Bool
readImageToTexture(CompScreen *screen,
CompTexture *texture,
const char *imageFileName,
unsigned int *returnWidth,
unsigned int *returnHeight)
{
void *image;
int width, height;
Bool status;
if (!readImageFromFile(screen->display, imageFileName,
&width, &height, &image))
return FALSE;
status = imageBufferToTexture(screen, texture, image, width, height);
free(image);
if (returnWidth)
*returnWidth = width;
if (returnHeight)
*returnHeight = height;
return status;
}
API OpenGLPrimitive *parseOpenGLScenePrimitiveHeightmap(Scene *scene, const char *path_prefix, const char *name, Store *store)
{
// Parse num parameter
Store *heightmapParam;
if((heightmapParam = getStorePath(store, "heightmap")) == NULL || heightmapParam->type != STORE_STRING) {
logError("Failed to parse OpenGL scene primitive heightmap '%s': String parameter 'heightmap' not found", name);
return NULL;
}
GString *path = g_string_new(path_prefix);
g_string_append_printf(path, "/%s", heightmapParam->content.string);
Image *image = readImageFromFile(path->str);
if(image == NULL) {
logError("Failed to parse OpenGL scene primitive heightmap '%s': Failed to load heightmap image from '%s'", name, path->str);
g_string_free(path, true);
return NULL;
}
g_string_free(path, true);
// Create heightmap
OpenGLPrimitive *primitive;
if((primitive = createOpenGLPrimitiveHeightmap(image, image->width, image->height)) == NULL) {
logError("Failed to parse OpenGL scene primitive heightmap '%s': Failed to create heightmap primitive from heightmap image", name);
freeImage(image);
return NULL;
}
return primitive;
}
int main( int argc, char *argv[] )
{
AR2JpegImageT *jpegImage = NULL;
ARUint8 *image = NULL;
AR2ImageSetT *imageSet = NULL;
AR2FeatureMapT *featureMap = NULL;
AR2FeatureSetT *featureSet = NULL;
KpmRefDataSet *refDataSet = NULL;
float scale1, scale2;
int procMode;
char buf[1024];
int num;
int i, j;
char *sep = NULL;
time_t clock;
int maxFeatureNum;
int err;
for( i = 1; i < argc; i++ ) {
if( strncmp(argv[i], "-dpi=", 5) == 0 ) {
if( sscanf(&argv[i][5], "%f", &dpi) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-sd_thresh=", 11) == 0 ) {
if( sscanf(&argv[i][11], "%f", &sd_thresh) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-max_thresh=", 12) == 0 ) {
if( sscanf(&argv[i][12], "%f", &max_thresh) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-min_thresh=", 12) == 0 ) {
if( sscanf(&argv[i][12], "%f", &min_thresh) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-feature_density=", 13) == 0 ) {
if( sscanf(&argv[i][13], "%d", &featureDensity) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-level=", 7) == 0 ) {
if( sscanf(&argv[i][7], "%d", &tracking_extraction_level) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-leveli=", 8) == 0 ) {
if( sscanf(&argv[i][8], "%d", &initialization_extraction_level) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-max_dpi=", 9) == 0 ) {
if( sscanf(&argv[i][9], "%f", &dpiMax) != 1 ) usage(argv[0]);
} else if( strncmp(argv[i], "-min_dpi=", 9) == 0 ) {
if( sscanf(&argv[i][9], "%f", &dpiMin) != 1 ) usage(argv[0]);
} else if( strcmp(argv[i], "-background") == 0 ) {
background = 1;
} else if( strcmp(argv[i], "-nofset") == 0 ) {
genfset = 0;
} else if( strcmp(argv[i], "-fset") == 0 ) {
genfset = 1;
} else if( strcmp(argv[i], "-nofset2") == 0 ) {
ARLOGe("Error: -nofset2 option no longer supported as of ARToolKit v5.3.\n");
exit(-1);
} else if( strcmp(argv[i], "-fset2") == 0 ) {
ARLOGe("Error: -fset2 option no longer supported as of ARToolKit v5.3.\n");
exit(-1);
} else if( strcmp(argv[i], "-nofset3") == 0 ) {
genfset3 = 0;
} else if( strcmp(argv[i], "-fset3") == 0 ) {
genfset3 = 1;
} else if( strncmp(argv[i], "-log=", 5) == 0 ) {
strncpy(logfile, &(argv[i][5]), sizeof(logfile) - 1);
logfile[sizeof(logfile) - 1] = '\0'; // Ensure NULL termination.
} else if( strncmp(argv[i], "-loglevel=", 10) == 0 ) {
if (strcmp(&(argv[i][10]), "DEBUG") == 0) arLogLevel = AR_LOG_LEVEL_DEBUG;
else if (strcmp(&(argv[i][10]), "INFO") == 0) arLogLevel = AR_LOG_LEVEL_INFO;
else if (strcmp(&(argv[i][10]), "WARN") == 0) arLogLevel = AR_LOG_LEVEL_WARN;
else if (strcmp(&(argv[i][10]), "ERROR") == 0) arLogLevel = AR_LOG_LEVEL_ERROR;
else usage(argv[0]);
} else if( strncmp(argv[i], "-exitcode=", 10) == 0 ) {
strncpy(exitcodefile, &(argv[i][10]), sizeof(exitcodefile) - 1);
exitcodefile[sizeof(exitcodefile) - 1] = '\0'; // Ensure NULL termination.
} 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], "--help") == 0 || strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "-?") == 0) {
usage(argv[0]);
} else if( filename[0] == '\0' ) {
strncpy(filename, argv[i], sizeof(filename) - 1);
filename[sizeof(filename) - 1] = '\0'; // Ensure NULL termination.
} else {
ARLOGe("Error: unrecognised option '%s'\n", argv[i]);
usage(argv[0]);
}
}
// Do some checks on the input.
if (filename[0] == '\0') {
ARLOGe("Error: no input file specified. Exiting.\n");
usage(argv[0]);
}
sep = strrchr(filename, '.');
if (!sep || (strcmp(sep, ".jpeg") && strcmp(sep, ".jpg") && strcmp(sep, ".jpe") && strcmp(sep, ".JPEG") && strcmp(sep, ".JPE") && strcmp(sep, ".JPG"))) {
ARLOGe("Error: input file must be a JPEG image (with suffix .jpeg/.jpg/.jpe). Exiting.\n");
usage(argv[0]);
}
if (background) {
#if HAVE_DAEMON_FUNC
if (filename[0] != '/' || logfile[0] != '/' || exitcodefile[0] != '/') {
ARLOGe("Error: -background flag requires full pathname of files (input, -log or -exitcode) to be specified. Exiting.\n");
EXIT(E_BAD_PARAMETER);
}
if (tracking_extraction_level == -1 && (sd_thresh == -1.0 || min_thresh == -1.0 || max_thresh == -1.0)) {
ARLOGe("Error: -background flag requires -level or -sd_thresh, -min_thresh and -max_thresh -to be set. Exiting.\n");
EXIT(E_BAD_PARAMETER);
}
if (initialization_extraction_level == -1 && (featureDensity == -1)) {
ARLOGe("Error: -background flag requires -leveli or -surf_thresh to be set. Exiting.\n");
EXIT(E_BAD_PARAMETER);
}
if (dpi == -1.0) {
ARLOGe("Error: -background flag requires -dpi to be set. Exiting.\n");
EXIT(E_BAD_PARAMETER);
}
if (dpiMin != -1.0f && (dpiMin <= 0.0f || dpiMin > dpi)) {
ARLOGe("Error: -min_dpi must be greater than 0 and less than or equal to -dpi. Exiting.n\n");
EXIT(E_BAD_PARAMETER);
}
if (dpiMax != -1.0f && (dpiMax < dpiMin || dpiMax > dpi)) {
ARLOGe("Error: -max_dpi must be greater than or equal to -min_dpi and less than or equal to -dpi. Exiting.n\n");
EXIT(E_BAD_PARAMETER);
}
#else
ARLOGe("Error: -background flag not supported on this operating system. Exiting.\n");
exit(E_BACKGROUND_OPERATION_UNSUPPORTED);
#endif
}
if (background) {
#if HAVE_DAEMON_FUNC
// Daemonize.
if (daemon(0, 0) == -1) {
perror("Unable to detach from controlling terminal");
EXIT(E_UNABLE_TO_DETACH_FROM_CONTROLLING_TERMINAL);
}
// At this point, stdin, stdout and stderr point to /dev/null.
#endif
}
if (logfile[0]) {
if (!freopen(logfile, "a", stdout) ||
!freopen(logfile, "a", stderr)) ARLOGe("Unable to redirect stdout or stderr to logfile.\n");
}
if (exitcodefile[0]) {
atexit(write_exitcode);
}
// Print the start date and time.
clock = time(NULL);
if (clock != (time_t)-1) {
struct tm *timeptr = localtime(&clock);
if (timeptr) {
char stime[26+8] = "";
if (strftime(stime, sizeof(stime), "%Y-%m-%d %H:%M:%S %z", timeptr)) // e.g. "1999-12-31 23:59:59 NZDT".
ARLOGi("--\nGenerator started at %s\n", stime);
}
}
if (genfset) {
if (tracking_extraction_level == -1 && (sd_thresh == -1.0 || min_thresh == -1.0 || max_thresh == -1.0 || occ_size == -1)) {
do {
printf("Select extraction level for tracking features, 0(few) <--> 4(many), [default=%d]: ", TRACKING_EXTRACTION_LEVEL_DEFAULT);
if( fgets(buf, sizeof(buf), stdin) == NULL ) EXIT(E_USER_INPUT_CANCELLED);
if (buf[0] == '\n') tracking_extraction_level = TRACKING_EXTRACTION_LEVEL_DEFAULT;
else sscanf(buf, "%d", &tracking_extraction_level);
} while (tracking_extraction_level < 0 || tracking_extraction_level > 4);
}
switch (tracking_extraction_level) {
case 0:
if( sd_thresh == -1.0f ) sd_thresh = AR2_DEFAULT_SD_THRESH_L0;
if( min_thresh == -1.0f ) min_thresh = AR2_DEFAULT_MIN_SIM_THRESH_L0;
if( max_thresh == -1.0f ) max_thresh = AR2_DEFAULT_MAX_SIM_THRESH_L0;
if( occ_size == -1 ) occ_size = AR2_DEFAULT_OCCUPANCY_SIZE;
break;
case 1:
if( sd_thresh == -1.0f ) sd_thresh = AR2_DEFAULT_SD_THRESH_L1;
if( min_thresh == -1.0f ) min_thresh = AR2_DEFAULT_MIN_SIM_THRESH_L1;
if( max_thresh == -1.0f ) max_thresh = AR2_DEFAULT_MAX_SIM_THRESH_L1;
if( occ_size == -1 ) occ_size = AR2_DEFAULT_OCCUPANCY_SIZE;
break;
case 2:
if( sd_thresh == -1.0f ) sd_thresh = AR2_DEFAULT_SD_THRESH_L2;
if( min_thresh == -1.0f ) min_thresh = AR2_DEFAULT_MIN_SIM_THRESH_L2;
if( max_thresh == -1.0f ) max_thresh = AR2_DEFAULT_MAX_SIM_THRESH_L2;
if( occ_size == -1 ) occ_size = AR2_DEFAULT_OCCUPANCY_SIZE*2/3;
break;
case 3:
if( sd_thresh == -1.0f ) sd_thresh = AR2_DEFAULT_SD_THRESH_L3;
if( min_thresh == -1.0f ) min_thresh = AR2_DEFAULT_MIN_SIM_THRESH_L3;
if( max_thresh == -1.0f ) max_thresh = AR2_DEFAULT_MAX_SIM_THRESH_L3;
if( occ_size == -1 ) occ_size = AR2_DEFAULT_OCCUPANCY_SIZE*2/3;
break;
case 4: // Same as 3, but with smaller AR2_DEFAULT_OCCUPANCY_SIZE.
if( sd_thresh == -1.0f ) sd_thresh = AR2_DEFAULT_SD_THRESH_L3;
if( min_thresh == -1.0f ) min_thresh = AR2_DEFAULT_MIN_SIM_THRESH_L3;
if( max_thresh == -1.0f ) max_thresh = AR2_DEFAULT_MAX_SIM_THRESH_L3;
if( occ_size == -1 ) occ_size = AR2_DEFAULT_OCCUPANCY_SIZE*1/2;
break;
default: // We only get to here if the parameters are already set.
break;
}
ARLOGi("MAX_THRESH = %f\n", max_thresh);
ARLOGi("MIN_THRESH = %f\n", min_thresh);
ARLOGi("SD_THRESH = %f\n", sd_thresh);
}
if (genfset3) {
if (initialization_extraction_level == -1 && featureDensity == -1) {
do {
printf("Select extraction level for initializing features, 0(few) <--> 3(many), [default=%d]: ", INITIALIZATION_EXTRACTION_LEVEL_DEFAULT);
if( fgets(buf,1024,stdin) == NULL ) EXIT(E_USER_INPUT_CANCELLED);
if (buf[0] == '\n') initialization_extraction_level = INITIALIZATION_EXTRACTION_LEVEL_DEFAULT;
else sscanf(buf, "%d", &initialization_extraction_level);
} while (initialization_extraction_level < 0 || initialization_extraction_level > 3);
}
switch(initialization_extraction_level) {
case 0:
if( featureDensity == -1 ) featureDensity = KPM_SURF_FEATURE_DENSITY_L0;
break;
default:
case 1:
if( featureDensity == -1 ) featureDensity = KPM_SURF_FEATURE_DENSITY_L1;
break;
case 2:
if( featureDensity == -1 ) featureDensity = KPM_SURF_FEATURE_DENSITY_L2;
break;
case 3:
if( featureDensity == -1 ) featureDensity = KPM_SURF_FEATURE_DENSITY_L3;
break;
}
ARLOGi("SURF_FEATURE = %d\n", featureDensity);
}
if ((err = readImageFromFile(filename, &image, &xsize, &ysize, &nc, &dpi)) != 0) {
ARLOGe("Error reading image from file '%s'.\n", filename);
EXIT(err);
}
setDPI();
ARLOGi("Generating ImageSet...\n");
ARLOGi(" (Source image xsize=%d, ysize=%d, channels=%d, dpi=%.1f).\n", xsize, ysize, nc, dpi);
imageSet = ar2GenImageSet( image, xsize, ysize, nc, dpi, dpi_list, dpi_num );
ar2FreeJpegImage(&jpegImage);
if( imageSet == NULL ) {
ARLOGe("ImageSet generation error!!\n");
EXIT(E_DATA_PROCESSING_ERROR);
}
ARLOGi(" Done.\n");
ar2UtilRemoveExt( filename );
ARLOGi("Saving to %s.iset...\n", filename);
if( ar2WriteImageSet( filename, imageSet ) < 0 ) {
ARLOGe("Save error: %s.iset\n", filename );
EXIT(E_DATA_PROCESSING_ERROR);
}
ARLOGi(" Done.\n");
if (genfset) {
arMalloc( featureSet, AR2FeatureSetT, 1 ); // A featureSet with a single image,
arMalloc( featureSet->list, AR2FeaturePointsT, imageSet->num ); // and with 'num' scale levels of this image.
featureSet->num = imageSet->num;
ARLOGi("Generating FeatureList...\n");
for( i = 0; i < imageSet->num; i++ ) {
ARLOGi("Start for %f dpi image.\n", imageSet->scale[i]->dpi);
featureMap = ar2GenFeatureMap( imageSet->scale[i],
AR2_DEFAULT_TS1*AR2_TEMP_SCALE, AR2_DEFAULT_TS2*AR2_TEMP_SCALE,
AR2_DEFAULT_GEN_FEATURE_MAP_SEARCH_SIZE1, AR2_DEFAULT_GEN_FEATURE_MAP_SEARCH_SIZE2,
AR2_DEFAULT_MAX_SIM_THRESH2, AR2_DEFAULT_SD_THRESH2 );
if( featureMap == NULL ) {
ARLOGe("Error!!\n");
EXIT(E_DATA_PROCESSING_ERROR);
}
ARLOGi(" Done.\n");
featureSet->list[i].coord = ar2SelectFeature2( imageSet->scale[i], featureMap,
AR2_DEFAULT_TS1*AR2_TEMP_SCALE, AR2_DEFAULT_TS2*AR2_TEMP_SCALE, AR2_DEFAULT_GEN_FEATURE_MAP_SEARCH_SIZE2,
occ_size,
max_thresh, min_thresh, sd_thresh, &num );
if( featureSet->list[i].coord == NULL ) num = 0;
featureSet->list[i].num = num;
featureSet->list[i].scale = i;
scale1 = 0.0f;
for( j = 0; j < imageSet->num; j++ ) {
if( imageSet->scale[j]->dpi < imageSet->scale[i]->dpi ) {
if( imageSet->scale[j]->dpi > scale1 ) scale1 = imageSet->scale[j]->dpi;
}
}
if( scale1 == 0.0f ) {
featureSet->list[i].mindpi = imageSet->scale[i]->dpi * 0.5f;
}
else {
/*
scale2 = imageSet->scale[i]->dpi;
scale = sqrtf( scale1 * scale2 );
featureSet->list[i].mindpi = scale2 / ((scale2/scale - 1.0f)*1.1f + 1.0f);
*/
featureSet->list[i].mindpi = scale1;
}
scale1 = 0.0f;
for( j = 0; j < imageSet->num; j++ ) {
if( imageSet->scale[j]->dpi > imageSet->scale[i]->dpi ) {
if( scale1 == 0.0f || imageSet->scale[j]->dpi < scale1 ) scale1 = imageSet->scale[j]->dpi;
}
}
if( scale1 == 0.0f ) {
featureSet->list[i].maxdpi = imageSet->scale[i]->dpi * 2.0f;
}
else {
//scale2 = imageSet->scale[i]->dpi * 1.2f;
scale2 = imageSet->scale[i]->dpi;
/*
scale = sqrtf( scale1 * scale2 );
featureSet->list[i].maxdpi = scale2 * ((scale/scale2 - 1.0f)*1.1f + 1.0f);
*/
featureSet->list[i].maxdpi = scale2*0.8f + scale1*0.2f;
}
ar2FreeFeatureMap( featureMap );
}
ARLOGi(" Done.\n");
ARLOGi("Saving FeatureSet...\n");
if( ar2SaveFeatureSet( filename, "fset", featureSet ) < 0 ) {
ARLOGe("Save error: %s.fset\n", filename );
EXIT(E_DATA_PROCESSING_ERROR);
}
ARLOGi(" Done.\n");
ar2FreeFeatureSet( &featureSet );
}
if (genfset3) {
ARLOGi("Generating FeatureSet3...\n");
refDataSet = NULL;
procMode = KpmProcFullSize;
for( i = 0; i < imageSet->num; i++ ) {
//if( imageSet->scale[i]->dpi > 100.0f ) continue;
maxFeatureNum = featureDensity * imageSet->scale[i]->xsize * imageSet->scale[i]->ysize / (480*360);
ARLOGi("(%d, %d) %f[dpi]\n", imageSet->scale[i]->xsize, imageSet->scale[i]->ysize, imageSet->scale[i]->dpi);
if( kpmAddRefDataSet (
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
imageSet->scale[i]->imgBWBlur[1],
#else
imageSet->scale[i]->imgBW,
#endif
AR_PIXEL_FORMAT_MONO,
imageSet->scale[i]->xsize,
imageSet->scale[i]->ysize,
imageSet->scale[i]->dpi,
procMode, KpmCompNull, maxFeatureNum, 1, i, &refDataSet) < 0 ) { // Page number set to 1 by default.
ARLOGe("Error at kpmAddRefDataSet.\n");
EXIT(E_DATA_PROCESSING_ERROR);
}
}
ARLOGi(" Done.\n");
ARLOGi("Saving FeatureSet3...\n");
if( kpmSaveRefDataSet(filename, "fset3", refDataSet) != 0 ) {
ARLOGe("Save error: %s.fset2\n", filename );
EXIT(E_DATA_PROCESSING_ERROR);
}
ARLOGi(" Done.\n");
kpmDeleteRefDataSet( &refDataSet );
}
ar2FreeImageSet( &imageSet );
// Print the start date and time.
clock = time(NULL);
if (clock != (time_t)-1) {
struct tm *timeptr = localtime(&clock);
if (timeptr) {
char stime[26+8] = "";
if (strftime(stime, sizeof(stime), "%Y-%m-%d %H:%M:%S %z", timeptr)) // e.g. "1999-12-31 23:59:59 NZDT".
ARLOGi("Generator finished at %s\n--\n", stime);
}
}
exitcode = E_NO_ERROR;
return (exitcode);
}
