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);
}
int main(int argc, char** argv)
{
char glutGamemode[32] = "";
char *vconf = NULL;
char cparaDefault[] = "../share/artoolkit-examples/Data/camera_para.dat";
char *cpara = NULL;
int i;
int gotTwoPartOption;
const char markerConfigDataFilename[] = "../share/artoolkit-examples/Data/markers.dat";
const char objectDataFilename[] = "../share/artoolkit-examples/Data/objects.dat";
//
// Process command-line options.
//
glutInit(&argc, argv);
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],"--width") == 0) {
i++;
// Get width from second field.
if (sscanf(argv[i], "%d", &prefWidth) != 1) {
ARLOGe("Error: --width option must be followed by desired width.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--height") == 0) {
i++;
// Get height from second field.
if (sscanf(argv[i], "%d", &prefHeight) != 1) {
ARLOGe("Error: --height option must be followed by desired height.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--refresh") == 0) {
i++;
// Get refresh rate from second field.
if (sscanf(argv[i], "%d", &prefRefresh) != 1) {
ARLOGe("Error: --refresh option must be followed by desired refresh rate.\n");
}
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 (strncmp(argv[i], "-cpara=", 7) == 0) {
cpara = &(argv[i][7]);
} 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 (strcmp(argv[i],"--windowed") == 0) {
prefWindowed = TRUE;
} else if (strcmp(argv[i],"--fullscreen") == 0) {
prefWindowed = FALSE;
} else {
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!setupCamera((cpara ? cpara : cparaDefault), vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
// Init AR.
gARPattHandle = arPattCreateHandle();
if (!gARPattHandle) {
ARLOGe("Error creating pattern handle.\n");
exit(-1);
}
gARHandle = arCreateHandle(gCparamLT);
if (!gARHandle) {
ARLOGe("Error creating AR handle.\n");
exit(-1);
}
arPattAttach(gARHandle, gARPattHandle);
if (arSetPixelFormat(gARHandle, arVideoGetPixelFormat()) < 0) {
ARLOGe("Error setting pixel format.\n");
exit(-1);
}
gAR3DHandle = ar3DCreateHandle(&gCparamLT->param);
if (!gAR3DHandle) {
ARLOGe("Error creating 3D handle.\n");
exit(-1);
}
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, gARPattHandle, &markersSquare, &markersSquareCount, &gARPattDetectionMode);
ARLOGi("Marker count = %d\n", markersSquareCount);
//
// Other ARToolKit setup.
//
arSetMarkerExtractionMode(gARHandle, AR_USE_TRACKING_HISTORY_V2);
//arSetMarkerExtractionMode(gARHandle, AR_NOUSE_TRACKING_HISTORY);
//arSetLabelingThreshMode(gARHandle, AR_LABELING_THRESH_MODE_MANUAL); // Uncomment to force manual thresholding.
// Set the pattern detection mode (template (pictorial) vs. matrix (barcode) based on
// the marker types as defined in the marker config. file.
arSetPatternDetectionMode(gARHandle, gARPattDetectionMode); // Default = AR_TEMPLATE_MATCHING_COLOR
// Other application-wide marker options. Once set, these apply to all markers in use in the application.
// If you are using standard ARToolKit picture (template) markers, leave commented to use the defaults.
// If you are usign a different marker design (see http://www.artoolworks.com/support/app/marker.php )
// then uncomment and edit as instructed by the marker design application.
//arSetLabelingMode(gARHandle, AR_LABELING_BLACK_REGION); // Default = AR_LABELING_BLACK_REGION
//arSetBorderSize(gARHandle, 0.25f); // Default = 0.25f
//arSetMatrixCodeType(gARHandle, AR_MATRIX_CODE_3x3); // Default = AR_MATRIX_CODE_3x3
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (prefWindowed) {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
else glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
} else {
if (glutGameModeGet(GLUT_GAME_MODE_POSSIBLE)) {
if (prefWidth && prefHeight) {
if (prefDepth) {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i", prefWidth, prefHeight, prefDepth);
} else {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i@%i", prefWidth, prefHeight, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
} else {
prefWidth = glutGameModeGet(GLUT_GAME_MODE_WIDTH);
prefHeight = glutGameModeGet(GLUT_GAME_MODE_HEIGHT);
snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
glutFullScreen();
}
}
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
cameraPoseValid = FALSE;
// 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);
// Load objects (i.e. OSG models).
VirtualEnvironmentInit(objectDataFilename);
VirtualEnvironmentHandleARViewUpdatedCameraLens(cameraLens);
//
// Setup complete. Start tracking.
//
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
arUtilTimerReset();
// 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(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;
}
int main(int argc, char** argv)
{
char glutGamemode[32];
char cparam_name[] = "Data/camera_para.dat";
char vconf[] = "";
char patt_name[] = "Data/patt.hiro";
char movieFileName[] = "Data/sample.mov";
char *movieURI;
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
if (!setupCamera(cparam_name, vconf, &gCparamLT, &gARHandle, &gAR3DHandle)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// 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(windowWidth, windowHeight);
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 (!setupMarker(patt_name, &gPatt_id, gARHandle, &gARPattHandle)) {
ARLOGe("main(): Unable to set up AR marker.\n");
cleanup();
exit(-1);
}
//
// Movie loading.
//
// In this example, we load a movie via a file URI, but other URIs allowed
// by the QuickTime module would also be fine.
// Movie relative path is in "movieFileName". Get a file:// URI for it.
movieURI = arUtilGetFileURI(movieFileName);
if (!movieURI) {
ARLOGe("Error: Unable to construct URI for movie file '%s'.\n", movieFileName);
cleanup();
exit(-1);
}
// Now open the movie.
if (!setupMovie(movieURI)) {
ARLOGe("Error: Unable to open movie at URI '%s'.\n", movieURI);
free(movieURI);
cleanup();
exit(-1);
}
free(movieURI); // We're finished with movieURI, so free it.
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char** argv)
{
char glutGamemode[32];
const char *cparam_name = "Data/camera_para.dat";
char vconf[] = "";
const char *patt_name = "Data/cubeMarkerConfig.dat";
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
if (!setupCamera(cparam_name, vconf, &gCparamLT, &gARHandle, &gAR3DHandle)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!prefWindowed) {
if (prefRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else sprintf(glutGamemode, "%ix%i:%i", prefWidth, prefHeight, prefDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
glutInitWindowSize(prefWidth, prefHeight);
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);
debugReportMode(gARHandle);
glEnable(GL_DEPTH_TEST);
arUtilTimerReset();
// Load marker(s).
if (!setupCubeMarker(patt_name, &gMultiConfig, gARHandle, &gARPattHandle)) {
ARLOGe("main(): Unable to set up AR marker.\n");
cleanup();
exit(-1);
}
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char** argv)
{
char glutGamemode[32] = "";
char *vconf = NULL;
char cparaDefault[] = "Data2/camera_para.dat";
char *cpara = NULL;
int i;
int gotTwoPartOption;
const char markerConfigDataFilename[] = "Data2/markers.dat";
const char objectDataFilename[] = "Data2/objects.dat";
#ifdef DEBUG
arLogLevel = AR_LOG_LEVEL_DEBUG;
#endif
//
// Process command-line options.
//
glutInit(&argc, argv);
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],"--width") == 0) {
i++;
// Get width from second field.
if (sscanf(argv[i], "%d", &prefWidth) != 1) {
ARLOGe("Error: --width option must be followed by desired width.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--height") == 0) {
i++;
// Get height from second field.
if (sscanf(argv[i], "%d", &prefHeight) != 1) {
ARLOGe("Error: --height option must be followed by desired height.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--refresh") == 0) {
i++;
// Get refresh rate from second field.
if (sscanf(argv[i], "%d", &prefRefresh) != 1) {
ARLOGe("Error: --refresh option must be followed by desired refresh rate.\n");
}
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 (strncmp(argv[i], "-cpara=", 7) == 0) {
cpara = &(argv[i][7]);
} 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 (strcmp(argv[i],"--windowed") == 0) {
prefWindowed = TRUE;
} else if (strcmp(argv[i],"--fullscreen") == 0) {
prefWindowed = FALSE;
} else {
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!setupCamera((cpara ? cpara : cparaDefault), vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
if (!initNFT(gCparamLT, arVideoGetPixelFormat())) {
ARLOGe("main(): Unable to init NFT.\n");
exit(-1);
}
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, &markersNFT, &markersNFTCount);
if (!markersNFTCount) {
ARLOGe("Error loading markers from config. file '%s'.\n", markerConfigDataFilename);
cleanup();
exit(-1);
}
ARLOGi("Marker count = %d\n", markersNFTCount);
// Marker data has been loaded, so now load NFT data.
if (!loadNFTData()) {
ARLOGe("Error loading NFT data.\n");
cleanup();
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (prefWindowed) {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
else glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
} else {
if (glutGameModeGet(GLUT_GAME_MODE_POSSIBLE)) {
if (prefWidth && prefHeight) {
if (prefDepth) {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i", prefWidth, prefHeight, prefDepth);
} else {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i@%i", prefWidth, prefHeight, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
} else {
prefWidth = glutGameModeGet(GLUT_GAME_MODE_WIDTH);
prefHeight = glutGameModeGet(GLUT_GAME_MODE_HEIGHT);
snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
glutFullScreen();
}
}
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
cameraPoseValid = FALSE;
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
// Load objects (i.e. OSG models).
VirtualEnvironmentInit(objectDataFilename);
VirtualEnvironmentHandleARViewUpdatedCameraLens(cameraLens);
//
// Setup complete. Start tracking.
//
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
arUtilTimerReset();
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
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( 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);
}
}
int main(int argc, char** argv)
{
int i;
char glutGamemode[32];
char cparam_name[] = "Data/camera_para.dat";
char vconf[] = "";
char objectDataFilename[] = "Data/object_data_vrml";
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
if (!setupCamera(cparam_name, vconf, &gCparamLT, &gARHandle, &gAR3DHandle)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
#ifdef _WIN32
CoInitialize(NULL);
#endif
//
// 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(windowWidth, windowHeight);
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();
if (!setupMarkersObjects(objectDataFilename, &gObjectData, &gObjectDataCount, gARHandle)) {
ARLOGe("main(): Unable to set up AR objects and markers.\n");
cleanup();
exit(-1);
}
// Test render all the VRML objects.
ARLOGi("Pre-rendering the VRML objects...\n");
glEnable(GL_TEXTURE_2D);
for (i = 0; i < gObjectDataCount; i++) {
arVrmlDraw(gObjectData[i].vrml_id);
}
glDisable(GL_TEXTURE_2D);
ARLOGi(" done\n");
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
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);
}
int main(int argc, char** argv)
{
//
// load:
// intrinsice camera parameters, video configuration, pattern configuration and model file
//
char glutGamemode[32];
char cparam_name[] = "Data/camera_para.dat";
char vconf[] = "";
char patt_name[] = "Data/patt.irc";
char obj_name[] = "Data/bunny.obj";
gObj = glmReadOBJ(obj_name);
if (gObj == NULL)
{
ARLOGe("main(): Unable to load obj model file.\n");
exit(-1);
}
glmUnitize(gObj);
glmScale(gObj, 1.5*markerSize);
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
if (!setupCamera(cparam_name, vconf, &gCparamLT, &gARHandle, &gAR3DHandle)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
// Load marker(s).
if (!setupMarker(patt_name, &gPatt_id, gARHandle, &gARPattHandle)) {
ARLOGe("main(): Unable to set up AR marker.\n");
cleanup();
exit(-1);
}
//
// 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(windowWidth, windowHeight);
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();
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutVisibilityFunc(Visibility);
glutReshapeFunc(Reshape);
glutKeyboardFunc(Keyboard);
glutMainLoop();
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);
}
int main(int argc, char** argv)
{
char glutGamemode[32];
const char *cparam_name = "Data2/camera_para.dat";
char vconf[] = "";
const char markerConfigDataFilename[] = "Data2/markers.dat";
#ifdef DEBUG
arLogLevel = AR_LOG_LEVEL_DEBUG;
#endif
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
#ifdef _WIN32
CoInitialize(NULL);
#endif
if (!setupCamera(cparam_name, vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
if (!initNFT(gCparamLT, arVideoGetPixelFormat())) {
ARLOGe("main(): Unable to init NFT.\n");
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!prefWindowed) {
if (prefRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else sprintf(glutGamemode, "%ix%i:%i", prefWidth, prefHeight, prefDepth);
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);
}
arUtilTimerReset();
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, &markersNFT, &markersNFTCount);
if (!markersNFTCount) {
ARLOGe("Error loading markers from config. file '%s'.\n", markerConfigDataFilename);
cleanup();
exit(-1);
}
ARLOGi("Marker count = %d\n", markersNFTCount);
// Marker data has been loaded, so now load NFT data.
if (!loadNFTData()) {
ARLOGe("Error loading NFT data.\n");
cleanup();
exit(-1);
}
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
