;
procMode = KpmProcFullSize;
for( i = 0; i < imageSet->num; i++ ) {
//if( imageSet->scale[i]->dpi > 100.0f ) continue;
maxFeatureNum = featureDensity * imageSet->scale[i]->xsize * imageSet->scale[i]->ysize / (480*360);
ARLOGi("(%d, %d) %f[dpi]\n", imageSet->scale[i]->xsize, imageSet->scale[i]->ysize, imageSet->scale[i]->dpi);
if( kpmAddRefDataSet (
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
imageSet->scale[i]->imgBWBlur[1],
#else
imageSet->scale[i]->imgBW,
#endif
AR_PIXEL_FORMAT_MONO,
imageSet->scale[i]->xsize,
imageSet->scale[i]->ysize,
imageSet->scale[i]->dpi,
procMode, KpmCompNull, maxFeatureNum, 1, i, &refDataSet) < 0 ) { // Page number set to 1 by default.
ARLOGe("Error at kpmAddRefDataSet.\n");
EXIT(E_DATA_PROCESSING_ERROR);
}
}
ARLOGi(" Done.\n");
ARLOGi("Saving FeatureSet3...\n");
if( kpmSaveRefDataSet(filename, "fset3", refDataSet) != 0 ) {
ARLOGe("Save error: %s.fset2\n", filename );
EXIT(E_DATA_PROCESSING_ERROR);
}
ARLOGi(" Done.\n");
kpmDeleteRefDataSet( &refDataSet );
}
ar2FreeImageSet( &imageSet );
// Print the start date and time.
clock = time(NULL);
if (clock != (time_t)-1) {
struct tm *timeptr = localtime(&clock);
if (timeptr) {
char stime[26+8] = "";
if (strftime(stime, sizeof(stime), "%Y-%m-%d %H:%M:%S %z", timeptr)) // e.g. "1999-12-31 23:59:59 NZDT".
ARLOGi("Generator finished at %s\n--\n", stime);
}
}
exitcode = E_NO_ERROR;
return (exitcode);
}
static void init( void )
{
ARParam cparam;
ARParamLT *cparamLT;
ARGViewport viewport;
xsize = 640;
ysize = 480;
ARLOGi("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
arParamClear(&cparam, xsize, ysize, AR_DIST_FUNCTION_VERSION_DEFAULT);
ARLOG("*** Camera Parameter ***\n");
arParamDisp( &cparam );
//COVHI10445 ignored as false positive, i.e. cparam->m[3][4] uninitialized.
cparamLT = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET);
arHandle = arCreateHandle(cparamLT);
if( arHandle == NULL ) {
ARLOGe("Error: arCreateHandle.\n");
exit(0);
}
arSetPixelFormat( arHandle, PIXEL_FORMAT );
arSetLabelingMode( arHandle, AR_LABELING_BLACK_REGION );
arSetImageProcMode( arHandle, AR_IMAGE_PROC_FRAME_IMAGE );
ar3DHandle = ar3DCreateHandle( &cparam );
if( ar3DHandle == NULL ) {
ARLOGe("Error: ar3DCreateHandle.\n");
exit(0);
}
/* open the graphics window */
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = xsize;
viewport.ysize = ysize;
vp = argCreateViewport( &viewport );
if( vp == NULL ) exit(0);
argViewportSetCparam( vp, &cparam );
argViewportSetPixFormat( vp, PIXEL_FORMAT );
argViewportSetDispMode( vp, AR_GL_DISP_MODE_FIT_TO_VIEWPORT );
argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_GL_DRAW_PIXELS );
//argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME );
//argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FIELD );
argViewportSetDistortionMode( vp, AR_GL_DISTORTION_COMPENSATE_DISABLE );
//argViewportSetDistortionMode( vp, AR_GL_DISTORTION_COMPENSATE_ENABLE );
#if 0
if( argSetFullScreenConfig("1024x768") == 0 ) {
ARLOGe("Full screen is not possible.\n");
exit(0);
}
//argGetWindowSizeFullScreen( &viewport.xsize, &viewport.ysize );
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = 1024;
viewport.ysize = 768;
argViewportSetViewportFullScreen( vpL, &viewport );
viewport.sx = 1024;
argViewportSetViewportFullScreen( vpR, &viewport );
#endif
}
AR2ImageSetT *ar2ReadImageSet( char *filename )
{
FILE *fp;
AR2JpegImageT *jpgImage;
AR2ImageSetT *imageSet;
float dpi;
int i, k1;
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
int j, k2;
ARUint *p1, *p2;
#endif
size_t len;
const char ext[] = ".iset";
char *buf;
len = strlen(filename) + strlen(ext) + 1; // +1 for nul terminator.
arMalloc(buf, char, len);
sprintf(buf, "%s%s", filename, ext);
fp = fopen(buf, "rb");
free(buf);
if (!fp) {
ARLOGe("Error: unable to open file '%s%s' for reading.\n", filename, ext);
return (NULL);
}
arMalloc( imageSet, AR2ImageSetT, 1 );
if( fread(&(imageSet->num), sizeof(imageSet->num), 1, fp) != 1 || imageSet->num <= 0) {
ARLOGe("Error reading imageSet.\n");
goto bail;
}
ARLOGi("Imageset contains %d images.\n", imageSet->num);
arMalloc( imageSet->scale, AR2ImageT*, imageSet->num );
arMalloc( imageSet->scale[0], AR2ImageT, 1 );
jpgImage = ar2ReadJpegImage2(fp); // Caller must free result.
if( jpgImage == NULL || jpgImage->nc != 1 ) {
ARLOGw("Falling back to reading '%s%s' in ARToolKit v4.x format.\n", filename, ext);
free(imageSet->scale[0]);
free(imageSet->scale);
free(imageSet);
if( jpgImage == NULL ) {
rewind(fp);
return ar2ReadImageSetOld(fp);
}
free(jpgImage); //COVHI10396
fclose(fp);
return NULL;
}
imageSet->scale[0]->xsize = jpgImage->xsize;
imageSet->scale[0]->ysize = jpgImage->ysize;
imageSet->scale[0]->dpi = jpgImage->dpi; // The dpi value is not read correctly by jpeglib embedded in OpenCV 2.2.x.
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
imageSet->scale[0]->imgBWBlur[0] = jpgImage->image;
// Create the blurred images.
for( j = 1; j < AR2_BLUR_IMAGE_MAX; j++ ) {
arMalloc( imageSet->scale[0]->imgBWBlur[j], ARUint8, imageSet->scale[0]->xsize * imageSet->scale[0]->ysize);
p1 = dst->imgBWBlur[0];
p2 = dst->imgBWBlur[i];
for( k1 = 0; k1 < imageSet->scale[0]->xsize * imageSet->scale[0]->ysize; k1++ ) *(p2++) = *(p1++);
defocus_image( imageSet->scale[0]->imgBWBlur[j], imageSet->scale[0]->xsize, imageSet->scale[0]->ysize, 3 );
}
#else
imageSet->scale[0]->imgBW = jpgImage->image;
#endif
free(jpgImage);
// Minify for the other scales.
// First, find the list of scales we wrote into the file.
fseek(fp, (long)(-(int)sizeof(dpi)*(imageSet->num - 1)), SEEK_END);
for( i = 1; i < imageSet->num; i++ ) {
if( fread(&dpi, sizeof(dpi), 1, fp) != 1 ) {
for( k1 = 0; k1 < i; k1++ ) {
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
for( k2 = 0; k2 < AR2_BLUR_IMAGE_MAX; k2++ ) free(imageSet->scale[k1]->imgBWBlur[k2]);
#else
free(imageSet->scale[k1]->imgBW);
#endif
free(imageSet->scale[k1]);
}
goto bail1;
}
imageSet->scale[i] = ar2GenImageLayer2( imageSet->scale[0], dpi );
if( imageSet->scale[i] == NULL ) {
for( k1 = 0; k1 < i; k1++ ) {
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
for( k2 = 0; k2 < AR2_BLUR_IMAGE_MAX; k2++ ) free(imageSet->scale[k1]->imgBWBlur[k2]);
#else
free(imageSet->scale[k1]->imgBW);
#endif
free(imageSet->scale[k1]);
}
goto bail1;
}
}
fclose(fp);
return imageSet;
bail1:
free(imageSet->scale);
bail:
free(imageSet);
fclose(fp);
return NULL;
}
AR2VideoParamWinMCT *ar2VideoOpenWinMC(const char *config)
{
AR2VideoParamWinMCT *vid;
int width = 320;
int height = 240;
int flipH = 0, flipV = 0;
int devNum = 0;
int showDialog = -1;
const char *a;
char b[256];
const char config_default[] = "";
int err_i = 0;
//ARLOG("Entering ar2VideoOpenWinMC\n");
if (ar2VideoWinMCRefCount == 0) {
if (!ar2VideoWinMCInit2()) return NULL;
}
ar2VideoWinMCRefCount++;
arMallocClear(vid, AR2VideoParamWinMCT, 1);
vid->format = AR_PIXEL_FORMAT_INVALID;
vid->preferredDeviceLocation = Windows::Devices::Enumeration::Panel::Unknown;
// Ensure the provided config is valid, otherwise use default config.
if (!config) a = config_default;
else if (!config[0]) a = config_default;
else a = config;
if (a != NULL) {
for (;;) {
while(*a == ' ' || *a == '\t') a++;
if (*a == '\0') break;
if (sscanf(a, "%s", b) == 0) break;
if (strncmp(b, "-devNum=", 8) == 0) {
if (sscanf(&b[8], "%d", &devNum) != 1) err_i = 1;
else if (devNum < 0) {
ARLOGe("Error: device number must be integer beginning with 1, or 0 to use default device.\n");
err_i = 1;
}
} else if( strncmp( b, "-format=", 8 ) == 0 ) {
if (strcmp(b+8, "0") == 0) {
vid->format = AR_PIXEL_FORMAT_INVALID;
ARLOGi("Requesting images in system default format.\n");
} else if (strcmp(b+8, "BGRA") == 0) {
vid->format = AR_PIXEL_FORMAT_BGRA;
ARLOGi("Requesting images in BGRA format.\n");
} else if (strcmp(b+8, "BGR") == 0) {
vid->format = AR_PIXEL_FORMAT_BGR;
ARLOGi("Requesting images in BGR format.\n");
} else if (strcmp(b+8, "RGB_565") == 0) {
vid->format = AR_PIXEL_FORMAT_RGB_565;
ARLOGi("Requesting images in RGB_565 format.\n");
} else if (strcmp(b+8, "RGBA_5551") == 0) {
vid->format = AR_PIXEL_FORMAT_RGBA_5551;
ARLOGi("Requesting images in RGB_5551 format.\n");
} else if (strcmp(b+8, "2vuy") == 0 || strcmp(b+8, "UYVY") == 0) {
vid->format = AR_PIXEL_FORMAT_2vuy;
ARLOGi("Requesting images in 2vuy/UYVY format.\n");
} else if (strcmp(b+8, "yuvs") == 0 || strcmp(b+8, "YUY2") == 0) {
vid->format = AR_PIXEL_FORMAT_yuvs;
ARLOGi("Requesting images in yuvs/YUY2 format.\n");
} else if (strcmp(b+8, "NV21") == 0) {
vid->format = AR_PIXEL_FORMAT_NV21;
ARLOGi("Requesting images in NV21 format.\n");
} else if (strcmp(b+8, "420f") == 0 || strcmp(b+8, "NV12") == 0) {
vid->format = AR_PIXEL_FORMAT_420f;
ARLOGi("Requesting images in 420f/NV12 format.\n");
} else {
ARLOGe("Ignoring request for unsupported video format '%s'.\n", b+8);
}
} else if( strncmp( b, "-position=", 10 ) == 0 ) {
if (strcmp(b+10, "rear") == 0 || strcmp(b+10, "back") == 0) {
vid->preferredDeviceLocation = Windows::Devices::Enumeration::Panel::Back;
} else if (strcmp(b+10, "front") == 0) {
vid->preferredDeviceLocation = Windows::Devices::Enumeration::Panel::Front;
} else if (strcmp(b+10, "left") == 0) {
vid->preferredDeviceLocation = Windows::Devices::Enumeration::Panel::Left;
} else if (strcmp(b+10, "right") == 0) {
vid->preferredDeviceLocation = Windows::Devices::Enumeration::Panel::Right;
} else if (strcmp(b+10, "top") == 0) {
vid->preferredDeviceLocation = Windows::Devices::Enumeration::Panel::Top;
} else if (strcmp(b+10, "bottom") == 0) {
vid->preferredDeviceLocation = Windows::Devices::Enumeration::Panel::Bottom;
} else if (strcmp(b+10, "default") == 0) {
vid->preferredDeviceLocation = Windows::Devices::Enumeration::Panel::Unknown;
} else {
ARLOGe("Error: unsupported video device position requested. Using default.\n");
}
} else if( strncmp( b, "-width=", 7 ) == 0 ) {
if( sscanf( &b[7], "%d", &width ) == 0 ) err_i = 1;
} else if( strncmp( b, "-height=", 8 ) == 0 ) {
if( sscanf( &b[8], "%d", &height ) == 0 ) err_i = 1;
} else if (strcmp(b, "-showDialog") == 0) {
showDialog = 1;
} else if (strcmp(b, "-noShowDialog") == 0) {
showDialog = 0;
} else if (strcmp(b, "-flipH") == 0) {
flipH = 1;
} else if (strcmp(b, "-noFlipH") == 0) {
flipH = 0;
} else if (strcmp(b, "-flipV") == 0) {
flipV = 1;
} else if (strcmp(b, "-noFlipV") == 0) {
flipV = 0;
} else if (strcmp(b, "-device=WinMC") == 0) {
//ARLOG("Device set to WinMC\n");
} else {
ARLOGe("Unrecognized config token: '%s'\n", b);
ar2VideoDispOptionWinMC();
return 0;
}
if (err_i) goto bail;
while(*a != ' ' && *a != '\t' && *a != '\0') a++;
}
}
// Defaults.
if (vid->format == AR_PIXEL_FORMAT_INVALID) vid->format = AR_PIXEL_FORMAT_BGR;
// Alloc and init WindowsMediaCapture.
vid->wmc = new WindowsMediaCapture;
if (!vid->wmc) {
ARLOGe("Error creating instance of Windows.Media.Capture.\n");
goto bail;
}
if (flipV) vid->wmc->setFlipV(true);
if (!startWMC(vid, width, height)) goto bail1;
return vid;
bail1:
delete vid->wmc;
vid->wmc = NULL;
bail:
free(vid);
ar2VideoWinMCRefCount--;
if (ar2VideoWinMCRefCount == 0) ar2VideoWinMCFinal2();
return NULL;
}
int main(int argc, char** argv)
{
int i;
char glutGamemode[32];
char cparam_name[] = "Data/camera_para.dat";
char vconf[] = "";
char objectDataFilename[] = "Data/object_data_vrml";
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
if (!setupCamera(cparam_name, vconf, &gCparamLT, &gARHandle, &gAR3DHandle)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
#ifdef _WIN32
CoInitialize(NULL);
#endif
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!windowed) {
if (windowRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", windowWidth, windowHeight, windowDepth, windowRefresh);
else sprintf(glutGamemode, "%ix%i:%i", windowWidth, windowHeight, windowDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
glutInitWindowSize(windowWidth, windowHeight);
glutCreateWindow(argv[0]);
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
arUtilTimerReset();
if (!setupMarkersObjects(objectDataFilename, &gObjectData, &gObjectDataCount, gARHandle)) {
ARLOGe("main(): Unable to set up AR objects and markers.\n");
cleanup();
exit(-1);
}
// Test render all the VRML objects.
ARLOGi("Pre-rendering the VRML objects...\n");
glEnable(GL_TEXTURE_2D);
for (i = 0; i < gObjectDataCount; i++) {
arVrmlDraw(gObjectData[i].vrml_id);
}
glDisable(GL_TEXTURE_2D);
ARLOGi(" done\n");
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
AR2VideoParamAndroidT *ar2VideoOpenAndroid( const char *config )
{
char *cacheDir = NULL;
AR2VideoParamAndroidT *vid;
const char *a;
char line[1024];
int err_i = 0;
int i;
int width = 0, height = 0;
arMallocClear( vid, AR2VideoParamAndroidT, 1 );
a = config;
if( a != NULL) {
for(;;) {
while( *a == ' ' || *a == '\t' ) a++;
if( *a == '\0' ) break;
if (sscanf(a, "%s", line) == 0) break;
if( strcmp( line, "-device=Android" ) == 0 ) {
} else if( strncmp( line, "-width=", 7 ) == 0 ) {
if( sscanf( &line[7], "%d", &width ) == 0 ) {
ARLOGe("Error: Configuration option '-width=' must be followed by width in integer pixels.\n");
err_i = 1;
}
} else if( strncmp( line, "-height=", 8 ) == 0 ) {
if( sscanf( &line[8], "%d", &height ) == 0 ) {
ARLOGe("Error: Configuration option '-height=' must be followed by height in integer pixels.\n");
err_i = 1;
}
} else if( strncmp( line, "-format=", 8 ) == 0 ) {
if (strcmp(line+8, "0") == 0) {
vid->format = 0;
ARLOGi("Requesting images in system default format.\n");
} else if (strcmp(line+8, "RGBA") == 0) {
vid->format = AR_PIXEL_FORMAT_RGBA;
ARLOGi("Requesting images in RGBA format.\n");
} else if (strcmp(line+8, "NV21") == 0) {
vid->format = AR_PIXEL_FORMAT_NV21;
ARLOGi("Requesting images in NV21 format.\n");
} else if (strcmp(line+8, "420f") == 0 || strcmp(line+8, "NV12") == 0) {
vid->format = AR_PIXEL_FORMAT_420f;
ARLOGi("Requesting images in 420f/NV12 format.\n");
} else {
ARLOGe("Ignoring request for unsupported video format '%s'.\n", line+8);
}
} else if (strncmp(a, "-cachedir=", 10) == 0) {
// Attempt to read in pathname, allowing for quoting of whitespace.
a += 10; // Skip "-cachedir=" characters.
if (*a == '"') {
a++;
// Read all characters up to next '"'.
i = 0;
while (i < (sizeof(line) - 1) && *a != '\0') {
line[i] = *a;
a++;
if (line[i] == '"') break;
i++;
}
line[i] = '\0';
} else {
sscanf(a, "%s", line);
}
if (!strlen(line)) {
ARLOGe("Error: Configuration option '-cachedir=' must be followed by path (optionally in double quotes).\n");
err_i = 1;
} else {
free(cacheDir);
cacheDir = strdup(line);
}
} else {
err_i = 1;
}
if (err_i) {
ARLOGe("Error: Unrecognised configuration option '%s'.\n", a);
ar2VideoDispOptionAndroid();
goto bail;
}
while( *a != ' ' && *a != '\t' && *a != '\0') a++;
}
}
// Initial state.
if (!vid->format) vid->format = AR_INPUT_ANDROID_PIXEL_FORMAT;
if (!vid->focal_length) vid->focal_length = AR_VIDEO_ANDROID_FOCAL_LENGTH_DEFAULT;
// In lieu of identifying the actual camera, we use manufacturer/model/board to identify a device,
// and assume that identical devices have identical cameras.
// Handset ID, via <sys/system_properties.h>.
int len;
len = __system_property_get(ANDROID_OS_BUILD_MANUFACTURER, vid->device_id); // len = (int)strlen(device_id).
vid->device_id[len] = '/';
len++;
len += __system_property_get(ANDROID_OS_BUILD_MODEL, vid->device_id + len);
vid->device_id[len] = '/';
len++;
len += __system_property_get(ANDROID_OS_BUILD_BOARD, vid->device_id + len);
// Set width and height if specified.
if (width && height) {
vid->width = width;
vid->height = height;
}
if (cparamSearchInit(cacheDir, false) < 0) {
ARLOGe("Unable to initialise cparamSearch.\n");
goto bail;
};
goto done;
bail:
free(vid);
vid = NULL;
done:
free(cacheDir);
return (vid);
}
int main(int argc, char** argv)
{
char glutGamemode[32];
const char *cparam_name = "Data2/camera_para.dat";
char vconf[] = "";
const char markerConfigDataFilename[] = "Data2/markers.dat";
#ifdef DEBUG
arLogLevel = AR_LOG_LEVEL_DEBUG;
#endif
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
#ifdef _WIN32
CoInitialize(NULL);
#endif
if (!setupCamera(cparam_name, vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
if (!initNFT(gCparamLT, arVideoGetPixelFormat())) {
ARLOGe("main(): Unable to init NFT.\n");
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!prefWindowed) {
if (prefRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else sprintf(glutGamemode, "%ix%i:%i", prefWidth, prefHeight, prefDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arUtilTimerReset();
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, &markersNFT, &markersNFTCount);
if (!markersNFTCount) {
ARLOGe("Error loading markers from config. file '%s'.\n", markerConfigDataFilename);
cleanup();
exit(-1);
}
ARLOGi("Marker count = %d\n", markersNFTCount);
// Marker data has been loaded, so now load NFT data.
if (!loadNFTData()) {
ARLOGe("Error loading NFT data.\n");
cleanup();
exit(-1);
}
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
