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 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 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);
}
