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 init(int argc, char *argv[])
{
char *vconfL = NULL;
char *vconfR = NULL;
char *cparaL = NULL;
char *cparaR = NULL;
char cparaLDefault[] = "Data/cparaL.dat";
char cparaRDefault[] = "Data/cparaR.dat";
ARParam wparam;
ARGViewport viewport;
int i, j;
int gotTwoPartOption;
int screenWidth, screenHeight, screenMargin;
double wscalef, hscalef, scalef;
chessboardCornerNumX = 0;
chessboardCornerNumY = 0;
calibImageNum = 0;
patternWidth = 0.0f;
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], "--vconfL") == 0) {
i++;
vconfL = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--vconfR") == 0) {
i++;
vconfR = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--cparaL") == 0) {
i++;
cparaL = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--cparaR") == 0) {
i++;
cparaR = 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 if( strncmp(argv[i], "-cparaL=", 8) == 0 ) {
cparaL = &(argv[i][8]);
} else if( strncmp(argv[i], "-cparaR=", 8) == 0 ) {
cparaR = &(argv[i][8]);
} 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;
if (!cparaL) cparaL = cparaLDefault;
if (!cparaR) cparaR = cparaRDefault;
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 Left : %s\n", vconfL);
ARLOG("Video parameter Right: %s\n", vconfR);
ARLOG("Camera parameter Left : %s\n", cparaL);
ARLOG("Camera parameter Right: %s\n", cparaR);
if( (vidL=ar2VideoOpen(vconfL)) == NULL ) {
ARLOGe("Cannot found the first camera.\n");
exit(0);
}
if( (vidR=ar2VideoOpen(vconfR)) == NULL ) {
ARLOGe("Cannot found the second camera.\n");
exit(0);
}
if( ar2VideoGetSize(vidL, &xsizeL, &ysizeL) < 0 ) exit(0);
if( ar2VideoGetSize(vidR, &xsizeR, &ysizeR) < 0 ) exit(0);
if( (pixFormatL=ar2VideoGetPixelFormat(vidL)) < 0 ) exit(0);
if( (pixFormatR=ar2VideoGetPixelFormat(vidR)) < 0 ) exit(0);
ARLOG("Image size for the left camera = (%d,%d)\n", xsizeL, ysizeL);
ARLOG("Image size for the right camera = (%d,%d)\n", xsizeR, ysizeR);
if( arParamLoad(cparaL, 1, &wparam) < 0 ) {
ARLOGe("Camera parameter load error !! %s\n", cparaL);
exit(0);
}
arParamChangeSize( &wparam, xsizeL, ysizeL, ¶mL );
ARLOG("*** Camera Parameter for the left camera ***\n");
arParamDisp( ¶mL );
if( arParamLoad(cparaR, 1, &wparam) < 0 ) {
ARLOGe("Camera parameter load error !! %s\n", cparaR);
exit(0);
}
arParamChangeSize( &wparam, xsizeR, ysizeR, ¶mR );
ARLOG("*** Camera Parameter for the right camera ***\n");
arParamDisp( ¶mR );
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) < (xsizeL + xsizeR) || (screenHeight - screenMargin) < MAX(ysizeL, ysizeR)) {
wscalef = (double)(screenWidth - screenMargin) / (double)(xsizeL + xsizeR);
hscalef = (double)(screenHeight - screenMargin) / (double)MAX(ysizeL, ysizeR);
scalef = MIN(wscalef, hscalef);
ARLOG("Scaling %dx%d window by %0.3f to fit onto %dx%d screen (with %2.0f%% margin).\n", xsizeL + xsizeR, MAX(ysizeL, ysizeR), scalef, screenWidth, screenHeight, SCREEN_SIZE_MARGIN*100.0);
} else {
scalef = 1.0;
}
} else {
scalef = 1.0;
}
/* open the graphics window */
if( argCreateWindow((int)((xsizeL + xsizeR)*scalef), (int)(MAX(ysizeL, ysizeR)*scalef)) < 0 ) {
ARLOGe("Error: argCreateWindow.\n");
exit(0);
}
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = (int)(xsizeL*scalef);
viewport.ysize = (int)(ysizeL*scalef);
if( (vpL=argCreateViewport(&viewport)) == NULL ) {
ARLOGe("Error: argCreateViewport.\n");
exit(0);
}
viewport.sx = (int)(xsizeL*scalef);
viewport.sy = 0;
viewport.xsize = (int)(xsizeR*scalef);
viewport.ysize = (int)(ysizeR*scalef);
if( (vpR=argCreateViewport(&viewport)) == NULL ) {
ARLOGe("Error: argCreateViewport.\n");
exit(0);
}
argViewportSetPixFormat( vpL, pixFormatL );
argViewportSetPixFormat( vpR, pixFormatR );
argViewportSetCparam( vpL, ¶mL );
argViewportSetCparam( vpR, ¶mR );
argViewportSetDispMethod( vpL, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME );
argViewportSetDispMethod( vpR, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME );
argViewportSetDispMode(vpL, AR_GL_DISP_MODE_FIT_TO_VIEWPORT_KEEP_ASPECT_RATIO);
argViewportSetDispMode(vpR, AR_GL_DISP_MODE_FIT_TO_VIEWPORT_KEEP_ASPECT_RATIO);
calibImageL = cvCreateImage( cvSize(xsizeL, ysizeL), IPL_DEPTH_8U, 1);
calibImageR = cvCreateImage( cvSize(xsizeR, ysizeR), IPL_DEPTH_8U, 1);
arMalloc(cornersL, CvPoint2D32f, chessboardCornerNumX*chessboardCornerNumY);
arMalloc(cornersR, CvPoint2D32f, chessboardCornerNumX*chessboardCornerNumY);
arMalloc(worldCoord, ICP3DCoordT, chessboardCornerNumX*chessboardCornerNumY);
for( i = 0; i < chessboardCornerNumX; i++ ) {
for( j = 0; j < chessboardCornerNumY; j++ ) {
worldCoord[i*chessboardCornerNumY+j].x = patternWidth*i;
worldCoord[i*chessboardCornerNumY+j].y = patternWidth*j;
worldCoord[i*chessboardCornerNumY+j].z = 0.0;
}
}
arMalloc(calibData, ICPCalibDataT, calibImageNum);
for( i = 0; i < calibImageNum; i++ ) {
arMalloc(calibData[i].screenCoordL, ICP2DCoordT, chessboardCornerNumX*chessboardCornerNumY);
arMalloc(calibData[i].screenCoordR, ICP2DCoordT, chessboardCornerNumX*chessboardCornerNumY);
calibData[i].worldCoordL = worldCoord;
calibData[i].worldCoordR = worldCoord;
calibData[i].numL = chessboardCornerNumX*chessboardCornerNumY;
calibData[i].numR = chessboardCornerNumX*chessboardCornerNumY;
}
return;
}
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
}