// The initialisation function
__declspec(dllexport) void alvar_init(int width, int height)
{
w = width;
h = height;
// Calibration. See manual and ALVAR internal samples how to calibrate your camera
// Calibration will make the marker detecting and marker pose calculation more accurate.
if (! camera.SetCalib("Calibrations/default_calib.xml", w, h)) {
camera.SetRes(w, h);
}
// Set projection matrix as ALVAR recommends (based on the camera calibration)
double p[16];
camera.GetOpenglProjectionMatrix(p, w, h);
//Initialize the multimarker system
for(int i = 0; i < MARKER_COUNT; ++i)
markerIdVector.push_back(i);
// We make the initialization for MultiMarkerBundle using a fixed marker field (can be printed from MultiMarker.ppt)
markerDetector.SetMarkerSize(CORNER_MARKER_SIZE);
markerDetector.SetMarkerSizeForId(0, CENTRE_MARKER_SIZE);
multiMarker = new alvar::MultiMarker(markerIdVector);
alvar::Pose pose;
pose.Reset();
// Add the 5 markers
multiMarker->PointCloudAdd(0, CENTRE_MARKER_SIZE, pose);
pose.SetTranslation(-10, 6, 0);
multiMarker->PointCloudAdd(1, CORNER_MARKER_SIZE, pose);
pose.SetTranslation(10, 6, 0);
multiMarker->PointCloudAdd(2, CORNER_MARKER_SIZE, pose);
pose.SetTranslation(-10, -6, 0);
multiMarker->PointCloudAdd(3, CORNER_MARKER_SIZE, pose);
pose.SetTranslation(+10, -6, 0);
multiMarker->PointCloudAdd(4, CORNER_MARKER_SIZE, pose);
trackerStat.Reset();
}
