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 );
}
bool SingleTarget::initialise(const std::string& pattFile, double width, double center[2])
{
// Check if this target has already been initialised
if (patt_id >= 0)
{
osg::notify(osg::WARN) << "SingleTarget: Cannot initialise Target. Already initialised." << std::endl;
return false;
}
// Locate the specified pattern file
std::string actualPattFile = osgDB::findDataFile(pattFile);
if (!osgDB::fileExists(actualPattFile))
{
osg::notify(osg::WARN) << "SingleTarget: Cannot find pattern file: " << pattFile << std::endl;
return false;
}
// Attempt to load pattern file
patt_id = arLoadPatt(actualPattFile.c_str());
if (patt_id < 0)
{
osg::notify(osg::WARN) << "SingleTarget: Error loading pattern file: " << pattFile << std::endl;
return false;
}
patt_width = width;
patt_center[0] = center[0];
patt_center[1] = center[1];
setName(pattFile);
setActive(false);
_valid = false;
return true;
}
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 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");
}
int TrackerSingleMarker::addPattern(const char* nFileName) {
int patt_id = arLoadPatt(const_cast<char*> (nFileName));
if (patt_id < 0) {
LOGE("ARToolKitPlus: error loading pattern");
}
return patt_id;
}
ObjectData_T *read_ObjData( char *name, int *objectnum )
{
FILE *fp;
ObjectData_T *object;
char buf[256], buf1[256];
int i;
printf("Opening Data File %s\n",name);
if( (fp=fopen(name, "r")) == NULL ) {
printf("Can't find the file - quitting \n");
return(0);
}
get_buff(buf, 256, fp);
if( sscanf(buf, "%d", objectnum) != 1 ) {fclose(fp); return(0);}
printf("About to load %d Models\n",*objectnum);
object = (ObjectData_T *)malloc( sizeof(ObjectData_T) * *objectnum );
if( object == NULL ) return(0);
for( i = 0; i < *objectnum; i++ ) {
object[i].visible = 0;
get_buff(buf, 256, fp);
if( sscanf(buf, "%s", object[i].name) != 1 ) {
fclose(fp); free(object); return(0);
}
printf("Read in No.%d \n", i+1);
get_buff(buf, 256, fp);
if( sscanf(buf, "%s", buf1) != 1 ) {
fclose(fp); free(object); return(0);}
if( (object[i].id = arLoadPatt(buf1)) < 0 )
{fclose(fp); free(object); return(0);}
get_buff(buf, 256, fp);
if( sscanf(buf, "%lf", &object[i].marker_width) != 1 ) {
fclose(fp); free(object); return(0);
}
get_buff(buf, 256, fp);
if( sscanf(buf, "%lf %lf", &object[i].marker_center[0],
&object[i].marker_center[1]) != 2 ) {
fclose(fp); free(object); return(0);
}
}
fclose(fp);
return( object );
}
static int setupMarker(const char *patt_name, int *patt_id)
{
// Loading only 1 pattern in this example.
if ((*patt_id = arLoadPatt(patt_name)) < 0) {
fprintf(stderr, "setupMarker(): pattern load error !!\n");
return 0;
}
return 1;
}
static int setupMarker(const char *patt_name, int *patt_id)
{
if((*patt_id = arLoadPatt(patt_name)) < 0)
{
fprintf(stderr, "setupMarker(): pattern load error !!\n");
return (FALSE);
}
return (TRUE);
}
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;
}
//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");
}
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;
}
Pattern::Pattern(const string filename)
: _filename(filename)
{
//load file, or exit in case of error
_id = arLoadPatt( _filename.c_str() );
if ( _id < 0) {
cerr
<< "Error loading pattern from file '"
<< _filename.c_str()
<< '\''
<< endl;
exit(1);
}
_center[0] = 0.0;
_center[1] = 0.0;
_width = 80.0;
}
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);
}
/* 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();
}
//========
// 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;
}
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 );
}
}
ObjectData_T *read_ObjData( char *name, int *objectnum, char *pathtofile )
{
FILE *fp;
ObjectData_T *object;
char buf[256], buf1[256], buf2[256], ptf[256];
int i;
post("Opening Data File %s\n",name);
if( (fp=fopen(name, "r")) == NULL ) {
post("Can't find the file - quitting \n");
return(0);
}
get_buff(buf, 256, fp);
if( sscanf(buf, "%d", objectnum) != 1 ) {fclose(fp); return(0);}
post("About to load %d Markers\n",*objectnum);
object = (ObjectData_T *)malloc( sizeof(ObjectData_T) * *objectnum );
if( object == NULL ) return(0);
for( i = 0; i < *objectnum; i++ ) {
memset(&buf2[0], 0, sizeof(buf2));
object[i].visible = 0;
get_buff(buf, 256, fp);
if( sscanf(buf, "%s", object[i].name) != 1 ) {
fclose(fp); free(object); return(0);
}
post("Marker %s from oulet %d \n", object[i].name, i+1);
get_buff(buf, 256, fp);
//converted to get the whole line path
if( sscanf(buf, "%[^\n]", buf1) != 1 ) {
fclose(fp); free(object); return(0);
}
strcpy(ptf, pathtofile);
strcat(ptf, buf1);
strcpy(buf2, ptf);
if( (object[i].id = arLoadPatt(buf2)) < 0 ){
fclose(fp); free(object); return(0);
}
get_buff(buf, 256, fp);
if( sscanf(buf, "%lf", &object[i].marker_width) != 1 ) {
fclose(fp); free(object); return(0);
}
get_buff(buf, 256, fp);
if( sscanf(buf, "%lf %lf", &object[i].marker_center[0],
&object[i].marker_center[1]) != 2 ) {
fclose(fp); free(object); return(0);
}
}
fclose(fp);
return( object );
}
/*
* Class: com_clab_artoolkit_port_JARToolkit
* Method: JARLoadPattern
* Signature: (Ljava/lang/String;)I
*/
JNIEXPORT jint JNICALL Java_net_sourceforge_jartoolkit_core_JARToolKit_loadPattern(JNIEnv *env, jobject, jstring jfilename)
{
const char *filename = env->GetStringUTFChars(jfilename, 0);
return arLoadPatt((char *)filename);
}
AR_DLL_API ARMultiMarkerInfoT *arMultiReadConfigFile( const char *filename )
{
FILE *fp=fopen(filename,"r");
if(fp == NULL){
return NULL;
}
char buf[256];
get_buff(buf, 256, fp);
int num;
if( sscanf(buf, "%d", &num) != 1 ) {
fclose(fp); return NULL;
}
ARMultiEachMarkerInfoT *marker;
ARMultiMarkerInfoT *marker_info;
arMalloc(marker,ARMultiEachMarkerInfoT,num);
std::string dir=getdir(filename);
for(int i = 0; i < num; i++ ) {
get_buff(buf, 256, fp);
char buf1[256];
if( sscanf(buf, "%s", buf1) != 1 ) {
fclose(fp); free(marker); return NULL;
}
if( (marker[i].patt_id = arLoadPatt((dir+"/"+buf1).c_str())) < 0 ) {
fclose(fp); free(marker); return NULL;
}
get_buff(buf, 256, fp);
if( sscanf(buf, "%lf", &marker[i].width) != 1 ) {
fclose(fp); free(marker); return NULL;
}
get_buff(buf, 256, fp);
if( sscanf(buf, "%lf %lf", &marker[i].center[0], &marker[i].center[1]) != 2 ) {
fclose(fp); free(marker); return NULL;
}
for(int j = 0; j < 3; j++ ) {
get_buff(buf, 256, fp);
if( sscanf(buf, "%lf %lf %lf %lf", &marker[i].trans[j][0],
&marker[i].trans[j][1], &marker[i].trans[j][2],
&marker[i].trans[j][3]) != 4 ) {
fclose(fp); free(marker); return NULL;
}
}
arUtilMatInv( marker[i].trans, marker[i].itrans );
double wpos3d[4][2];
wpos3d[0][0] = marker[i].center[0] - marker[i].width/2.0;
wpos3d[0][1] = marker[i].center[1] + marker[i].width/2.0;
wpos3d[1][0] = marker[i].center[0] + marker[i].width/2.0;
wpos3d[1][1] = marker[i].center[1] + marker[i].width/2.0;
wpos3d[2][0] = marker[i].center[0] + marker[i].width/2.0;
wpos3d[2][1] = marker[i].center[1] - marker[i].width/2.0;
wpos3d[3][0] = marker[i].center[0] - marker[i].width/2.0;
wpos3d[3][1] = marker[i].center[1] - marker[i].width/2.0;
for(int j = 0; j < 4; j++ ) {
marker[i].pos3d[j][0] = marker[i].trans[0][0] * wpos3d[j][0]
+ marker[i].trans[0][1] * wpos3d[j][1]
+ marker[i].trans[0][3];
marker[i].pos3d[j][1] = marker[i].trans[1][0] * wpos3d[j][0]
+ marker[i].trans[1][1] * wpos3d[j][1]
+ marker[i].trans[1][3];
marker[i].pos3d[j][2] = marker[i].trans[2][0] * wpos3d[j][0]
+ marker[i].trans[2][1] * wpos3d[j][1]
+ marker[i].trans[2][3];
}
}
fclose(fp);
marker_info = (ARMultiMarkerInfoT *)malloc( sizeof(ARMultiMarkerInfoT) );
if( marker_info == NULL ) {free(marker); return NULL;}
marker_info->marker = marker;
marker_info->marker_num = num;
marker_info->prevF = 0;
return marker_info;
}
//========
// 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: net_towerdefender_image_ARToolkit
* Method: addObject
* Signature: (ILedu/dhbw/andar/ARObject;Ljava/lang/String;D[D)V
*/
JNIEXPORT void JNICALL Java_net_towerdefender_image_ARToolkit_addObject(
JNIEnv * env, jobject artoolkit, jint name, jobject obj,
jstring patternFile, jdouble width, jdoubleArray center) {
Object* newObject;
jdouble* centerArr;
centerArr = (*env)->GetDoubleArrayElements(env, center, NULL);
const char *cPatternFile = (*env)->GetStringUTFChars(env, patternFile,
NULL);
if (centerArr == NULL) {
//could not retrieve the java array
jclass exc = (*env)->FindClass(env,
"net/towerdefender/exceptions/ARException");
if (exc != NULL)
(*env)->ThrowNew(env, exc,
"could not retrieve array of the marker center in native code.");
}
if ((newObject = (Object *) malloc(sizeof(Object))) == NULL) {
//something went wrong with allocating -> throw error
jclass exc = (*env)->FindClass(env,
"net/towerdefender/exceptions/ARException");
if (exc != NULL)
(*env)->ThrowNew(env, exc,
"could not allocate memory for new object.");
} else {
//ok object allocated, now fill the struct with data
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","registering object with name %d", name);
#endif
newObject->name = (int) name;
newObject->marker_width = (double) width;
newObject->contF = 0;
newObject->marker_center[0] = (double) centerArr[0];
newObject->marker_center[1] = (double) centerArr[1];
newObject->objref = (*env)->NewGlobalRef(env, obj);
//search the list of pattern IDs for a pattern matching the given filename
//this is needed as the native library doesn't get unloaded after the Java application finished
//and multiple invocations of arLoadPatt with the same pattern file will result in incorrect IDs
if ((newObject->id = getPatternIDFromList(cPatternFile)) < 0) {
if ((newObject->id = arLoadPatt(cPatternFile)) < 0) {
//failed to read the pattern file
//release the object and throw an exception
free(newObject);
jclass exc = (*env)->FindClass(env,
"net/towerdefender/exceptions/ARException");
if (exc != NULL)
(*env)->ThrowNew(env, exc,
"could not read pattern file for object.");
} else {
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","loaded marker with ID %d from file: %s", newObject->id, cPatternFile);
#endif
//add object to the list
list_append(&objects, newObject);
patternID* newPatternID = (patternID *) malloc(
sizeof(patternID));
if (newPatternID != NULL) {
newPatternID->filename = strdup(cPatternFile);
newPatternID->id = newObject->id;
list_append(patternIDs, newPatternID);
}
}
} else {
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","loaded marker with ID %d from cached pattern ID", newObject->id, cPatternFile);
#endif
//add object to the list
list_append(&objects, newObject);
}
}
//release the marker center array
(*env)->ReleaseDoubleArrayElements(env, center, centerArr, 0);
(*env)->ReleaseStringUTFChars(env, patternFile, cPatternFile);
}
int ActuatorARTKSM::actuatorReadFile(){
FILE *fp;
char buf[256],buf1[256],fileDAT[256];
//--------------------------------------------------------------------------
// Open the ActuatorARTKSM Configuration file
//--------------------------------------------------------------------------
printf("\n --------------------------------------------------------------------------");
if( (fp=fopen(this->configFilename,"r")) == NULL) {
printf("\n Error on opening %s !! ",this->configFilename);
return -1;
}
printf("\n Opening file %s , ARTKSM Actuator", this->configFilename);
printf("\n --------------------------------------------------------------------------");
//--------------------------------------------------------------------------
// READ THE Actuator Name
//--------------------------------------------------------------------------
getBuff(buf, 256, fp);
if (sscanf(buf, "%s", &this->name) != 1) { printf("\n Check %s file format", this->configFilename); fclose(fp); return -1; }
printf("\n Actuator name: %s", this->name);
//--------------------------------------------------------------------------
// READ THE MARKER CONFIGURATION
//--------------------------------------------------------------------------
// Marker that defines the actuator
getBuff(buf, 256, fp);
if (sscanf(buf, "%s", &buf1) != 1) { printf("\n Check %s file format", this->configFilename); fclose(fp); return -1; }
if ((this->patternNumber = arLoadPatt(buf1)) < 0) { fclose(fp); return(0); }
printf("\n Using marker: %s, id: %d", buf1, this->patternNumber);
// Marker Width
getBuff(buf, 256, fp);
if (sscanf(buf, "%lf", &this->markerWidth) != 1) { printf("\n Check %s file format", this->configFilename);fclose(fp); return -1; }
// Marker Center
getBuff(buf, 256, fp);
if (sscanf(buf, "%lf %lf", &this->markerCenter[0], &this->markerCenter[1]) != 2) {
printf("\n Check %s file format", this->configFilename); fclose(fp); return(0); }
printf(" W: %3.2f, Center(%3.2f,%3.2f)", this->markerWidth , this->markerCenter[0], this->markerCenter[1]);
// Marker cover (USE_DEFAULT to get default marker cover / NO_COVER to don't use a marker cover)
getBuff(buf, 256, fp);
if (sscanf(buf, "%s %s", &buf1, &fileDAT) != 2) { printf("\n Check %s file format", this->configFilename); fclose(fp); return -1; }
if( strcmp(buf1, "NO_COVER") == 0){
this->cover = 0;
printf("\n Actuator Marker without cover.");
}
else{
if ( strcmp(buf1, "USE_DEFAULT") == 0) {
this->cover = (*myArpe).myGenericItens.markCover;
printf("\n Using Default Cover ");
}
else{
if (strcmp(buf1, "VRML") == 0) {
//VRML Object
iVrml *c = new iVrml();
(*c).modelType = 1;
(*c).vrmlID = arVrmlLoadFile(fileDAT);
if ((*c).vrmlID < 0) {
printf("\n Error on Marker Base Cover %s file or on VRML file (%d)",fileDAT,(*c).vrmlID);
this->cover = 0;
} else {
printf("\n Cover object VRML id: %d ", (*c).vrmlID);
this->cover = c;}
} else {
printf("\n type not yet coded!!! Patience! ");
}
}
}
//--------------------------------------------------------------------------
// READ THE Symbolic
//--------------------------------------------------------------------------
getBuff(buf, 256, fp);
if (sscanf(buf, "%s %s", &buf1, &fileDAT) != 2) { printf("\n Check %s file format", this->configFilename); fclose(fp); return -1; }
if (strcmp(buf1, "VRML") == 0) {
//VRML Object
iVrml *s = new iVrml();
(*s).modelType = 1;
(*s).vrmlID = arVrmlLoadFile(fileDAT);
if ((*s).vrmlID < 0) {
printf("\n Error on Symbolic object %s file or on VRML file (%d)",fileDAT,(*s).vrmlID);
this->symbol = 0;
} else {
printf("\n Symbolic object VRML id: %d ", (*s).vrmlID);
this->symbol = s;}
} else {
printf("\n type not yet coded!!! Patience! ");
}
//--------------------------------------------------------------------------
// READ Point were the action occors on the ARTSM Actuator
//--------------------------------------------------------------------------
// Point model
getBuff(buf, 256, fp);
if (sscanf(buf, "%s %s", &buf1, &fileDAT) != 2) { printf("\n Check %s file format", this->configFilename); fclose(fp); return -1; }
if ( strcmp(buf1, "DEFAULT_IPOINT") == 0) {
this->interactionPoint = (*myArpe).myGenericItens.holding;
printf("\n Using Default Interaction Point Representation.");
}
else{
if (strcmp(buf1, "VRML") == 0) {
//VRML Object
iVrml *ip = new iVrml();
(*ip).modelType = 1;
(*ip).vrmlID = arVrmlLoadFile(fileDAT);
printf("\n Point model object VRML id: %d ", (*ip).vrmlID);
if ((*ip).vrmlID < 0) {
printf("\n Error on Point model object %s file or on VRML file (%d)",fileDAT,(*ip).vrmlID);
this->interactionPoint = 0;
} else {
printf("\n Point model object VRML id: %d ", (*ip).vrmlID);
this->interactionPoint = ip;}
if ((*ip).vrmlID < 0) { fclose(fp); return(0); }
} else {
printf("\n type not yet coded!!! Patience! ");
}
}
// Translation (x,y,z) (mm)
getBuff(buf, 256, fp);
if( sscanf(buf, "%lf %lf %lf", &this->ipTra[0], &this->ipTra[1], &this->ipTra[2]) != 3 ) {
printf("\n Check %s file format", this->configFilename);fclose(fp); return -1; }
// Action radius of the point
getBuff(buf, 256, fp);
if (sscanf(buf, "%lf", &this->distCollision) != 1) { printf("\n Check %s file format", this->configFilename); fclose(fp); return -1; }
printf("\n Point position from center (%3.2f,%3.2f,%3.2f), radius: %3.2f",
this->ipTra[0], this->ipTra[1], this->ipTra[2], this->distCollision);
fclose(fp);
return 0;
}
ARMultiMarkerInfoT*
Tracker::arMultiReadConfigFile(const char *filename) {
FILE *fp;
ARMultiEachMarkerInfoT *marker;
ARMultiMarkerInfoT *marker_info;
ARFloat wpos3d[4][2];
char buf[256], buf1[256];
int num;
int i, j;
setlocale(LC_NUMERIC, "C");
if ((fp = fopen(filename, "r")) == NULL)
return NULL;
get_buff(buf, 256, fp);
if (sscanf(buf, "%d", &num) != 1) {
fclose(fp);
return NULL;
}
arMalloc(marker, ARMultiEachMarkerInfoT, num);
for (i = 0; i < num; i++) {
get_buff(buf, 256, fp);
if (sscanf(buf, "%s", buf1) != 1) {
fclose(fp);
free(marker);
return NULL;
}
// Added by Daniel: if the markername is an integer number
// we directly interprete this as the marker id (used for
// id-based markers)
if (isNumber(buf1))
marker[i].patt_id = atoi(buf1);
else if ((marker[i].patt_id = arLoadPatt(buf1)) < 0) {
fclose(fp);
free(marker);
return NULL;
}
get_buff(buf, 256, fp);
#ifdef _USE_DOUBLE_
if( sscanf(buf, "%lf", &marker[i].width) != 1 ) {
#else
if (sscanf(buf, "%f", &marker[i].width) != 1) {
#endif
fclose(fp);
free(marker);
return NULL;
}
get_buff(buf, 256, fp);
#ifdef _USE_DOUBLE_
if( sscanf(buf, "%lf %lf", &marker[i].center[0], &marker[i].center[1]) != 2 ) {
#else
if (sscanf(buf, "%f %f", &marker[i].center[0], &marker[i].center[1]) != 2) {
#endif
fclose(fp);
free(marker);
return NULL;
}
for (j = 0; j < 3; j++) {
get_buff(buf, 256, fp);
if (sscanf(buf,
#ifdef _USE_DOUBLE_
"%lf %lf %lf %lf",
#else
"%f %f %f %f",
#endif
&marker[i].trans[j][0], &marker[i].trans[j][1], &marker[i].trans[j][2], &marker[i].trans[j][3])
!= 4) {
fclose(fp);
free(marker);
return NULL;
}
}
arUtilMatInv(marker[i].trans, marker[i].itrans);
wpos3d[0][0] = marker[i].center[0] - marker[i].width * 0.5f;
wpos3d[0][1] = marker[i].center[1] + marker[i].width * 0.5f;
wpos3d[1][0] = marker[i].center[0] + marker[i].width * 0.5f;
wpos3d[1][1] = marker[i].center[1] + marker[i].width * 0.5f;
wpos3d[2][0] = marker[i].center[0] + marker[i].width * 0.5f;
wpos3d[2][1] = marker[i].center[1] - marker[i].width * 0.5f;
wpos3d[3][0] = marker[i].center[0] - marker[i].width * 0.5f;
wpos3d[3][1] = marker[i].center[1] - marker[i].width * 0.5f;
for (j = 0; j < 4; j++) {
marker[i].pos3d[j][0] = marker[i].trans[0][0] * wpos3d[j][0] + marker[i].trans[0][1] * wpos3d[j][1]
+ marker[i].trans[0][3];
marker[i].pos3d[j][1] = marker[i].trans[1][0] * wpos3d[j][0] + marker[i].trans[1][1] * wpos3d[j][1]
+ marker[i].trans[1][3];
marker[i].pos3d[j][2] = marker[i].trans[2][0] * wpos3d[j][0] + marker[i].trans[2][1] * wpos3d[j][1]
+ marker[i].trans[2][3];
}
}
fclose(fp);
setlocale(LC_NUMERIC, "C");
marker_info = (ARMultiMarkerInfoT *) malloc(sizeof(ARMultiMarkerInfoT));
if (marker_info == NULL) {
free(marker);
return NULL;
}
marker_info->marker = marker;
marker_info->marker_num = num;
marker_info->prevF = 0;
return marker_info;
}
} // namespace ARToolKitPlus
