static int setupMarkersObjects(char *objectDataFilename, ObjectData_T **objectDataRef, int *objectDataCountRef, ARHandle *arhandle)
{
// Load in the object data - trained markers and associated bitmap files.
if ((*objectDataRef = read_VRMLdata(objectDataFilename, objectDataCountRef)) == NULL) {
ARLOGe("setupMarkersObjects(): read_VRMLdata returned error !!\n");
return (FALSE);
}
ARLOG("Object count = %d\n", *objectDataCountRef);
arPattAttach(arhandle, (*objectDataRef)->pattHandle);
arSetLabelingMode(arhandle, (prefMarkersHaveWhiteBorders ? AR_LABELING_WHITE_REGION : AR_LABELING_BLACK_REGION));
return (TRUE);
}
static void Keyboard(unsigned char key, int x, int y)
{
int mode, threshChange = 0;
switch (key) {
case 0x1B: // Quit.
case 'Q':
case 'q':
cleanup();
exit(0);
break;
case ' ':
gDrawRotate = !gDrawRotate;
break;
case 'C':
case 'c':
ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
debugReportMode(gARHandle);
break;
case '-':
threshChange = -5;
break;
case '+':
case '=':
threshChange = +5;
break;
case 'D':
case 'd':
arGetDebugMode(gARHandle, &mode);
arSetDebugMode(gARHandle, !mode);
break;
case 'B':
case 'b':
arGetLabelingMode(gARHandle, &mode);
if (mode == AR_LABELING_BLACK_REGION) arSetLabelingMode(gARHandle, AR_LABELING_WHITE_REGION);
else arSetLabelingMode(gARHandle, AR_LABELING_BLACK_REGION);
break;
case '?':
case '/':
ARLOG("Keys:\n");
ARLOG(" q or [esc] Quit demo.\n");
ARLOG(" c Calulcate frame rate.\n");
ARLOG(" - and + Adjust threshhold.\n");
ARLOG(" d Activate / deactivate debug mode.\n");
ARLOG(" b Toggle between detection of black markers and white markers.\n");
ARLOG(" ? or / Show this help.\n");
ARLOG("\nAdditionally, the ARVideo library supplied the following help text:\n");
arVideoDispOption();
break;
default:
break;
}
if (threshChange) {
int threshhold;
arGetLabelingThresh(gARHandle, &threshhold);
threshhold += threshChange;
if (threshhold < 0) threshhold = 0;
if (threshhold > 255) threshhold = 255;
arSetLabelingThresh(gARHandle, threshhold);
ARLOG("Threshhold changed to %d.\n", threshhold);
}
}
int main(int argc, char **argv)
{
char glutGamemode[32];
char *cpara = NULL;
char cparaDefault[] = "Data/camera_para.dat";
char *vconf = NULL;
int patt_names_count = 0;
char *patt_names[CHECK_ID_MULTIMARKERS_MAX] = {NULL};
ARdouble pattRatio = (ARdouble)AR_PATT_RATIO;
AR_MATRIX_CODE_TYPE matrixCodeType = AR_MATRIX_CODE_TYPE_DEFAULT;
int labelingMode = AR_DEFAULT_LABELING_MODE;
int patternDetectionMode = AR_DEFAULT_PATTERN_DETECTION_MODE;
int i, gotTwoPartOption;
float tempF;
int tempI;
//
// Library inits.
//
glutInit(&argc, argv);
//
// Startup options.
//
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc)
{
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc)
{
if (strcmp(argv[i], "--vconf") == 0)
{
i++;
vconf = argv[i];
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--cpara") == 0)
{
i++;
cpara = argv[i];
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattRatio") == 0)
{
i++;
if (sscanf(argv[i], "%f", &tempF) == 1 && tempF > 0.0f && tempF < 1.0f)
pattRatio = (ARdouble)tempF;
else
ARLOGe("Error: argument '%s' to --pattRatio invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattSize") == 0)
{
i++;
if (sscanf(argv[i], "%d", &tempI) == 1 && tempI >= 16 && tempI <= AR_PATT_SIZE1_MAX)
gPattSize = tempI;
else
ARLOGe("Error: argument '%s' to --pattSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattCountMax") == 0)
{
i++;
if (sscanf(argv[i], "%d", &tempI) == 1 && tempI > 0)
gPattCountMax = tempI;
else
ARLOGe("Error: argument '%s' to --pattSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--borderSize") == 0)
{
i++;
if (sscanf(argv[i], "%f", &tempF) == 1 && tempF > 0.0f && tempF < 0.5f)
pattRatio = (ARdouble)(1.0f - 2.0f * tempF);
else
ARLOGe("Error: argument '%s' to --borderSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--matrixCodeType") == 0)
{
i++;
if (strcmp(argv[i], "AR_MATRIX_CODE_3x3") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3;
else if (strcmp(argv[i], "AR_MATRIX_CODE_3x3_HAMMING63") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3_HAMMING63;
else if (strcmp(argv[i], "AR_MATRIX_CODE_3x3_PARITY65") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3_PARITY65;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4_BCH_13_9_3") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4_BCH_13_9_3;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4_BCH_13_5_5") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4_BCH_13_5_5;
else if (strcmp(argv[i], "AR_MATRIX_CODE_5x5") == 0)
matrixCodeType = AR_MATRIX_CODE_5x5;
else if (strcmp(argv[i], "AR_MATRIX_CODE_6x6") == 0)
matrixCodeType = AR_MATRIX_CODE_6x6;
else if (strcmp(argv[i], "AR_MATRIX_CODE_GLOBAL_ID") == 0)
matrixCodeType = AR_MATRIX_CODE_GLOBAL_ID;
else
ARLOGe("Error: argument '%s' to --matrixCodeType invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--labelingMode") == 0)
{
i++;
if (strcmp(argv[i], "AR_LABELING_BLACK_REGION") == 0)
labelingMode = AR_LABELING_BLACK_REGION;
else if (strcmp(argv[i], "AR_LABELING_WHITE_REGION") == 0)
labelingMode = AR_LABELING_WHITE_REGION;
else
ARLOGe("Error: argument '%s' to --labelingMode invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--patternDetectionMode") == 0)
{
i++;
if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_COLOR") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_COLOR;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_MONO") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_MONO;
else if (strcmp(argv[i], "AR_MATRIX_CODE_DETECTION") == 0)
patternDetectionMode = AR_MATRIX_CODE_DETECTION;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_MONO_AND_MATRIX") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_MONO_AND_MATRIX;
else
ARLOGe("Error: argument '%s' to --patternDetectionMode invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption)
{
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0)
{
usage(argv[0]);
}
else if (strcmp(argv[i], "--version") == 0 || strcmp(argv[i], "-version") == 0 || strcmp(argv[i], "-v") == 0)
{
ARLOG("%s version %s\n", argv[0], AR_HEADER_VERSION_STRING);
exit(0);
}
else if (strncmp(argv[i], "-border=", 8) == 0)
{
if (sscanf(&(argv[i][8]), "%f", &tempF) == 1 && tempF > 0.0f && tempF < 0.5f)
pattRatio = (ARdouble)(1.0f - 2.0f * tempF);
else
ARLOGe("Error: argument '%s' to -border= invalid.\n", argv[i]);
}
else
{
if (patt_names_count < CHECK_ID_MULTIMARKERS_MAX)
{
patt_names[patt_names_count] = argv[i];
patt_names_count++;
}
// } else {
// ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
// usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!cpara)
cpara = cparaDefault;
if (!setupCamera(cpara, vconf, &gCparamLT, &gARHandle, &gAR3DHandle))
{
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
arSetPatternDetectionMode(gARHandle, patternDetectionMode);
arSetLabelingMode(gARHandle, labelingMode);
arSetPattRatio(gARHandle, pattRatio);
arSetMatrixCodeType(gARHandle, matrixCodeType);
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!windowed)
{
if (windowRefresh)
sprintf(glutGamemode, "%ix%i:%i@%i", windowWidth, windowHeight, windowDepth, windowRefresh);
else
sprintf(glutGamemode, "%ix%i:%i", windowWidth, windowHeight, windowDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
}
else
{
glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL)
{
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
arUtilTimerReset();
// Load marker(s).
if (!setupMarkers(patt_names_count, (const char**)patt_names, gMultiConfigs, gARHandle, &gARPattHandle))
{
ARLOGe("main(): Unable to set up AR marker(s).\n");
cleanup();
exit(-1);
}
gMultiConfigCount = patt_names_count;
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
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
}
