static void init( void )
{
ARParam wparam;
/* open the video path */
if( arVideoOpen( vconf ) < 0 ) exit(0);
/* find the size of the window */
if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
if( (config = arMultiReadConfigFile(config_name)) == NULL ) {
printf("config data load error !!\n");
exit(0);
}
/* open the graphics window */
argInit( &cparam, 1.0, 0, 2, 1, 0 );
arFittingMode = AR_FITTING_TO_IDEAL;
arImageProcMode = AR_IMAGE_PROC_IN_HALF;
argDrawMode = AR_DRAW_BY_TEXTURE_MAPPING;
argTexmapMode = AR_DRAW_TEXTURE_HALF_IMAGE;
}
static void init( void )
{
ARParam wparam;
int i;
/* open the video path */
if( arVideoOpen( vconf ) < 0 ) exit(0);
/* find the size of the window */
if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
for( i=0; i < PTT_NUM; i++){
if( (object[i].patt_id = arLoadPatt(object[i].patt_name)) < 0 ) {
printf("パターン読み込みに失敗しました!! %s\n", object[i].patt_name);
exit(0);
}
}
/* open the graphics window */
argInit( &cparam, 1.0, 0, 0, 0, 0 );
}
void ARBundlePublisher::arInit ()
{
ROS_INFO("Starting arInit");
arInitCparam (&cam_param_);
ROS_INFO ("*** Camera Parameter ***");
arParamDisp (&cam_param_);
// load in the object data - trained markers and associated bitmap files
if ((object = ar_object::read_ObjData (pattern_filename_, &objectnum)) == NULL)
ROS_BREAK ();
ROS_INFO("Objectfile num = %d", objectnum);
// load in the transform data - transform of marker frame wrt center frame
if ((tfs= ar_transforms::read_Transforms (transforms_filename_, objectnum)) == NULL)
ROS_BREAK ();
ROS_INFO("Read in transforms successfully");
sz_ = cvSize (cam_param_.xsize, cam_param_.ysize);
#if ROS_VERSION_MINIMUM(1, 9, 0)
// FIXME: Why is this not in the object
cv_bridge::CvImagePtr capture_;
#else
// DEPRECATED: Fuerte support ends when Hydro is released
capture_ = cvCreateImage (sz_, IPL_DEPTH_8U, 4);
#endif
}
static void init() {
ARParam wparam;
//Open video path, vconf is default camera config
if (arVideoOpen(vconf) < 0) {
exit(0);
}
//Get size of window
if (arVideoInqSize(&xsize, &ysize) < 0) {
exit(0);
}
//Set camera paramaters
if (arParamLoad(cparam_name, 1, &wparam) < 0) {
printf("Couldn't load camera parameters");
exit(0);
}
arParamChangeSize(&wparam, xsize, ysize, &cparam);
arInitCparam(&cparam);
//Load pattern
if ((patt_id = arLoadPatt(patt_name)) < 0) {
printf("Failed to load pattern");
exit(0);
}
//Open graphics window
argInit(&cparam, 1, 0, 0, 0, 0);
}
static int setupCamera(const char *cparam_name, char *vconf, ARParam *cparam)
{
ARParam wparam;
int xsize, ysize;
// Open the video path.
if (arVideoOpen(vconf) < 0) {
fprintf(stderr, "setupCamera(): Unable to open connection to camera.\n");
return (FALSE);
}
// Find the size of the window.
if (arVideoInqSize(&xsize, &ysize) < 0) return (FALSE);
fprintf(stdout, "Camera image size (x,y) = (%d,%d)\n", xsize, ysize);
// Load the camera parameters, resize for the window and init.
if (arParamLoad(cparam_name, 1, &wparam) < 0) {
fprintf(stderr, "setupCamera(): Error loading parameter file %s for camera.\n", cparam_name);
return (FALSE);
}
arParamChangeSize(&wparam, xsize, ysize, cparam);
fprintf(stdout, "*** Camera Parameter ***\n");
arParamDisp(cparam);
arInitCparam(cparam);
if (arVideoCapStart() != 0) {
fprintf(stderr, "setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
return (TRUE);
}
/* set up the application parameters - read in from command line*/
static int init( int argc, char *argv[] )
{
ARParam wparam;
/* open the video path */
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if( arParamLoad(CPARA, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
/* open the graphics window */
argInit( &cparam, 1.0, 0, 2, 1, 0 );
arFittingMode = AR_FITTING_TO_IDEAL;
arImageProcMode = AR_IMAGE_PROC_IN_HALF;
argDrawMode = AR_DRAW_BY_TEXTURE_MAPPING;
argTexmapMode = AR_DRAW_TEXTURE_FULL_IMAGE;
gen_image( imgMode );
dispMode();
return 0;
}
static void init( void )
{
ARParam wparam;
/* open the video path */
if( arVideoOpen( vconf ) < 0 ) exit(0);
/* find the size of the window */
if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
/* load in the object data - trained markers and associated bitmap files */
if( (object=read_ObjData(model_name, &objectnum)) == NULL ) exit(0);
printf("Objectfile num = %d\n", objectnum);
/* open the graphics window */
argInit( &cparam, 2.0, 0, 0, 0, 0 );
}
static void init( void )
{
ARParam wparam;
char name1[256], name2[256];
printf("Enter camera parameter filename");
printf("(Data/camera_para.dat): ");
if( fgets(name1, 256, stdin) == NULL ) exit(0);
if( sscanf(name1, "%s", name2) != 1 ) {
strcpy( name2, "Data/camera_para.dat");
}
if( arParamLoad(name2, 1, &wparam) < 0 ) {
printf("Parameter load error !!\n");
exit(0);
}
if( arVideoOpen(vconf) < 0 ) exit(0);
if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
arMalloc( image, ARUint8, xsize*ysize*AR_PIX_SIZE );
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
arParamChangeSize( &wparam, xsize, ysize, ¶m );
arParamDisp( ¶m );
arInitCparam( ¶m );
argInit( ¶m, 1.0, 0, 0, 0, 0 );
argDrawMode2D();
}
static void init( void )
{
ARParam wparam;
/* open the video path */
if( knVideoOpen( vconf ) < 0 ) exit(0);
/* find the size of the window */
if( knVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
if( (patt_id=arLoadPatt(patt_name)) < 0 ) {
printf("pattern load error !!\n");
exit(0);
}
/* open the graphics window */
argInit( &cparam, 1.0, 0, 0, 0, 0 );
}
static void init( void )
{
/* Josh */
ARParam wparam;
xsize = 1024; //my size of picture
ysize = 1024;
//dp = opendir ("./");
dp = opendir (directory);
// devil
ilInit();
iluInit();
if (dp == NULL)
{
printf("Image directory could not be opened !!\n");
exit(0);
}
// get first image for size, then reload directory
GetNextImage();
dp = opendir (directory);
// if over size limit (or possibly not detected)
if ((xsize >= 1024) || (ysize >= 1024) || (xsize == FALSE) || (ysize == FALSE))
{
printf("Image size invalid - too big or broken !!\n");
exit(0);
}
/* Josh */
arParamChangeSize( &wparam, xsize, ysize, &cparam );
//arVideoInqSize(&xsize, &ysize);
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
if( (patt_id=arLoadPatt(patt_name)) < 0 ) {
printf("pattern load error !!\n");
exit(0);
}
/* open the graphics window */
argInit( &cparam, 1.0, 0, 0, 0, 0 );
}
//=======================================================
// 初期化関数
//=======================================================
void Init(void)
{
ARParam wparam; // カメラパラメータ
// ビデオデバイスの設定
if( arVideoOpen( vconf_name ) < 0 ){
printf("ビデオデバイスのエラー\n");
exit(0);
}
// ウィンドウサイズの取得
if( arVideoInqSize( &xsize, &ysize ) < 0 ) exit(0);
printf("Image size (x,y) = (%d,$d)\n", xsize, ysize);
// カメラパラメータの設定
if( arParamLoad( cparam_name, 1, &wparam ) < 0 ){
printf("カメラパラメータの読み込みに失敗しました\n");
exit(0);
}
// カメラパラメータのサイズ調整
arParamChangeSize( &wparam, xsize, ysize, &cparam );
// カメラパラメータの初期化
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
// パターンファイルのロード
for( int i=0; i<MARK_NUM; i++ ){
if( (marker[i].patt_id = arLoadPatt(marker[i].patt_name)) < 0){
printf("パターンファイルの読み込みに失敗しました\n");
printf("%s\n", marker[i].patt_name);
exit(0);
}
}
// gsubライブラリの初期化
argInit( &cparam, 1.0, 0, 0, 0, 0 );
mqoInit(); //メタセコイアの初期化
// モデルの読み込み
for(int i=0;i<8;i++){
if ( (model[i] = mqoCreateModel( mqo_name[i], 1.0 )) == NULL ) {
printf("モデルの読み込みに失敗しました\n");
// return -1;
}
}
if ( (rmodel = mqoCreateModel( mqo_rnm, 1.0 )) == NULL ) {
printf("モデルの読み込みに失敗しました\n");
// return -1;
}
// ウィンドウタイトルの設定
glutSetWindowTitle("PaperPiano");
}
/*
* Class: net_towerdefender_image_ARToolkit
* Method: artoolkit_init
* Signature: (Ljava/lang/String;IIII)V
*/
JNIEXPORT void JNICALL Java_net_towerdefender_image_ARToolkit_artoolkit_1init__Ljava_lang_String_2IIII(
JNIEnv *env, jobject object, jstring calibFile, jint imageWidth,
jint imageHeight, jint screenWidth, jint screenHeight) {
ARParam wparam;
const char *cparam_name = (*env)->GetStringUTFChars(env, calibFile, NULL);
xsize = imageHeight;
ysize = imageHeight;
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if (arParamLoad(cparam_name, 1, &wparam) < 0) {
__android_log_write(ANDROID_LOG_ERROR, "AR native",
"Camera parameter load error !!");
jclass exc = (*env)->FindClass(env,
"net/towerdefender/exceptions/ARRuntimeException");
if (exc != NULL)
(*env)->ThrowNew(env, exc, "Camera parameter load error !!");
//exit(EXIT_FAILURE);
}
#ifdef DEBUG_LOGGING
else {
__android_log_write(ANDROID_LOG_INFO,"AR native","Camera parameter loaded successfully !!");
}
#endif
arParamChangeSize(&wparam, imageWidth, imageHeight, &cparam);
arInitCparam(&cparam);
printf("*** Camera Parameter ***\n");
arParamDisp(&cparam);
//initialize openGL stuff
argInit(&cparam, 1.0, 0, screenWidth, screenHeight, 0);
//gl_cpara
jclass arObjectClass = (*env)->FindClass(env,
"net/towerdefender/image/ARObject");
if (arObjectClass != NULL) {
jfieldID glCameraMatrixFieldID = (*env)->GetStaticFieldID(env,
arObjectClass, "glCameraMatrix", "[F");
if (glCameraMatrixFieldID != NULL) {
jobject glCameraMatrixObj = (*env)->GetStaticObjectField(env,
arObjectClass, glCameraMatrixFieldID);
if (glCameraMatrixObj != NULL) {
float *glCamMatrix = (*env)->GetFloatArrayElements(env,
glCameraMatrixObj, JNI_FALSE);
int i = 0;
for (i = 0; i < 16; i++)
glCamMatrix[i] = gl_cpara[i];
(*env)->ReleaseFloatArrayElements(env, glCameraMatrixObj,
glCamMatrix, 0);
}
}
}
(*env)->ReleaseStringUTFChars(env, calibFile, cparam_name);
}
int main(int argc,char**argv){
ARParam cparam;
ARParam wparam;
int xsize,ysize;
glutInit(&argc,argv);
if(arVideoOpen(vconf_name)<0){
puts("ビデオデバイスエラー");
return -1;
}
if(arVideoInqSize(&xsize,&ysize) < 0)return -1;
if(arParamLoad(cparam_name,1,&wparam)< 0){
puts("パラメータ読み込み失敗");
return -1;
}
arParamChangeSize(&wparam,xsize,ysize,&cparam);
arInitCparam(&cparam);
nyobj = nyar_NyARTransMat_O2_create(&cparam);
if( (patt_id=arLoadPatt(pattern_name)) < 0){
puts("パターン読み込みエラー");
return -1;
}
argInit(&cparam, 1.0, 0, 0, 0, 0);
mqoInit();
if(Data_Load()==-1)
return -1;
arVideoCapStart();
InitGame();
arUtilTimerReset();
#ifdef _WIN32
TIMECAPS Caps;
timeGetDevCaps(&Caps, sizeof(TIMECAPS)); // 性能取得
timeBeginPeriod(Caps.wPeriodMin);
#endif
argMainLoop(MouseEvent,KeyEvent,MainLoop);
#ifdef _WIN32
timeEndPeriod(Caps.wPeriodMin);
#endif
nyar_NyARTransMat_O2_free(nyobj);
return 0;
}
static void init( void )
{
ARParam wparam;
/* open the video path */
if( arVideoOpen( vconf ) < 0 ) exit(0);
/* find the size of the window */
if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
/* load the paddle marker file */
if( (paddleInfo = paddleInit(paddle_name)) == NULL ) {
printf("paddleInit error!!\n");
exit(0);
}
printf("Loaded Paddle File\n");
if( (config = arMultiReadConfigFile(config_name)) == NULL ) {
printf("config data load error !!\n");
exit(0);
}
printf("Loaded Multi Marker File\n");
/* init items */
myListItem.itemnum=4;
myListItem.item[0].pos[0]=0.;myListItem.item[0].pos[1]=0.;myListItem.item[0].onpaddle=0;
myListItem.item[1].pos[0]=100.;myListItem.item[1].pos[1]=-100.;myListItem.item[1].onpaddle=0;
myListItem.item[2].pos[0]=200.;myListItem.item[2].pos[1]=0.;myListItem.item[2].onpaddle=0;
myListItem.item[3].pos[0]=0.;myListItem.item[3].pos[1]=0.;myListItem.item[3].onpaddle=1;
/* set up the initial paddle contents */
myPaddleItem.item = 3;
myPaddleItem.angle = 0.0;
myPaddleItem.x = 0.0;
myPaddleItem.y = 0.0;
/* open the graphics window */
argInit( &cparam, 1.0, 0, 0, 0, 0 );
}
/*
* Setup artoolkit
*/
void ARPublisher::arInit ()
{
arInitCparam (&cam_param_);
ROS_INFO ("*** Camera Parameter ***");
arParamDisp (&cam_param_);
// load in the object data - trained markers and associated bitmap files
if ((object = ar_object::read_ObjData (pattern_filename_, data_directory_, &objectnum)) == NULL)
ROS_BREAK ();
ROS_DEBUG ("Objectfile num = %d", objectnum);
sz_ = cvSize (cam_param_.xsize, cam_param_.ysize);
capture_ = cvCreateImage (sz_, IPL_DEPTH_8U, 4);
configured_ = true;
}
int main(int argc, char **argv)
{
ARParam cparam;
ARParam wparam;
int xsize, ysize;
printf("test\n");
glutInit(&argc, argv);
if (arVideoOpen(vconf_name) < 0) {
printf("ビデオデバイスのエラー");
return -1;
}
if (arVideoInqSize(&xsize, &ysize) < 0) return -1;
if (arParamLoad(cparam_name, 1, &wparam) < 0) {
printf("カメラパラメータの読み込みに失敗しました\n");
return -1;
}
arParamChangeSize(&wparam, xsize, ysize, &cparam);
arInitCparam(&cparam);
if ((patt_id = arLoadPatt(patt_name)) < 0) {
printf("パターンファイルの読み込みに失敗しました\n");
return -1;
}
argInit(&cparam, 1.0, 0, 0, 0, 0);
arVideoCapStart();
argMainLoop(MouseEvent, KeyEvent, MainLoop);
return 0;
}
//initialisation artoolkit
void arInit()
{
printf("Debut initialisation AR\n");
cout << vconf << endl;
ARParam wparam;
///ouverture fenetre de dialogue de parametrage
if( arVideoOpen( vconf ) < 0 ) /*exit(0)*/ printf("Connexion a la webcam impossible\n");
if( arVideoInqSize(&xsize, &ysize) < 0 ) /*exit(0)*/printf("Impossible de recuperer la taille de la video\n");
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
///parametrage de la camera via la fentre de dialogue precedente
if( arParamLoad(cparam_name, 1, &wparam) < 0 )
{
printf("Camera parameter load error !!\n");
//exit(0);
}
//changement des param de base par ceux choisi lors de l'affichage de la fenetre de configuration
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam ); ///affichage parametres
///fin init camera
///debut init marker de detection
for( int i = 0; i < 2; i++ )
{
if( (object[i].patt_id=arLoadPatt(object[i].patt_name)) < 0 )
{
printf("pattern load error: %s\n", object[i].patt_name);
//exit(0);
}
}
argInit( &cparam, 1.0, 0, 0, 0, 0 );
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
printf("Fin initialisation AR\n");
}
static void init( void )
{
ARParam wparam;
int i;
/* open the video path */
if( arVideoOpen( vconf ) < 0 ) exit(0);
/* find the size of the window */
if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
/* load the paddle marker file */
if( (paddleInfo = paddleInit(paddle_name)) == NULL ) {
printf("paddleInit error!!\n");
exit(0);
}
printf("Loaded Paddle File\n");
if( (config = arMultiReadConfigFile(config_name)) == NULL ) {
printf("config data load error !!\n");
exit(0);
}
printf("Loaded Multi Marker File\n");
/* initialize the targets */
for (i=0;i<TARGET_NUM;i++){
myTarget[i].pos[0] = 50.0*i;
myTarget[i].pos[1] = -50.0*i;
myTarget[i].pos[2] = 50.0*i;
myTarget[i].state = NOT_TOUCHED;
}
/* open the graphics window */
argInit( &cparam, 1.0, 0, 0, 0, 0 );
}
static void init( void )
{
ARParam wparam;
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
/* open the graphics window */
argInit( &cparam, 1.0, 0, 0, 0, 0 );
}
static int setupCamera(ARParam *cparam)
{
ARParam wparam;
char name1[256], name2[256];
int xsize, ysize;
printf("Enter camera parameter filename");
printf("(Data/camera_para.dat): ");
if (fgets(name1, 256, stdin) == NULL) exit(0);
if (sscanf(name1, "%s", name2) != 1) {
strcpy(name2, "Data/camera_para.dat");
}
// Load the camera parameters.
if (arParamLoad(name2, 1, &wparam) < 0 ) {
printf("Parameter load error !!\n");
return (FALSE);
}
// Open the video path.
if (arVideoOpen(vconf) < 0) {
fprintf(stderr, "setupCamera(): Unable to open connection to camera.\n");
return (FALSE);
}
// Find the size of the window.
if (arVideoInqSize(&xsize, &ysize) < 0) return (FALSE);
fprintf(stdout, "Camera image size (x,y) = (%d,%d)\n", xsize, ysize);
// Resize for the window and init.
arParamChangeSize(&wparam, xsize, ysize, cparam);
fprintf(stdout, "*** Camera Parameter ***\n");
arParamDisp(cparam);
arInitCparam(cparam);
if (arVideoCapStart() != 0) {
fprintf(stderr, "setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
return (TRUE);
}
void ARSinglePublisher::arInit ()
{
arInitCparam (&cam_param_);
ROS_INFO ("*** Camera Parameter ***");
arParamDisp (&cam_param_);
// load pattern file
ROS_INFO ("Loading pattern");
patt_id_ = arLoadPatt (pattern_filename_);
if (patt_id_ < 0)
{
ROS_ERROR ("Pattern file load error: %s", pattern_filename_);
ROS_BREAK ();
}
sz_ = cvSize (cam_param_.xsize, cam_param_.ysize);
capture_ = cvCreateImage (sz_, IPL_DEPTH_8U, 4);
}
void ARMultiPublisher::arInit()
{
arInitCparam(&cam_param_);
ROS_INFO("Camera parameters for ARMultiPublisher are:");
arParamDisp(&cam_param_);
if ((multi_marker_config_ = arMultiReadConfigFile(pattern_filename_)) == NULL)
{
ROS_ASSERT_MSG(false, "Could not load configurations for ARMultiPublisher.");
}
// load in the object data - trained markers and associated bitmap files
// if ((object = ar_object::read_ObjData(pattern_filename_, &objectnum)) == NULL)
// ROS_BREAK ();
num_total_markers_ = multi_marker_config_->marker_num;
ROS_INFO("Read >%i< objects from file.", num_total_markers_);
size_ = cvSize(cam_param_.xsize, cam_param_.ysize);
capture_ = cvCreateImage(size_, IPL_DEPTH_8U, 4);
}
int CWebCam::SetupWebCam(const char *cparam_names, char *vconfs)
{
int xsize, ysize;
ARParam wparam;
if((ARTVideo = ar2VideoOpen(vconfs)) == 0) return(0);
if(ar2VideoInqSize(ARTVideo, &xsize, &ysize) < 0) return(0);
if(arParamLoad(cparam_names, 1, &wparam) < 0) return(0);
arParamChangeSize(&wparam, xsize, ysize, &ARTCparam);
arInitCparam(&ARTCparam);
arParamDisp(&ARTCparam);
ARTThreshhold = 100;
arglCameraFrustumRH(&ARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, projectionMat);
if(ar2VideoCapStart(ARTVideo) != 0) return(0);
ar2VideoCapNext(ARTVideo);
return(1);
}
/* set up the application parameters - read in from command line*/
static int init(void)
{
char cparaname[256];
char pattname[256];
ARParam wparam;
strcpy( cparaname, "Data/camera_para.dat" );
strcpy( pattname, "Data/patt.hiro" );
/* open the video path */
if( arVideoOpen( vconf ) < 0 ) exit(0);
/* find the size of the window */
if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if( arParamLoad(cparaname, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
/* open the graphics window */
argInit( &cparam, 2.0, 0, 2, 1, 0 );
if( (target_id = arLoadPatt(pattname)) < 0 ) {
printf("Target pattern load error!!\n");
exit(0);
}
arDebug = 0;
return 0;
}
int main(int argc, char **argv)
{
ARUint8 *dataPtr;
//
// Camera configuration.
//
#ifdef _WIN32
char *vconf = "Data\\WDM_camera_flipV.xml";
#else
char *vconf = "";
#endif
int count = 0;
// char *cparam_name = "../calib_camera2/newparam.dat";
char path[100];
char cparam_name[100];
char* cur_filename;
if (argc < 2) {
fprintf(stderr,"provide a jpeg file name\n");
return;
}
int one = 1;
//glutInit(&one,argv);
cur_filename = argv[1];
frame_ind = atoi(argv[3]);
if (argc > 2) {
sprintf(path,"%s/", argv[2]);
} else {
sprintf(path, "");
}
fprintf(stderr,"%d %s,\n", argc, cur_filename);
/// make this get an image with curl
dataPtr = loadImage(cur_filename,&xsize,&ysize);
ARParam wparam;
sprintf(cparam_name,"%s%s",path,"camera_para.dat");
fprintf(stderr,"%s\n", cparam_name);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
//if( arParamLoad("camera_para.dat", 1, &wparam) < 0 ) {
fprintf(stderr,"Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
//fprintf(stderr,"*** Camera Parameter ***\n");
//arParamDisp( &cparam );
int patt_id;
char buffer[100];
sprintf(buffer,"%spatt.hiro",path);
if( (patt_id=arLoadPatt(buffer)) < 0 ) {
fprintf(stderr,"pattern load error !!\n");
exit(0);
}
fprintf(stderr,"patt.hiro %d\n", patt_id);
sprintf(buffer,"%spatt.sample1",path);
if( (patt_id=arLoadPatt(buffer)) < 0 ) {
fprintf(stderr,"pattern load error !!\n");
exit(0);
}
fprintf(stderr,"patt.sample1 %d\n", patt_id);
sprintf(buffer,"%spatt.sample2",path);
if( (patt_id=arLoadPatt(buffer)) < 0 ) {
fprintf(stderr,"pattern load error !!\n");
exit(0);
}
fprintf(stderr,"patt.sample2 %d\n", patt_id);
sprintf(buffer,"%spatt.kanji",path);
if( (patt_id=arLoadPatt(buffer)) < 0 ) {
fprintf(stderr,"pattern load error !!\n");
exit(0);
}
fprintf(stderr,"patt.kanji %d\n", patt_id);
#if 0
fprintf(stderr,"xysize %d %d\n\
cparam %g\t%g\t%g\t%g\n \
mat\n \
%g\t%g\t%g\t%g\n \
%g\t%g\t%g\t%g\n \
%g\t%g\t%g\t%g\n",
cparam.xsize, cparam.ysize,
cparam.dist_factor[0], cparam.dist_factor[1], cparam.dist_factor[2], cparam.dist_factor[3],
cparam.mat[0][0], cparam.mat[0][1], cparam.mat[0][2], cparam.mat[0][3],
cparam.mat[1][0], cparam.mat[1][1], cparam.mat[1][2], cparam.mat[1][3],
cparam.mat[2][0], cparam.mat[2][1], cparam.mat[2][2], cparam.mat[2][3]
);
#endif
/* open the graphics window */
//argInit( &cparam, 1.0, 0, 0, 0, 0 );
//printf("%s,\t\n",cur_filename);
findMarkers(dataPtr);
argCleanup();
}
int main(int argc, char **argv)
{
int one = 1;
glutInit(&one,argv);
init();
cur_filename = argv[1];
fprintf(stderr,"%d %s,\n", argc, cur_filename);
fprintf(stdout,"%s,\t",cur_filename);
if (argc > 2) {
fprintf(stderr,"showing graphics\n");
singleLoop = 0;
}
////
dataPtr = loadImage(cur_filename);
///
ARParam wparam;
/* open the video path */
//if( arVideoOpen( vconf ) < 0 ) exit(0);
/* find the size of the window */
//if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
//fprintf(stderr,"Image size (x,y) = (%d,%d)\n", xsize, image->rows);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
fprintf(stderr,"Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
//fprintf(stderr,"*** Camera Parameter ***\n");
//arParamDisp( &cparam );
if( (patt_id=arLoadPatt(patt_name)) < 0 ) {
fprintf(stderr,"pattern load error !!\n");
exit(0);
}
#if 0
fprintf(stderr,"xysize %d %d\n\
cparam %g\t%g\t%g\t%g\n \
mat\n \
%g\t%g\t%g\t%g\n \
%g\t%g\t%g\t%g\n \
%g\t%g\t%g\t%g\n",
cparam.xsize, cparam.ysize,
cparam.dist_factor[0], cparam.dist_factor[1], cparam.dist_factor[2], cparam.dist_factor[3],
cparam.mat[0][0], cparam.mat[0][1], cparam.mat[0][2], cparam.mat[0][3],
cparam.mat[1][0], cparam.mat[1][1], cparam.mat[1][2], cparam.mat[1][3],
cparam.mat[2][0], cparam.mat[2][1], cparam.mat[2][2], cparam.mat[2][3]
);
#endif
/* open the graphics window */
argInit( &cparam, 1.0, 0, 0, 0, 0 );
///
//arVideoCapStart();
findMarkers();
if (singleLoop) {
//mainLoop();
} else {
argMainLoop( NULL, NULL /*keyEvent*/, mainLoop );
}
}
//========
// 初期化
//========
bool cARTK::initialize( void )
{
const char *szCameraParamFName = "../Data/camera_para.dat";
const char *szPattFName = "../Data/patt.00";
#ifdef _WIN32
char *szVConfFName = "../Data/WDM_camera_flipV.xml";
#else
char *szVConfFName = "";
#endif
ARParam sCamParamTemp;
int iCamImgSizeX,
iCamImgSizeY;
// カメラデバイスのオープン
if( arVideoOpen( szVConfFName ) < 0 )
{
ErrorMessage( "Unable to open connection to camera.\n" );
return false;
}
// カメラ画像のサイズを取得
if( arVideoInqSize( &iCamImgSizeX, &iCamImgSizeY ) < 0 ) return false;
// カメラパラメータファイルの読込み
if( arParamLoad( szCameraParamFName, 1, &sCamParamTemp ) < 0 )
{
ErrorMessage( "Error loading parameter file for camera.\n" );
return false;
}
// カメラパラメータのサイズ部分を変更
arParamChangeSize( &sCamParamTemp, iCamImgSizeX, iCamImgSizeY, &m_sCameraParam );
// ライブラリ内のカメラパラメータの初期化
arInitCparam( &m_sCameraParam );
// カメラ画像のキャプチャを開始
if( arVideoCapStart() != 0 )
{
ErrorMessage( "Unable to begin camera data capture.\n" );
return false;
}
// マーカーパターンファイルの読込み
if( (m_iPattID = arLoadPatt( szPattFName )) < 0 )
{
ErrorMessage( "Pattern file load error !!\n" );
return false;
}
m_uiARTImageSize = sizeof(ARUint8) * iCamImgSizeX * iCamImgSizeY * 3;
m_pARTImage = (ARUint8 *)malloc( m_uiARTImageSize );
memset( m_pARTImage, 0, m_uiARTImageSize );
m_dViewScaleFactor = 0.16;
m_dPattWidth = 40.0;
m_bFirstTime = true;
return true;
}
//========
// 初期化
//========
bool cARTK::initialize( void )
{
const char *szCameraParamFName = "Data/camera_para.dat";
#ifdef _WIN32
char *szVConfFName = "Data/WDM_camera_flipV.xml";
#else
char *vconf = "";
#endif
ARParam sCamParamTemp;
int iCamImgSizeX,
iCamImgSizeY;
// カメラデバイスのオープン
if( arVideoOpen( szVConfFName ) < 0 )
{
ErrorMessage( "Unable to open connection to camera.\n" );
return false;
}
// カメラ画像のサイズを取得
if( arVideoInqSize( &iCamImgSizeX, &iCamImgSizeY ) < 0 ) return false;
// カメラパラメータファイルの読込み
if( arParamLoad( szCameraParamFName, 1, &sCamParamTemp ) < 0 )
{
ErrorMessage( "Error loading parameter file for camera.\n" );
return false;
}
// カメラパラメータのサイズ部分を変更
arParamChangeSize( &sCamParamTemp, iCamImgSizeX, iCamImgSizeY, &m_sCameraParam );
// ライブラリ内のカメラパラメータの初期化
arInitCparam( &m_sCameraParam );
// NyARTransMatの初期化
m_pNyARInst = nyar_NyARTransMat_O2_create( &m_sCameraParam );
// カメラ画像のキャプチャを開始
if( arVideoCapStart() != 0 )
{
ErrorMessage( "Unable to begin camera data capture.\n" );
return false;
}
// マーカーパターンファイルの読込み
for( int i = 0 ; i < ARMK_MAXNUM ; i++ )
{
if( (m_sMarkerInfo[i].iPattID = arLoadPatt( g_szPattFName[i] )) < 0 )
{
ErrorMessage( "Pattern file load error !!\n" );
return false;
}
m_sMarkerInfo[i].dWidth = g_dPattWidth[i];
m_sMarkerInfo[i].dCenterPos[0] = m_sMarkerInfo[i].dCenterPos[1] = 0.0f;
m_sMarkerInfo[i].bVisible = false;
}
// ちょっとずらす
m_sMarkerInfo[1].dCenterPos[0] = 0.0f;
m_sMarkerInfo[1].dCenterPos[1] = 30.0f;
m_iThreshold = 120;
m_dViewScaleFactor = 0.16;
return true;
}
/*
* Class: com_clab_artoolkit_port_JARToolkit
* Method: JARInitCparam
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_net_sourceforge_jartoolkit_core_JARToolKit_initCparam(JNIEnv *, jobject)
{
if(cparam==NULL)
return -1;
return arInitCparam( cparam );
}
bool BazARTracker::init(int xsize, int ysize,
const std::string& bazar_config_name,
const std::string& camera_name)
{
/*OSGART*/
ARParam wparam;
// Set the initial camera parameters.
cparamName = camera_name;
if(arParamLoad((char*)cparamName.c_str(), 1, &wparam) < 0) {
std::cerr << "ERROR: Camera parameter load error." << std::endl;
return false;
}
arParamChangeSize(&wparam, xsize, ysize,&(m_cparam->cparam));
arInitCparam(&(m_cparam->cparam));
arParamDisp(&(m_cparam->cparam));
/*BAZAR*/
// load BazAR's configuration files and detector parameters
if (!loadBazARConfig(bazar_config_name, &bazconf)) exit(0);
// load BazAR's camera calibration file
if (!loadBazARCamParams((char*)(bazconf.camCalFileName),&bazconf)) exit(0);
// init bazar tracker
matCameraRT4_4 = cvCreateMat(4, 4, CV_64F); //64 bit double precision float
g_matIntrinsic = cvCreateMat(3, 3, CV_64F);
// output windows
if (getDebugMode()){
cvNamedWindow("Gray", CV_WINDOW_AUTOSIZE);
cvNamedWindow("Result_BAZAR", CV_WINDOW_AUTOSIZE);
}
// fine tuning for accuracy - careful!!
detector.ransac_dist_threshold = (float)bazconf.ransac_dist_threshold;
detector.max_ransac_iterations = (float)bazconf.max_ransac_iterations;
detector.non_linear_refine_threshold = (float)bazconf.non_linear_refine_threshold;
detector.match_score_threshold = (float)bazconf.match_score_threshold; // A lower threshold will allow detection in harder conditions, but
// might lead to false positives
// Train or load classifier
if(!detector.build_with_cache(
// hse25: no hard coded stuff :) -- jaja
(char*)(bazconf.modelFileName), // mode image file name
400, // maximum number of keypoints on the model
32, // patch size in pixels
3, // yape radius. Use 3,5 or 7.
16, // number of trees for the classifier. Somewhere between 12-50
3 // number of levels in the gaussian pyramid
))
{
cerr << "BazARTracker: Unable to load the model image " << (char*)(bazconf.modelFileName) <<" or its classifier.\n";
return false;
}
// set camera parameters for BAZAR
char *camCal = (char*)(bazconf.camCalFileName);
char *camExt = (char*)(bazconf.camExtFileName);
if(!augment.LoadOptimalStructureFromFile(camCal, camExt))
{
std::cerr << "BazARTracker: couldn't load camera parameters: " << camCal << " " << camExt << std::endl;
return false;
}
// image buffers needed for detection, conversion..
image = cvCreateImage(cvSize(xsize, ysize), IPL_DEPTH_8U, 4); // captured image
gray = cvCreateImage(cvSize(xsize, ysize), IPL_DEPTH_8U, 1); // detector input
display = cvCreateImage(cvSize(xsize, ysize), IPL_DEPTH_8U, 4); // debug
// use bazar's camera calibration
m_cparam->cparam.mat[0][0] = bazconf.camCalMatrix[0][0]; m_cparam->cparam.mat[0][1] = bazconf.camCalMatrix[0][1]; m_cparam->cparam.mat[0][2] = bazconf.camCalMatrix[0][2];
m_cparam->cparam.mat[1][0] = bazconf.camCalMatrix[1][0]; m_cparam->cparam.mat[1][1] = bazconf.camCalMatrix[1][1]; m_cparam->cparam.mat[1][2] = bazconf.camCalMatrix[1][2];
m_cparam->cparam.mat[2][0] = bazconf.camCalMatrix[2][0]; m_cparam->cparam.mat[2][1] = bazconf.camCalMatrix[2][1]; m_cparam->cparam.mat[2][2] = bazconf.camCalMatrix[2][2];
for(int i=0; i<3; i++)
{
for(int j=0; j<3; j++)
{
cvmSet(g_matIntrinsic, i, j, m_cparam->cparam.mat[i][j]);
}
}
// end BAZAR
setProjection(10.0f, 8000.0f);
setDebugMode(m_debugmode);
setupMarkers();
// Success
return true;
}