bool videoAndroidNativeCaptureClose(VIDEO_ANDROID_NATIVE_CAPTURE **nc_p)
{
ARLOGd("videoAndroidNativeCaptureClose().\n");
if (!nc_p || !*nc_p)
return (false); // Sanity check.
if ((*nc_p)->frameBuffers[0] || (*nc_p)->frameBuffers[1])
{
ARLOGw("Warning: videoAndroidNativeCaptureClose called without call to videoAndroidNativeCaptureStop.\n");
videoAndroidNativeCaptureStop(*nc_p);
}
pthread_mutex_destroy(&((*nc_p)->frameLock));
pthread_cond_destroy(&((*nc_p)->frameReadyNotifierThreadCondGo));
if ((*nc_p)->ca)
{
// ca->disconnect() will be automatically called inside destructor;
delete((*nc_p)->ca);
(*nc_p)->ca = NULL;
}
free(*nc_p);
*nc_p = NULL;
ARLOGd("/videoAndroidNativeCaptureClose.\n");
return (true);
}
static int setupCamera(const char *cparam_name, char *vconf, ARParamLT **cparamLT_p)
{
ARParam cparam;
int xsize, ysize;
AR_PIXEL_FORMAT pixFormat;
// Open the video path.
if (arVideoOpen(vconf) < 0) {
ARLOGe("setupCamera(): Unable to open connection to camera.\n");
return (FALSE);
}
// Find the size of the window.
if (arVideoGetSize(&xsize, &ysize) < 0) {
ARLOGe("setupCamera(): Unable to determine camera frame size.\n");
arVideoClose();
return (FALSE);
}
ARLOGi("Camera image size (x,y) = (%d,%d)\n", xsize, ysize);
// Get the format in which the camera is returning pixels.
pixFormat = arVideoGetPixelFormat();
if (pixFormat == AR_PIXEL_FORMAT_INVALID) {
ARLOGe("setupCamera(): Camera is using unsupported pixel format.\n");
arVideoClose();
return (FALSE);
}
// Load the camera parameters, resize for the window and init.
if (arParamLoad(cparam_name, 1, &cparam) < 0) {
ARLOGe("setupCamera(): Error loading parameter file %s for camera.\n", cparam_name);
arVideoClose();
return (FALSE);
}
if (cparam.xsize != xsize || cparam.ysize != ysize) {
ARLOGw("*** Camera Parameter resized from %d, %d. ***\n", cparam.xsize, cparam.ysize);
arParamChangeSize(&cparam, xsize, ysize, &cparam);
}
#ifdef DEBUG
ARLOG("*** Camera Parameter ***\n");
arParamDisp(&cparam);
#endif
if ((*cparamLT_p = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET)) == NULL) {
ARLOGe("setupCamera(): Error: arParamLTCreate.\n");
arVideoClose();
return (FALSE);
}
return (TRUE);
}
static int setupCamera(const char *cparam_name, char *vconf, ARParamLT **cparamLT_p, ARHandle **arhandle, AR3DHandle **ar3dhandle)
{
ARParam cparam;
int xsize, ysize;
AR_PIXEL_FORMAT pixFormat;
// Open the video path.
if (arVideoOpen(vconf) < 0) {
ARLOGe("setupCamera(): Unable to open connection to camera.\n");
return (FALSE);
}
// Find the size of the window.
if (arVideoGetSize(&xsize, &ysize) < 0) {
ARLOGe("setupCamera(): Unable to determine camera frame size.\n");
arVideoClose();
return (FALSE);
}
ARLOGi("Camera image size (x,y) = (%d,%d)\n", xsize, ysize);
// Get the format in which the camera is returning pixels.
pixFormat = arVideoGetPixelFormat();
if (pixFormat == AR_PIXEL_FORMAT_INVALID) {
ARLOGe("setupCamera(): Camera is using unsupported pixel format.\n");
arVideoClose();
return (FALSE);
}
// Load the camera parameters, resize for the window and init.
if (arParamLoad(cparam_name, 1, &cparam) < 0) {
ARLOGe("setupCamera(): Error loading parameter file %s for camera.\n", cparam_name);
arVideoClose();
return (FALSE);
}
if (cparam.xsize != xsize || cparam.ysize != ysize) {
ARLOGw("*** Camera Parameter resized from %d, %d. ***\n", cparam.xsize, cparam.ysize);
arParamChangeSize(&cparam, xsize, ysize, &cparam);
}
#ifdef DEBUG
ARLOG("*** Camera Parameter ***\n");
arParamDisp(&cparam);
#endif
if ((*cparamLT_p = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET)) == NULL) {
ARLOGe("setupCamera(): Error: arParamLTCreate.\n");
arVideoClose();
return (FALSE);
}
if ((*arhandle = arCreateHandle(*cparamLT_p)) == NULL) {
ARLOGe("setupCamera(): Error: arCreateHandle.\n");
return (FALSE);
}
if (arSetPixelFormat(*arhandle, pixFormat) < 0) {
ARLOGe("setupCamera(): Error: arSetPixelFormat.\n");
return (FALSE);
}
if (arSetDebugMode(*arhandle, AR_DEBUG_DISABLE) < 0) {
ARLOGe("setupCamera(): Error: arSetDebugMode.\n");
return (FALSE);
}
if (arSetImageProcMode(*arhandle, AR_IMAGE_PROC_FRAME_IMAGE) < 0) { // Change to AR_IMAGE_PROC_FIELD_IMAGE if using a DVCam.
ARLOGe("setupCamera(): Error: arSetImageProcMode.\n");
return (FALSE);
}
if ((*ar3dhandle = ar3DCreateHandle(&(*cparamLT_p)->param)) == NULL) {
ARLOGe("setupCamera(): Error: ar3DCreateHandle.\n");
return (FALSE);
}
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
return (TRUE);
}
AR2ImageSetT *ar2ReadImageSet( char *filename )
{
FILE *fp;
AR2JpegImageT *jpgImage;
AR2ImageSetT *imageSet;
float dpi;
int i, k1;
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
int j, k2;
ARUint *p1, *p2;
#endif
size_t len;
const char ext[] = ".iset";
char *buf;
len = strlen(filename) + strlen(ext) + 1; // +1 for nul terminator.
arMalloc(buf, char, len);
sprintf(buf, "%s%s", filename, ext);
fp = fopen(buf, "rb");
free(buf);
if (!fp) {
ARLOGe("Error: unable to open file '%s%s' for reading.\n", filename, ext);
return (NULL);
}
arMalloc( imageSet, AR2ImageSetT, 1 );
if( fread(&(imageSet->num), sizeof(imageSet->num), 1, fp) != 1 || imageSet->num <= 0) {
ARLOGe("Error reading imageSet.\n");
goto bail;
}
ARLOGi("Imageset contains %d images.\n", imageSet->num);
arMalloc( imageSet->scale, AR2ImageT*, imageSet->num );
arMalloc( imageSet->scale[0], AR2ImageT, 1 );
jpgImage = ar2ReadJpegImage2(fp); // Caller must free result.
if( jpgImage == NULL || jpgImage->nc != 1 ) {
ARLOGw("Falling back to reading '%s%s' in ARToolKit v4.x format.\n", filename, ext);
free(imageSet->scale[0]);
free(imageSet->scale);
free(imageSet);
if( jpgImage == NULL ) {
rewind(fp);
return ar2ReadImageSetOld(fp);
}
free(jpgImage); //COVHI10396
fclose(fp);
return NULL;
}
imageSet->scale[0]->xsize = jpgImage->xsize;
imageSet->scale[0]->ysize = jpgImage->ysize;
imageSet->scale[0]->dpi = jpgImage->dpi; // The dpi value is not read correctly by jpeglib embedded in OpenCV 2.2.x.
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
imageSet->scale[0]->imgBWBlur[0] = jpgImage->image;
// Create the blurred images.
for( j = 1; j < AR2_BLUR_IMAGE_MAX; j++ ) {
arMalloc( imageSet->scale[0]->imgBWBlur[j], ARUint8, imageSet->scale[0]->xsize * imageSet->scale[0]->ysize);
p1 = dst->imgBWBlur[0];
p2 = dst->imgBWBlur[i];
for( k1 = 0; k1 < imageSet->scale[0]->xsize * imageSet->scale[0]->ysize; k1++ ) *(p2++) = *(p1++);
defocus_image( imageSet->scale[0]->imgBWBlur[j], imageSet->scale[0]->xsize, imageSet->scale[0]->ysize, 3 );
}
#else
imageSet->scale[0]->imgBW = jpgImage->image;
#endif
free(jpgImage);
// Minify for the other scales.
// First, find the list of scales we wrote into the file.
fseek(fp, (long)(-(int)sizeof(dpi)*(imageSet->num - 1)), SEEK_END);
for( i = 1; i < imageSet->num; i++ ) {
if( fread(&dpi, sizeof(dpi), 1, fp) != 1 ) {
for( k1 = 0; k1 < i; k1++ ) {
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
for( k2 = 0; k2 < AR2_BLUR_IMAGE_MAX; k2++ ) free(imageSet->scale[k1]->imgBWBlur[k2]);
#else
free(imageSet->scale[k1]->imgBW);
#endif
free(imageSet->scale[k1]);
}
goto bail1;
}
imageSet->scale[i] = ar2GenImageLayer2( imageSet->scale[0], dpi );
if( imageSet->scale[i] == NULL ) {
for( k1 = 0; k1 < i; k1++ ) {
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
for( k2 = 0; k2 < AR2_BLUR_IMAGE_MAX; k2++ ) free(imageSet->scale[k1]->imgBWBlur[k2]);
#else
free(imageSet->scale[k1]->imgBW);
#endif
free(imageSet->scale[k1]);
}
goto bail1;
}
}
fclose(fp);
return imageSet;
bail1:
free(imageSet->scale);
bail:
free(imageSet);
fclose(fp);
return NULL;
}
