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 *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( 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 }