static int init( int argc, char *argv[] )
{
ARGViewport viewport;
char *filename = NULL;
int xmax, ymax;
float xzoom, yzoom;
float zoom;
int i;
for( i = 1; i < argc; i++ ) {
if( filename == NULL ) filename = argv[i];
else usage(argv[0] );
}
if (!filename || !filename[0]) usage(argv[0]);
ARLOG("Read ImageSet.\n");
ar2UtilRemoveExt( filename );
imageSet = ar2ReadImageSet( filename );
if( imageSet == NULL ) {
ARLOGe("file open error: %s.iset\n", filename );
exit(0);
}
ARLOG(" end.\n");
arMalloc(vp, ARGViewportHandle *, imageSet->num);
xmax = ymax = 0;
for( i = 0; i < imageSet->num; i++ ) {
if( imageSet->scale[i]->xsize > xmax ) xmax = imageSet->scale[i]->xsize;
if( imageSet->scale[i]->ysize > ymax ) ymax = imageSet->scale[i]->ysize;
}
xzoom = yzoom = 1.0;
while( xmax > winXsize*xzoom ) xzoom += 1.0;
while( ymax > winYsize*yzoom ) yzoom += 1.0;
if( xzoom > yzoom ) zoom = 1.0/xzoom;
else zoom = 1.0/yzoom;
winXsize = xmax * zoom;
winYsize = ymax * zoom;
ARLOG("Size = (%d,%d) Zoom = %f\n", xmax, ymax, zoom);
argCreateWindow( winXsize, winYsize );
for( i = 0; i < imageSet->num; i++ ) {
viewport.sx = viewport.sy = 0;
viewport.xsize = imageSet->scale[i]->xsize * zoom;
viewport.ysize = imageSet->scale[i]->ysize * zoom;
vp[i] = argCreateViewport( &viewport );
argViewportSetImageSize( vp[i], imageSet->scale[i]->xsize, imageSet->scale[i]->ysize );
argViewportSetDispMethod( vp[i], AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME );
//argViewportSetDispMethod( vp[i], AR_GL_DISP_METHOD_GL_DRAW_PIXELS );
argViewportSetDispMode( vp[i], AR_GL_DISP_MODE_FIT_TO_VIEWPORT );
argViewportSetDistortionMode( vp[i], AR_GL_DISTORTION_COMPENSATE_DISABLE );
}
reportCurrentDPI();
return 0;
}
static void init(int argc, char *argv[])
{
char *vconfL = NULL;
char *vconfR = NULL;
char *cparaL = NULL;
char *cparaR = NULL;
char cparaLDefault[] = "Data/cparaL.dat";
char cparaRDefault[] = "Data/cparaR.dat";
ARParam wparam;
ARGViewport viewport;
int i, j;
int gotTwoPartOption;
int screenWidth, screenHeight, screenMargin;
double wscalef, hscalef, scalef;
chessboardCornerNumX = 0;
chessboardCornerNumY = 0;
calibImageNum = 0;
patternWidth = 0.0f;
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc) {
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc) {
if (strcmp(argv[i], "--vconfL") == 0) {
i++;
vconfL = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--vconfR") == 0) {
i++;
vconfR = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--cparaL") == 0) {
i++;
cparaL = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--cparaR") == 0) {
i++;
cparaR = argv[i];
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption) {
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0) {
usage(argv[0]);
} else if (strcmp(argv[i], "--version") == 0 || strcmp(argv[i], "-version") == 0 || strcmp(argv[i], "-v") == 0) {
ARLOG("%s version %s\n", argv[0], AR_HEADER_VERSION_STRING);
exit(0);
} else if( strncmp(argv[i], "-cornerx=", 9) == 0 ) {
if( sscanf(&(argv[i][9]), "%d", &chessboardCornerNumX) != 1 ) usage(argv[0]);
if( chessboardCornerNumX <= 0 ) usage(argv[0]);
} else if( strncmp(argv[i], "-cornery=", 9) == 0 ) {
if( sscanf(&(argv[i][9]), "%d", &chessboardCornerNumY) != 1 ) usage(argv[0]);
if( chessboardCornerNumY <= 0 ) usage(argv[0]);
} else if( strncmp(argv[i], "-imagenum=", 10) == 0 ) {
if( sscanf(&(argv[i][10]), "%d", &calibImageNum) != 1 ) usage(argv[0]);
if( calibImageNum <= 0 ) usage(argv[0]);
} else if( strncmp(argv[i], "-pattwidth=", 11) == 0 ) {
if( sscanf(&(argv[i][11]), "%f", &patternWidth) != 1 ) usage(argv[0]);
if( patternWidth <= 0 ) usage(argv[0]);
} else if( strncmp(argv[i], "-cparaL=", 8) == 0 ) {
cparaL = &(argv[i][8]);
} else if( strncmp(argv[i], "-cparaR=", 8) == 0 ) {
cparaR = &(argv[i][8]);
} else {
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
if( chessboardCornerNumX == 0 ) chessboardCornerNumX = CHESSBOARD_CORNER_NUM_X;
if( chessboardCornerNumY == 0 ) chessboardCornerNumY = CHESSBOARD_CORNER_NUM_Y;
if( calibImageNum == 0 ) calibImageNum = CALIB_IMAGE_NUM;
if( patternWidth == 0.0f ) patternWidth = (float)CHESSBOARD_PATTERN_WIDTH;
if (!cparaL) cparaL = cparaLDefault;
if (!cparaR) cparaR = cparaRDefault;
ARLOG("CHESSBOARD_CORNER_NUM_X = %d\n", chessboardCornerNumX);
ARLOG("CHESSBOARD_CORNER_NUM_Y = %d\n", chessboardCornerNumY);
ARLOG("CHESSBOARD_PATTERN_WIDTH = %f\n", patternWidth);
ARLOG("CALIB_IMAGE_NUM = %d\n", calibImageNum);
ARLOG("Video parameter Left : %s\n", vconfL);
ARLOG("Video parameter Right: %s\n", vconfR);
ARLOG("Camera parameter Left : %s\n", cparaL);
ARLOG("Camera parameter Right: %s\n", cparaR);
if( (vidL=ar2VideoOpen(vconfL)) == NULL ) {
ARLOGe("Cannot found the first camera.\n");
exit(0);
}
if( (vidR=ar2VideoOpen(vconfR)) == NULL ) {
ARLOGe("Cannot found the second camera.\n");
exit(0);
}
if( ar2VideoGetSize(vidL, &xsizeL, &ysizeL) < 0 ) exit(0);
if( ar2VideoGetSize(vidR, &xsizeR, &ysizeR) < 0 ) exit(0);
if( (pixFormatL=ar2VideoGetPixelFormat(vidL)) < 0 ) exit(0);
if( (pixFormatR=ar2VideoGetPixelFormat(vidR)) < 0 ) exit(0);
ARLOG("Image size for the left camera = (%d,%d)\n", xsizeL, ysizeL);
ARLOG("Image size for the right camera = (%d,%d)\n", xsizeR, ysizeR);
if( arParamLoad(cparaL, 1, &wparam) < 0 ) {
ARLOGe("Camera parameter load error !! %s\n", cparaL);
exit(0);
}
arParamChangeSize( &wparam, xsizeL, ysizeL, ¶mL );
ARLOG("*** Camera Parameter for the left camera ***\n");
arParamDisp( ¶mL );
if( arParamLoad(cparaR, 1, &wparam) < 0 ) {
ARLOGe("Camera parameter load error !! %s\n", cparaR);
exit(0);
}
arParamChangeSize( &wparam, xsizeR, ysizeR, ¶mR );
ARLOG("*** Camera Parameter for the right camera ***\n");
arParamDisp( ¶mR );
screenWidth = glutGet(GLUT_SCREEN_WIDTH);
screenHeight = glutGet(GLUT_SCREEN_HEIGHT);
if (screenWidth > 0 && screenHeight > 0) {
screenMargin = (int)(MAX(screenWidth, screenHeight) * SCREEN_SIZE_MARGIN);
if ((screenWidth - screenMargin) < (xsizeL + xsizeR) || (screenHeight - screenMargin) < MAX(ysizeL, ysizeR)) {
wscalef = (double)(screenWidth - screenMargin) / (double)(xsizeL + xsizeR);
hscalef = (double)(screenHeight - screenMargin) / (double)MAX(ysizeL, ysizeR);
scalef = MIN(wscalef, hscalef);
ARLOG("Scaling %dx%d window by %0.3f to fit onto %dx%d screen (with %2.0f%% margin).\n", xsizeL + xsizeR, MAX(ysizeL, ysizeR), scalef, screenWidth, screenHeight, SCREEN_SIZE_MARGIN*100.0);
} else {
scalef = 1.0;
}
} else {
scalef = 1.0;
}
/* open the graphics window */
if( argCreateWindow((int)((xsizeL + xsizeR)*scalef), (int)(MAX(ysizeL, ysizeR)*scalef)) < 0 ) {
ARLOGe("Error: argCreateWindow.\n");
exit(0);
}
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = (int)(xsizeL*scalef);
viewport.ysize = (int)(ysizeL*scalef);
if( (vpL=argCreateViewport(&viewport)) == NULL ) {
ARLOGe("Error: argCreateViewport.\n");
exit(0);
}
viewport.sx = (int)(xsizeL*scalef);
viewport.sy = 0;
viewport.xsize = (int)(xsizeR*scalef);
viewport.ysize = (int)(ysizeR*scalef);
if( (vpR=argCreateViewport(&viewport)) == NULL ) {
ARLOGe("Error: argCreateViewport.\n");
exit(0);
}
argViewportSetPixFormat( vpL, pixFormatL );
argViewportSetPixFormat( vpR, pixFormatR );
argViewportSetCparam( vpL, ¶mL );
argViewportSetCparam( vpR, ¶mR );
argViewportSetDispMethod( vpL, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME );
argViewportSetDispMethod( vpR, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME );
argViewportSetDispMode(vpL, AR_GL_DISP_MODE_FIT_TO_VIEWPORT_KEEP_ASPECT_RATIO);
argViewportSetDispMode(vpR, AR_GL_DISP_MODE_FIT_TO_VIEWPORT_KEEP_ASPECT_RATIO);
calibImageL = cvCreateImage( cvSize(xsizeL, ysizeL), IPL_DEPTH_8U, 1);
calibImageR = cvCreateImage( cvSize(xsizeR, ysizeR), IPL_DEPTH_8U, 1);
arMalloc(cornersL, CvPoint2D32f, chessboardCornerNumX*chessboardCornerNumY);
arMalloc(cornersR, CvPoint2D32f, chessboardCornerNumX*chessboardCornerNumY);
arMalloc(worldCoord, ICP3DCoordT, chessboardCornerNumX*chessboardCornerNumY);
for( i = 0; i < chessboardCornerNumX; i++ ) {
for( j = 0; j < chessboardCornerNumY; j++ ) {
worldCoord[i*chessboardCornerNumY+j].x = patternWidth*i;
worldCoord[i*chessboardCornerNumY+j].y = patternWidth*j;
worldCoord[i*chessboardCornerNumY+j].z = 0.0;
}
}
arMalloc(calibData, ICPCalibDataT, calibImageNum);
for( i = 0; i < calibImageNum; i++ ) {
arMalloc(calibData[i].screenCoordL, ICP2DCoordT, chessboardCornerNumX*chessboardCornerNumY);
arMalloc(calibData[i].screenCoordR, ICP2DCoordT, chessboardCornerNumX*chessboardCornerNumY);
calibData[i].worldCoordL = worldCoord;
calibData[i].worldCoordR = worldCoord;
calibData[i].numL = chessboardCornerNumX*chessboardCornerNumY;
calibData[i].numR = chessboardCornerNumX*chessboardCornerNumY;
}
return;
}
static void init(int argc, char *argv[])
{
ARParam cparam;
ARGViewport viewport;
ARPattHandle *arPattHandle;
char vconf[512];
AR_PIXEL_FORMAT pixFormat;
ARUint32 id0, id1;
int i;
if (argc == 1)
vconf[0] = '\0';
else
{
strcpy(vconf, argv[1]);
for (i = 2; i < argc; i++)
{
strcat(vconf, " "); strcat(vconf, argv[i]);
}
}
/* open the video path */
if (arVideoOpen(vconf) < 0)
exit(0);
if (arVideoGetSize(&xsize, &ysize) < 0)
exit(0);
ARLOG("Image size (x,y) = (%d,%d)\n", xsize, ysize);
if ((pixFormat = arVideoGetPixelFormat()) < 0)
exit(0);
if (arVideoGetId(&id0, &id1) == 0)
{
ARLOG("Camera ID = (%08x, %08x)\n", id1, id0);
sprintf(vconf, VPARA_NAME, id1, id0);
if (arVideoLoadParam(vconf) < 0)
{
ARLOGe("No camera setting data!!\n");
}
}
/* set the initial camera parameters */
if (arParamLoad(CPARA_NAME, 1, &cparam) < 0)
{
ARLOGe("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize(&cparam, xsize, ysize, &cparam);
ARLOG("*** Camera Parameter ***\n");
arParamDisp(&cparam);
if ((gCparamLT = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET)) == NULL)
{
ARLOGe("Error: arParamLTCreate.\n");
exit(-1);
}
if ((arHandle = arCreateHandle(gCparamLT)) == NULL)
{
ARLOGe("Error: arCreateHandle.\n");
exit(0);
}
if (arSetPixelFormat(arHandle, pixFormat) < 0)
{
ARLOGe("Error: arSetPixelFormat.\n");
exit(0);
}
if ((ar3DHandle = ar3DCreateHandle(&cparam)) == NULL)
{
ARLOGe("Error: ar3DCreateHandle.\n");
exit(0);
}
if ((arPattHandle = arPattCreateHandle()) == NULL)
{
ARLOGe("Error: arPattCreateHandle.\n");
exit(0);
}
if ((patt_id = arPattLoad(arPattHandle, PATT_NAME)) < 0)
{
ARLOGe("pattern load error !!\n");
exit(0);
}
arPattAttach(arHandle, arPattHandle);
/* open the graphics window */
w1 = argCreateWindow(xsize, ysize);
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = xsize;
viewport.ysize = ysize;
if ((vp1 = argCreateViewport(&viewport)) == NULL)
exit(0);
argViewportSetCparam(vp1, &cparam);
argViewportSetPixFormat(vp1, pixFormat);
argViewportSetDispMethod(vp1, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME);
argViewportSetDispMode(vp1, AR_GL_DISP_MODE_FIT_TO_VIEWPORT);
argViewportSetDistortionMode(vp1, AR_GL_DISTORTION_COMPENSATE_ENABLE);
w2 = argCreateWindow(xsize, ysize);
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = xsize;
viewport.ysize = ysize;
if ((vp2 = argCreateViewport(&viewport)) == NULL)
exit(0);
argViewportSetCparam(vp2, &cparam);
argViewportSetPixFormat(vp2, pixFormat);
argViewportSetDispMethod(vp2, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME);
argViewportSetDispMode(vp2, AR_GL_DISP_MODE_FIT_TO_VIEWPORT);
argViewportSetDistortionMode(vp2, AR_GL_DISTORTION_COMPENSATE_DISABLE);
return;
}
static void init( int argc, char *argv[] )
{
char vconf[256];
ARGViewport viewport;
ARUint32 euid0, euid1;
double length;
int i, j;
// Allow user to choose file version for backwards compatibility.
ARLOG("A calibrated camera parameter file for ARToolKit will be produced.\n");
ARLOG("The file can be generated to be backwards compatible with previous ARToolKit versions.\n");
ARLOG(" 1: ARToolKit v1.0 and later\n");
ARLOG(" 2: ARToolKit v4.0 and later\n");
ARLOG(" 3: ARToolKit v4.1 and later\n");
printf("Enter the number (1 to %d) of the camera parameter file version: ", AR_DIST_FUNCTION_VERSION_MAX);
scanf("%d", &dist_function_version); while (getchar() != '\n');
patt.h_num = H_NUM;
patt.v_num = V_NUM;
patt.loop_num = 0;
if( patt.h_num < 3 || patt.v_num < 3 ) exit(0);
printf("Input the distance between each marker dot, in millimeters: ");
scanf("%lf", &length); while( getchar()!='\n' );
patt.world_coord = (CALIB_COORD_T *)malloc( sizeof(CALIB_COORD_T)*patt.h_num*patt.v_num );
for( j = 0; j < patt.v_num; j++ ) {
for( i = 0; i < patt.h_num; i++ ) {
patt.world_coord[j*patt.h_num+i].x_coord = length * i;
patt.world_coord[j*patt.h_num+i].y_coord = length * j;
}
}
if( argc == 1 ) {
strcpy(vconf, VCONF);
}
else {
strcpy(vconf, argv[1]);
for( i = 2; i < argc; i++ ) {
strcat(vconf, " ");
strcat(vconf, argv[i]);
}
}
if( arVideoOpen(vconf) < 0 ) exit(0);
if( arVideoGetSize(&xsize, &ysize) < 0 ) exit(0);
if( (pixelFormat=arVideoGetPixelFormat()) < 0 ) exit(0);
if( (pixelSize=arVideoGetPixelSize()) < 0 ) exit(0);
ARLOG("Camera image size (x,y) = (%d,%d)\n", xsize, ysize);
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = xsize/SCALE;
viewport.ysize = ysize/SCALE;
if( (vp=argCreateViewport(&viewport)) == NULL ) exit(0);
argViewportSetImageSize( vp, xsize, ysize );
argViewportSetPixFormat( vp, pixelFormat );
argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_GL_DRAW_PIXELS );
argViewportSetDispMode( vp, AR_GL_DISP_MODE_FIT_TO_VIEWPORT );
argViewportSetDistortionMode( vp, AR_GL_DISTORTION_COMPENSATE_DISABLE );
clipImage = (unsigned char *)malloc( xsize*ysize*pixelSize );
if( clipImage == NULL ) exit(0);
save_filename[0] = '\0';
if( arVideoGetId(&euid0, &euid1) == 0 ) {
sprintf(save_filename, "cpara.%08x%08x", euid0, euid1);
}
}
static void mainLoop(void)
{
static AR2VideoBufferT buff = {0};
static int oldImageMode = -1;
static int oldDispMode = -1;
static int oldDistMode = -1;
ARdouble patt_trans[3][4];
int i, j;
if (!buff.buff) {
arMalloc(buff.buff, ARUint8, xsize*ysize*PIXEL_SIZE);
}
if( oldImageMode != 0 && imageMode == 0 ) {
for( i = 0; i < xsize*ysize; i++ ) {
buff.buff[i*PIXEL_SIZE+0] = 200;
buff.buff[i*PIXEL_SIZE+1] = 200;
buff.buff[i*PIXEL_SIZE+2] = 200;
}
for( j = 190; j < 291; j++ ) {
for( i = 280; i < 381; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 20;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 20;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 20;
}
}
i = 0;
for( j = 0; j < ysize; j++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
i = 639;
for( j = 0; j < ysize; j++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
j = 0;
for( i = 0; i < xsize; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
j = 479;
for( i = 0; i < xsize; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
oldImageMode = 0;
}
if( oldImageMode != 1 && imageMode == 1 ) {
for( j = 0; j < 480; j += 2 ) {
for( i = 0; i < 640; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
}
for( j = 1; j < 480; j += 2 ) {
for( i = 0; i < 640; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 255;
}
}
oldImageMode = 1;
}
if( oldImageMode != 2 && imageMode == 2 ) {
for( i = 0; i < 640; i += 2 ) {
for( j = 0; j < 480; j++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
}
for( i = 1; i < 640; i += 2 ) {
for( j = 0; j < 480; j++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 255;
}
}
oldImageMode = 2;
}
if( oldImageMode != 3 && imageMode == 3 ) {
for( i = 0; i < xsize*ysize; i++ ) {
buff.buff[i*PIXEL_SIZE+0] = 200;
buff.buff[i*PIXEL_SIZE+1] = 200;
buff.buff[i*PIXEL_SIZE+2] = 200;
}
for( j = 190; j < 291; j++ ) {
for( i = 280; i < 381; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 20;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 20;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 20;
}
}
oldImageMode = 3;
}
/* detect the markers in the video frame */
if (arDetectMarker(arHandle, &buff) < 0) {
cleanup();
exit(0);
}
glClearColor( 0.0f, 0.0f, 0.0f, 0.0f );
glClearDepth( 1.0f );
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
if( oldDispMode != 0 && dispMode == 0 ) {
argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_GL_DRAW_PIXELS );
oldDispMode = 0;
debugReportMode(vp);
}
else if( oldDispMode != 1 && dispMode == 1 ) {
argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME );
oldDispMode = 1;
debugReportMode(vp);
}
else if( oldDispMode != 2 && dispMode == 2 ) {
argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FIELD );
oldDispMode = 2;
debugReportMode(vp);
}
if( oldDistMode != 0 && distMode == 0 ) {
argViewportSetDistortionMode( vp, AR_GL_DISTORTION_COMPENSATE_DISABLE );
oldDistMode = 0;
}
if( oldDistMode != 1 && distMode == 1 ) {
argViewportSetDistortionMode( vp, AR_GL_DISTORTION_COMPENSATE_ENABLE );
oldDistMode = 1;
}
argDrawMode2D(vp);
argDrawImage(buff.buff);
if( imageMode == 3 ) {
glLineWidth( 1.0f );
glColor3f( 0.0f, 1.0f, 0.0f );
argDrawSquareByIdealPos( arHandle->markerInfo[0].vertex );
glColor3f( 1.0f, 0.0f, 0.0f );
argDrawLineByIdealPos( 0.0, 0.0, 640.0, 0.0 );
argDrawLineByIdealPos( 0.0, 479.0, 640.0, 479.0 );
argDrawLineByIdealPos( 0.0, -1.0, 0.0, 479.0 );
argDrawLineByIdealPos( 639.0, -1.0, 639.0, 479.0 );
argDrawLineByIdealPos( 0.0, 188.0, 639.0, 188.0 );
argDrawLineByIdealPos( 0.0, 292.0, 639.0, 292.0 );
argDrawLineByIdealPos( 278.0, 0.0, 278.0, 479.0 );
argDrawLineByIdealPos( 382.0, 0.0, 382.0, 479.0 );
}
if( arHandle->marker_num == 0 ) {
argSwapBuffers();
return;
}
arGetTransMatSquare(ar3DHandle, &(arHandle->markerInfo[0]), SQUARE_WIDTH, patt_trans);
draw(patt_trans);
argSwapBuffers();
}
static void init( void )
{
ARParam cparam;
ARParamLT *cparamLT;
ARGViewport viewport;
xsize = 640;
ysize = 480;
ARLOGi("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
arParamClear(&cparam, xsize, ysize, AR_DIST_FUNCTION_VERSION_DEFAULT);
ARLOG("*** Camera Parameter ***\n");
arParamDisp( &cparam );
//COVHI10445 ignored as false positive, i.e. cparam->m[3][4] uninitialized.
cparamLT = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET);
arHandle = arCreateHandle(cparamLT);
if( arHandle == NULL ) {
ARLOGe("Error: arCreateHandle.\n");
exit(0);
}
arSetPixelFormat( arHandle, PIXEL_FORMAT );
arSetLabelingMode( arHandle, AR_LABELING_BLACK_REGION );
arSetImageProcMode( arHandle, AR_IMAGE_PROC_FRAME_IMAGE );
ar3DHandle = ar3DCreateHandle( &cparam );
if( ar3DHandle == NULL ) {
ARLOGe("Error: ar3DCreateHandle.\n");
exit(0);
}
/* open the graphics window */
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = xsize;
viewport.ysize = ysize;
vp = argCreateViewport( &viewport );
if( vp == NULL ) exit(0);
argViewportSetCparam( vp, &cparam );
argViewportSetPixFormat( vp, PIXEL_FORMAT );
argViewportSetDispMode( vp, AR_GL_DISP_MODE_FIT_TO_VIEWPORT );
argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_GL_DRAW_PIXELS );
//argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME );
//argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FIELD );
argViewportSetDistortionMode( vp, AR_GL_DISTORTION_COMPENSATE_DISABLE );
//argViewportSetDistortionMode( vp, AR_GL_DISTORTION_COMPENSATE_ENABLE );
#if 0
if( argSetFullScreenConfig("1024x768") == 0 ) {
ARLOGe("Full screen is not possible.\n");
exit(0);
}
//argGetWindowSizeFullScreen( &viewport.xsize, &viewport.ysize );
viewport.sx = 0;
viewport.sy = 0;
viewport.xsize = 1024;
viewport.ysize = 768;
argViewportSetViewportFullScreen( vpL, &viewport );
viewport.sx = 1024;
argViewportSetViewportFullScreen( vpR, &viewport );
#endif
}
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);
}
