int main(int argc,char **argv)
{
try
{
if(argc==1) usage();
readArguments (argc,argv);
if (TheIntrinsicFile==""){cerr<<"-f option required"<<endl;return -1;}
if (TheMarkerSize==-1){cerr<<"-s option required"<<endl;return -1;}
//read from camera
if (TheInputVideo=="") TheVideoCapturer.open(0);
else TheVideoCapturer.open(TheInputVideo);
if (!TheVideoCapturer.isOpened())
{
cerr<<"Could not open video"<<endl;
return -1;
}
//read first image
TheVideoCapturer>>TheInputImage;
//read camera paramters if passed
if (isIntrinsicFileYAML)
TheCameraParams.readFromXMLFile(TheIntrinsicFile);
else
TheCameraParams.readFromFile(TheIntrinsicFile);
TheCameraParams.resize(TheInputImage.size());
glutInit(&argc, argv);
glutInitWindowPosition( 0, 0);
glutInitWindowSize(TheInputImage.size().width,TheInputImage.size().height);
glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
glutCreateWindow( "AruCo" );
glutDisplayFunc( vDrawScene );
glutIdleFunc( vIdle );
glutReshapeFunc( vResize );
glutMouseFunc(vMouse);
glClearColor( 0.0, 0.0, 0.0, 1.0 );
glClearDepth( 1.0 );
TheGlWindowSize=TheInputImage.size();
vResize(TheGlWindowSize.width,TheGlWindowSize.height);
glutMainLoop();
}catch(std::exception &ex)
{
cout<<"Exception :"<<ex.what()<<endl;
}
}
