// All tasks which require both video and OpenGL to be inited should be performed here.
// References globals: cameraLens, gCparamLT, gPixFormat
// Modifies globals: gArglSettings
static bool initARView(void)
{
#ifdef DEBUG
LOGI("Initialising ARView\n");
#endif
if (gARViewInited) return (false);
#ifdef DEBUG
LOGI("Setting up argl.\n");
#endif
if ((gArglSettings = arglSetupForCurrentContext(&gCparamLT->param, gPixFormat)) == NULL) {
LOGE("Unable to setup argl.\n");
return (false);
}
#ifdef DEBUG
LOGI("argl setup OK.\n");
#endif
// Load objects (i.e. OSG models).
VirtualEnvironmentInit(objectDataFilename);
VirtualEnvironmentHandleARViewUpdatedCameraLens(cameraLens);
gARViewInited = true;
#ifdef DEBUG
LOGI("ARView initialised.\n");
#endif
return (true);
}
int CWindow::SetupWindow(void)
{
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_ALPHA | GLUT_DEPTH);
glutInitWindowSize(width * scale, height * scale);
glutInitWindowPosition(10, 20);
if(glutCreateWindow("ARDeskTop") < 1) {
exit(-1);
}
// glewInit();
glutDisplayFunc(::Display);
glutReshapeFunc(::Reshape);
glutVisibilityFunc(::Visibility);
glutKeyboardFunc(::Keyboard);
glutMouseFunc(::Mouse);
if((arglSettings = arglSetupForCurrentContext()) == 0) {
exit(-1);
}
// if(FUTL_LoadShader("simple.vert", "simple.frag", &shdProg) < 0) return(-1);
// glUseProgram(shdProg);
return(1);
}
// All tasks which require both video and OpenGL to be inited should be performed here.
// References globals: gCparamLT, gPixFormat
// Modifies globals: gArglSettings
static bool initARView(void)
{
#ifdef DEBUG
LOGI("Initialising ARView\n");
#endif
if (gARViewInited) return (false);
#ifdef DEBUG
LOGI("Setting up argl.\n");
#endif
if ((gArglSettings = arglSetupForCurrentContext(&gCparamLT->param, gPixFormat)) == NULL) {
LOGE("Unable to setup argl.\n");
return (false);
}
#ifdef DEBUG
LOGI("argl setup OK.\n");
#endif
gARViewInited = true;
#ifdef DEBUG
LOGI("ARView initialised.\n");
#endif
return (true);
}
int main(int argc, char** argv) {
char glutGamemode[32];
glutInit(&argc, argv);
setup_camera();
setup_marker();
init_voxels_hp();
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
glutInitWindowSize(prefWidth, prefHeight);
camera_win_id = glutCreateWindow("Camera");
glutTimerFunc(10, TimeEvent, 1);
ARGL_CONTEXT_SETTINGS_REF argl_context_ref = NULL;
// Setup argl library for current context.
if ((argl_context_ref = arglSetupForCurrentContext()) == NULL) {
std::cout << "main(): arglSetupForCurrentContext() returned error." << std::endl;
exit(-1);
}
arUtilTimerReset();
glEnable(GL_TEXTURE_2D);
glEnable(GL_DEPTH_TEST);
glClearColor(0.0, 0.0, 0.0, 1.0);
glutVisibilityFunc(visibility_camera);
glutIdleFunc(idle_camera);
glutDisplayFunc(display_camera);
glutReshapeFunc(reshape);
glutKeyboardFunc(debug_only);
setup_voxels();
camera_set_context(argl_context_ref);
viewer_win_id = glutCreateWindow("Viewer");
glEnable(GL_TEXTURE_2D);
glEnable(GL_DEPTH_TEST);
glClearColor(0.0,0.0,0.0,1.0);
glutVisibilityFunc(visibility_viewer);
glutIdleFunc(idle_viewer);
glutDisplayFunc(display_viewer);
glutReshapeFunc(reshape_viewer);
auto voxel_t = std::thread(voxel_carving_routine);
auto capture_t = std::thread(image_capturing_routine);
auto should_capture_t = std::thread(should_capture_routine);
auto a_cam_buffer_t = std::thread(transfer);
voxel_t.detach();
capture_t.detach();
should_capture_t.detach();
a_cam_buffer_t.detach();
glutMainLoop();
return 0;
}
int main(int argc, char *argv[])
{
// ----------------------------------------------------------------------------
// Library inits.
//
glutInit(&argc, argv);
// ----------------------------------------------------------------------------
// Hardware setup.
//
if (!setupCamera(&gARTCparam)) {
fprintf(stderr, "main(): Unable to set up AR camera.\n");
exit(-1);
}
// ----------------------------------------------------------------------------
// Library setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE);
glutInitWindowSize(gARTCparam.xsize, gARTCparam.ysize);
glutCreateWindow(argv[0]);
// Setup argl library for current context.
if ((gArglSettings = arglSetupForCurrentContext()) == NULL) {
fprintf(stderr, "main(): arglSetupForCurrentContext() returned error.\n");
exit(-1);
}
arMalloc(gARTsaveImage, ARUint8, gARTCparam.xsize * gARTCparam.ysize * AR_PIX_SIZE_DEFAULT);
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMouseFunc(Mouse);
glutMainLoop();
return (0);
}
static int setupMovie(const char *path)
{
char *movieVconf;
int len;
int xsize, ysize;
AR_PIXEL_FORMAT pixFormat;
// Construct the vconf string.
arMalloc(movieVconf, char, 2048); // 2Kb for URL.
sprintf(movieVconf, "-device=QUICKTIME -movie=\""); // Make sure we're using the QuickTime video input.
len = (int)strlen(movieVconf);
strncat(movieVconf + len, path, 2048 - len - 1);
len = (int)strlen(movieVconf);
strncat(movieVconf + len, "\" -loop -pause", 2048 - len - 1); // Start the movie paused. It will be unpaused in mainLoop().
// Open the movie.
gMovieVideo = ar2VideoOpen(movieVconf);
free(movieVconf);
if (!gMovieVideo)
{
ARLOGe("setupMovie(): Unable to open movie.\n");
return (FALSE);
}
// Find the size of the movie.
if (ar2VideoGetSize(gMovieVideo, &xsize, &ysize) < 0)
return (FALSE);
// Get the pixel format of the movie.
pixFormat = ar2VideoGetPixelFormat(gMovieVideo);
if (pixFormat == AR_PIXEL_FORMAT_INVALID)
{
ARLOGe("setupMovie(): Movie is using unsupported pixel format.\n");
return (FALSE);
}
// Set up an ARParam object for the movie input.
arParamClear(&gMovieCparam, xsize, ysize, AR_DIST_FUNCTION_VERSION_DEFAULT);
// For convenience, we will use gsub_lite to draw the actual pixels. Set it up now.
gMovieArglSettings = arglSetupForCurrentContext(&gMovieCparam, pixFormat);
arglDistortionCompensationSet(gMovieArglSettings, 0);
return (TRUE);
}
//==============
// arglの初期化
//==============
bool cARTK::initArgl( void )
{
// arglをOpenGLの現在のコンテキスト用にセットアップ
if( (m_pArglSettings = arglSetupForCurrentContext()) == NULL )
{
ErrorMessage( "arglSetupForCurrentContext() returned error.\n" );
return false;
}
double c = cos( 3.1515926 * 0.5 );
double s = sin( 3.1515926 * 0.5 );
m_dmatRotX[ 0] = 1.0; m_dmatRotX[ 1] = 0.0; m_dmatRotX[ 2] = 0.0; m_dmatRotX[ 3] = 0.0;
m_dmatRotX[ 4] = 0.0; m_dmatRotX[ 5] = c; m_dmatRotX[ 6] = s; m_dmatRotX[ 7] = 0.0;
m_dmatRotX[ 8] = 0.0; m_dmatRotX[ 9] = -s; m_dmatRotX[10] = c; m_dmatRotX[11] = 0.0;
m_dmatRotX[12] = 0.0; m_dmatRotX[13] = 0.0; m_dmatRotX[14] = 0.0; m_dmatRotX[15] = 1.0;
MatrixRotationX( m_matRotX, -3.1415926f * 0.5f );
return true;
}
int main(int argc, char** argv)
{
char glutGamemode[32];
char cparam_name[] = "Data/camera_para.dat";
char vconf[] = "";
char patt_name[] = "Data/patt.hiro";
char movieFileName[] = "Data/sample.mov";
char *movieURI;
//
// 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);
}
//
// 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();
// Load marker(s).
if (!setupMarker(patt_name, &gPatt_id, gARHandle, &gARPattHandle)) {
ARLOGe("main(): Unable to set up AR marker.\n");
cleanup();
exit(-1);
}
//
// Movie loading.
//
// In this example, we load a movie via a file URI, but other URIs allowed
// by the QuickTime module would also be fine.
// Movie relative path is in "movieFileName". Get a file:// URI for it.
movieURI = arUtilGetFileURI(movieFileName);
if (!movieURI) {
ARLOGe("Error: Unable to construct URI for movie file '%s'.\n", movieFileName);
cleanup();
exit(-1);
}
// Now open the movie.
if (!setupMovie(movieURI)) {
ARLOGe("Error: Unable to open movie at URI '%s'.\n", movieURI);
free(movieURI);
cleanup();
exit(-1);
}
free(movieURI); // We're finished with movieURI, so free it.
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char** argv)
{
int i;
char glutGamemode[32];
const char *cparam_name =
"Data/camera_para.dat";
#ifdef _WIN32
char *vconf = "Data\\WDM_camera_flipV.xml";
#else
char *vconf = "";
#endif
char objectDataFilename[] = "Data/object_data_vrml";
// ----------------------------------------------------------------------------
// Library inits.
//
glutInit(&argc, argv);
// ----------------------------------------------------------------------------
// Hardware setup.
//
if (!setupCamera(cparam_name, vconf, &gARTCparam)) {
fprintf(stderr, "main(): Unable to set up AR camera.\n");
exit(-1);
}
#ifdef _WIN32
CoInitialize(NULL);
#endif
// ----------------------------------------------------------------------------
// Library 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(gARTCparam.xsize, gARTCparam.ysize);
glutCreateWindow(argv[0]);
}
// Setup argl library for current context.
if ((gArglSettings = arglSetupForCurrentContext()) == NULL) {
fprintf(stderr, "main(): arglSetupForCurrentContext() returned error.\n");
exit(-1);
}
debugReportMode();
arUtilTimerReset();
if (!setupMarkersObjects(objectDataFilename)) {
fprintf(stderr, "main(): Unable to set up AR objects and markers.\n");
Quit();
}
// Test render all the VRML objects.
fprintf(stdout, "Pre-rendering the VRML objects...");
fflush(stdout);
glEnable(GL_TEXTURE_2D);
for (i = 0; i < gObjectDataCount; i++) {
arVrmlDraw(gObjectData[i].vrml_id);
}
glDisable(GL_TEXTURE_2D);
fprintf(stdout, " done\n");
// Register GLUT event-handling callbacks.
// NB: Idle() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
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);
}
int main(int argc, char** argv)
{
char glutGamemode[32];
const char *cparam_name = "Data/camera_para.dat";
//
// Camera configuration.
//
#ifdef _WIN32
char *vconf = "Data\\WDM_camera_flipV.xml";
#else
char *vconf = "";
#endif
const char *patt_name = "Data/patt.hiro";
// ----------------------------------------------------------------------------
// Library inits.
//
glutInit(&argc, argv);
// ----------------------------------------------------------------------------
// Hardware setup.
//
if (!setupCamera(cparam_name, vconf, &gARTCparam)) {
fprintf(stderr, "main(): Unable to set up AR camera.\n");
exit(-1);
}
// ----------------------------------------------------------------------------
// Library 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(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
}
// Setup argl library for current context.
if ((gArglSettings = arglSetupForCurrentContext()) == NULL) {
fprintf(stderr, "main(): arglSetupForCurrentContext() returned error.\n");
exit(-1);
}
debugReportMode(gArglSettings);
glEnable(GL_DEPTH_TEST);
arUtilTimerReset();
if (!setupMarker(patt_name, &gPatt_id)) {
fprintf(stderr, "main(): Unable to set up AR marker.\n");
Quit();
}
// Register GLUT event-handling callbacks.
// NB: Idle() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char **argv)
{
char glutGamemode[32];
char *cpara = NULL;
char cparaDefault[] = "Data/camera_para.dat";
char *vconf = NULL;
int patt_names_count = 0;
char *patt_names[CHECK_ID_MULTIMARKERS_MAX] = {NULL};
ARdouble pattRatio = (ARdouble)AR_PATT_RATIO;
AR_MATRIX_CODE_TYPE matrixCodeType = AR_MATRIX_CODE_TYPE_DEFAULT;
int labelingMode = AR_DEFAULT_LABELING_MODE;
int patternDetectionMode = AR_DEFAULT_PATTERN_DETECTION_MODE;
int i, gotTwoPartOption;
float tempF;
int tempI;
//
// Library inits.
//
glutInit(&argc, argv);
//
// Startup options.
//
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], "--pattRatio") == 0)
{
i++;
if (sscanf(argv[i], "%f", &tempF) == 1 && tempF > 0.0f && tempF < 1.0f)
pattRatio = (ARdouble)tempF;
else
ARLOGe("Error: argument '%s' to --pattRatio invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattSize") == 0)
{
i++;
if (sscanf(argv[i], "%d", &tempI) == 1 && tempI >= 16 && tempI <= AR_PATT_SIZE1_MAX)
gPattSize = tempI;
else
ARLOGe("Error: argument '%s' to --pattSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattCountMax") == 0)
{
i++;
if (sscanf(argv[i], "%d", &tempI) == 1 && tempI > 0)
gPattCountMax = tempI;
else
ARLOGe("Error: argument '%s' to --pattSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--borderSize") == 0)
{
i++;
if (sscanf(argv[i], "%f", &tempF) == 1 && tempF > 0.0f && tempF < 0.5f)
pattRatio = (ARdouble)(1.0f - 2.0f * tempF);
else
ARLOGe("Error: argument '%s' to --borderSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--matrixCodeType") == 0)
{
i++;
if (strcmp(argv[i], "AR_MATRIX_CODE_3x3") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3;
else if (strcmp(argv[i], "AR_MATRIX_CODE_3x3_HAMMING63") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3_HAMMING63;
else if (strcmp(argv[i], "AR_MATRIX_CODE_3x3_PARITY65") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3_PARITY65;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4_BCH_13_9_3") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4_BCH_13_9_3;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4_BCH_13_5_5") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4_BCH_13_5_5;
else if (strcmp(argv[i], "AR_MATRIX_CODE_5x5") == 0)
matrixCodeType = AR_MATRIX_CODE_5x5;
else if (strcmp(argv[i], "AR_MATRIX_CODE_6x6") == 0)
matrixCodeType = AR_MATRIX_CODE_6x6;
else if (strcmp(argv[i], "AR_MATRIX_CODE_GLOBAL_ID") == 0)
matrixCodeType = AR_MATRIX_CODE_GLOBAL_ID;
else
ARLOGe("Error: argument '%s' to --matrixCodeType invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--labelingMode") == 0)
{
i++;
if (strcmp(argv[i], "AR_LABELING_BLACK_REGION") == 0)
labelingMode = AR_LABELING_BLACK_REGION;
else if (strcmp(argv[i], "AR_LABELING_WHITE_REGION") == 0)
labelingMode = AR_LABELING_WHITE_REGION;
else
ARLOGe("Error: argument '%s' to --labelingMode invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--patternDetectionMode") == 0)
{
i++;
if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_COLOR") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_COLOR;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_MONO") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_MONO;
else if (strcmp(argv[i], "AR_MATRIX_CODE_DETECTION") == 0)
patternDetectionMode = AR_MATRIX_CODE_DETECTION;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_MONO_AND_MATRIX") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_MONO_AND_MATRIX;
else
ARLOGe("Error: argument '%s' to --patternDetectionMode invalid.\n", 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], "-border=", 8) == 0)
{
if (sscanf(&(argv[i][8]), "%f", &tempF) == 1 && tempF > 0.0f && tempF < 0.5f)
pattRatio = (ARdouble)(1.0f - 2.0f * tempF);
else
ARLOGe("Error: argument '%s' to -border= invalid.\n", argv[i]);
}
else
{
if (patt_names_count < CHECK_ID_MULTIMARKERS_MAX)
{
patt_names[patt_names_count] = argv[i];
patt_names_count++;
}
// } else {
// ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
// usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!cpara)
cpara = cparaDefault;
if (!setupCamera(cpara, vconf, &gCparamLT, &gARHandle, &gAR3DHandle))
{
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
arSetPatternDetectionMode(gARHandle, patternDetectionMode);
arSetLabelingMode(gARHandle, labelingMode);
arSetPattRatio(gARHandle, pattRatio);
arSetMatrixCodeType(gARHandle, matrixCodeType);
//
// 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(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);
}
arglSetupDebugMode(gArglSettings, gARHandle);
arUtilTimerReset();
// Load marker(s).
if (!setupMarkers(patt_names_count, (const char**)patt_names, gMultiConfigs, gARHandle, &gARPattHandle))
{
ARLOGe("main(): Unable to set up AR marker(s).\n");
cleanup();
exit(-1);
}
gMultiConfigCount = patt_names_count;
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
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);
}
int main(int argc, char** argv)
{
//
// load:
// intrinsice camera parameters, video configuration, pattern configuration and model file
//
char glutGamemode[32];
char cparam_name[] = "Data/camera_para.dat";
char vconf[] = "";
char patt_name[] = "Data/patt.irc";
char obj_name[] = "Data/bunny.obj";
gObj = glmReadOBJ(obj_name);
if (gObj == NULL)
{
ARLOGe("main(): Unable to load obj model file.\n");
exit(-1);
}
glmUnitize(gObj);
glmScale(gObj, 1.5*markerSize);
//
// 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);
}
// Load marker(s).
if (!setupMarker(patt_name, &gPatt_id, gARHandle, &gARPattHandle)) {
ARLOGe("main(): Unable to set up AR marker.\n");
cleanup();
exit(-1);
}
//
// 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();
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutVisibilityFunc(Visibility);
glutReshapeFunc(Reshape);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char** argv)
{
char glutGamemode[32];
const char *cparam_name = "Data/camera_para.dat";
//
// Camera configuration.
//
char *vconf = "v4l2src device=/dev/video0 ! ffmpegcolorspace ! capsfilter caps=video/x-raw-rgb,bpp=24,width=320,height=240 ! identity name=artoolkit ! fakesink";
const char *patt_name = "Data/patt.kanji";
// ----------------------------------------------------------------------------
// Library inits.
//
glutInit(&argc, argv);
// ----------------------------------------------------------------------------
// Hardware setup.
//
if (!setupCamera(cparam_name, vconf, &gARTCparam)) {
fprintf(stderr, "main(): Unable to set up AR camera.\n");
exit(-1);
}
//Read in ply file
parse();
// ----------------------------------------------------------------------------
// Library 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(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
}
// Setup argl library for current context.
if ((gArglSettings = arglSetupForCurrentContext()) == NULL) {
fprintf(stderr, "main(): arglSetupForCurrentContext() returned error.\n");
exit(-1);
}
debugReportMode(gArglSettings);
glEnable(GL_DEPTH_TEST);
arUtilTimerReset();
if (!setupMarker(patt_name, &gPatt_id)) {
fprintf(stderr, "main(): Unable to set up AR marker.\n");
Quit();
}
// Register GLUT event-handling callbacks.
// NB: Idle() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char** argv)
{
char glutGamemode[32];
const char *cparam_name = "Data/camera_para.dat";
char vconf[] = "";
const char *patt_name = "Data/cubeMarkerConfig.dat";
//
// 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);
}
//
// 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(prefWidth, prefHeight);
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);
debugReportMode(gARHandle);
glEnable(GL_DEPTH_TEST);
arUtilTimerReset();
// Load marker(s).
if (!setupCubeMarker(patt_name, &gMultiConfig, gARHandle, &gARPattHandle)) {
ARLOGe("main(): Unable to set up AR marker.\n");
cleanup();
exit(-1);
}
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
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);
}
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);
}