int arSetLabelingThreshMode(ARHandle *handle, const AR_LABELING_THRESH_MODE mode)
{
AR_LABELING_THRESH_MODE mode1;
if (!handle) return (-1);
if (handle->arLabelingThreshMode != mode) {
if (handle->arImageProcInfo) {
arImageProcFinal(handle->arImageProcInfo);
handle->arImageProcInfo = NULL;
}
mode1 = mode;
switch (mode) {
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN:
case AR_LABELING_THRESH_MODE_AUTO_OTSU:
#if !AR_DISABLE_THRESH_MODE_AUTO_ADAPTIVE
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE:
#endif
handle->arImageProcInfo = arImageProcInit(handle->xsize, handle->ysize);
break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING:
handle->arLabelingThreshAutoBracketOver = handle->arLabelingThreshAutoBracketUnder = 1;
break;
case AR_LABELING_THRESH_MODE_MANUAL:
break; // Do nothing.
default:
ARLOGe("Unknown or unsupported labeling threshold mode requested. Set to manual.\n");
mode1 = AR_LABELING_THRESH_MODE_MANUAL;
}
handle->arLabelingThreshMode = mode1;
if (handle->arDebug == AR_DEBUG_ENABLE) {
const char *modeDescs[] = {
"MANUAL",
"AUTO_MEDIAN",
"AUTO_OTSU",
"AUTO_ADAPTIVE",
"AUTO_BRACKETING"
};
ARLOGe("Labeling threshold mode set to %s.\n", modeDescs[mode1]);
}
}
return (0);
}
static void init(int argc, char *argv[])
{
ARGViewport viewport;
char *vconf = NULL;
int i;
int gotTwoPartOption;
int screenWidth, screenHeight, screenMargin;
chessboardCornerNumX = 0;
chessboardCornerNumY = 0;
calibImageNum = 0;
patternWidth = 0.0f;
arMalloc(cwd, char, MAXPATHLEN);
if (!getcwd(cwd, MAXPATHLEN))
ARLOGe("Unable to read current working directory.\n");
else
ARLOG("Current working directory is '%s'\n", cwd);
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc)
{
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc)
{
if (strcmp(argv[i], "--vconf") == 0)
{
i++;
vconf = argv[i];
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption)
{
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0)
{
usage(argv[0]);
}
else if (strcmp(argv[i], "--version") == 0 || strcmp(argv[i], "-version") == 0 || strcmp(argv[i], "-v") == 0)
{
ARLOG("%s version %s\n", argv[0], AR_HEADER_VERSION_STRING);
exit(0);
}
else if (strncmp(argv[i], "-cornerx=", 9) == 0)
{
if (sscanf(&(argv[i][9]), "%d", &chessboardCornerNumX) != 1)
usage(argv[0]);
if (chessboardCornerNumX <= 0)
usage(argv[0]);
}
else if (strncmp(argv[i], "-cornery=", 9) == 0)
{
if (sscanf(&(argv[i][9]), "%d", &chessboardCornerNumY) != 1)
usage(argv[0]);
if (chessboardCornerNumY <= 0)
usage(argv[0]);
}
else if (strncmp(argv[i], "-imagenum=", 10) == 0)
{
if (sscanf(&(argv[i][10]), "%d", &calibImageNum) != 1)
usage(argv[0]);
if (calibImageNum <= 0)
usage(argv[0]);
}
else if (strncmp(argv[i], "-pattwidth=", 11) == 0)
{
if (sscanf(&(argv[i][11]), "%f", &patternWidth) != 1)
usage(argv[0]);
if (patternWidth <= 0)
usage(argv[0]);
}
else
{
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
if (chessboardCornerNumX == 0)
chessboardCornerNumX = CHESSBOARD_CORNER_NUM_X;
if (chessboardCornerNumY == 0)
chessboardCornerNumY = CHESSBOARD_CORNER_NUM_Y;
if (calibImageNum == 0)
calibImageNum = CALIB_IMAGE_NUM;
if (patternWidth == 0.0f)
patternWidth = (float)CHESSBOARD_PATTERN_WIDTH;
ARLOG("CHESSBOARD_CORNER_NUM_X = %d\n", chessboardCornerNumX);
ARLOG("CHESSBOARD_CORNER_NUM_Y = %d\n", chessboardCornerNumY);
ARLOG("CHESSBOARD_PATTERN_WIDTH = %f\n", patternWidth);
ARLOG("CALIB_IMAGE_NUM = %d\n", calibImageNum);
ARLOG("Video parameter: %s\n", vconf);
if (arVideoOpen(vconf) < 0)
exit(0);
if (arVideoGetSize(&xsize, &ysize) < 0)
exit(0);
ARLOG("Image size (x,y) = (%d,%d)\n", xsize, ysize);
if ((pixFormat = arVideoGetPixelFormat()) == AR_PIXEL_FORMAT_INVALID)
exit(0);
screenWidth = glutGet(GLUT_SCREEN_WIDTH);
screenHeight = glutGet(GLUT_SCREEN_HEIGHT);
if (screenWidth > 0 && screenHeight > 0)
{
screenMargin = (int)(MAX(screenWidth, screenHeight) * SCREEN_SIZE_MARGIN);
if ((screenWidth - screenMargin) < xsize || (screenHeight - screenMargin) < ysize)
{
viewport.xsize = screenWidth - screenMargin;
viewport.ysize = screenHeight - screenMargin;
ARLOG("Scaling window to fit onto %dx%d screen (with %2.0f%% margin).\n", screenWidth, screenHeight, SCREEN_SIZE_MARGIN * 100.0);
}
else
{
viewport.xsize = xsize;
viewport.ysize = ysize;
}
}
else
{
viewport.xsize = xsize;
viewport.ysize = ysize;
}
viewport.sx = 0;
viewport.sy = 0;
if ((vp = argCreateViewport(&viewport)) == NULL)
exit(0);
argViewportSetImageSize(vp, xsize, ysize);
argViewportSetPixFormat(vp, pixFormat);
argViewportSetDispMethod(vp, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME);
argViewportSetDistortionMode(vp, AR_GL_DISTORTION_COMPENSATE_DISABLE);
argViewportSetDispMode(vp, AR_GL_DISP_MODE_FIT_TO_VIEWPORT_KEEP_ASPECT_RATIO);
// Set up the grayscale image.
arIPI = arImageProcInit(xsize, ysize, pixFormat, 1); // 1 -> always copy, since we need OpenCV to be able to wrap the memory.
if (!arIPI)
{
ARLOGe("Error initialising image processing.\n");
exit(-1);
}
calibImage = cvCreateImageHeader(cvSize(xsize, ysize), IPL_DEPTH_8U, 1);
cvSetData(calibImage, arIPI->image, xsize); // Last parameter is rowBytes.
// Allocate space for results.
arMalloc(corners, CvPoint2D32f, chessboardCornerNumX * chessboardCornerNumY);
arMalloc(cornerSet, CvPoint2D32f, chessboardCornerNumX * chessboardCornerNumY * calibImageNum);
}
