重点看：markers.dat 的解析原理
1.
int main(int argc, char** argv)
{
char glutGamemode[];
const char *cparam_name = "Data2/camera_para.dat";
char vconf[] = "";
const char markerConfigDataFilename[] = "Data2/markers.dat";
2.
// Load marker(s).
newMarkers(markerConfigDataFilename, &markersNFT, &markersNFTCount);
if (!markersNFTCount) {
ARLOGe("Error loading markers from config. file '%s'.\n", markerConfigDataFilename);
cleanup();
exit(-);
}
ARLOGi("Marker count = %d\n", markersNFTCount); //等于1
3.
// Marker data has been loaded, so now load NFT data.
if (!loadNFTData()) {
ARLOGe("Error loading NFT data.\n");
cleanup();
exit(-);
}
newMarkers 到底是如何工作的呢？
# Number of markers # Entries for each marker. Format is:
#
# Name of pattern file (relative to this file)
# Marker type (SINGLE)
# Marker width in millimetres (floating point number)
# Optional tokens:
# FILTER [x] Enable pose estimate filtering for the preceding marker
# x (optional) specifies the cutoff frequency. Default
# value is AR_FILTER_TRANS_MAT_CUTOFF_FREQ_DEFAULT, which
# at time of writing, equals 5.0.
# A blank line ../DataNFT/pinball
NFT
FILTER 15.0
void newMarkers(const char *markersConfigDataFilePathC, ARMarkerNFT **markersNFT_out, int *markersNFTCount_out)
{
FILE *fp;
char buf[MAXPATHLEN], buf1[MAXPATHLEN];
int tempI;
ARMarkerNFT *markersNFT;
int markersNFTCount;
ARdouble tempF;
int i;
char markersConfigDataDirC[MAXPATHLEN];
size_t markersConfigDataDirCLen; if (!markersConfigDataFilePathC || markersConfigDataFilePathC[] == '\0' || !markersNFT_out || !markersNFTCount_out) return; // Load the marker data file.
ARLOGd("Opening marker config. data file from path '%s'.\n", markersConfigDataFilePathC);
arUtilGetDirectoryNameFromPath(markersConfigDataDirC, markersConfigDataFilePathC, MAXPATHLEN, ); // 1 = add '/' at end.
markersConfigDataDirCLen = strlen(markersConfigDataDirC);
if ((fp = fopen(markersConfigDataFilePathC, "r")) == NULL) {
ARLOGe("Error: unable to locate marker config data file '%s'.\n", markersConfigDataFilePathC);
return;
} // First line is number of markers to read.
get_buff(buf, MAXPATHLEN, fp, );
if (sscanf(buf, "%d", &tempI) != ) {
ARLOGe("Error in marker configuration data file; expected marker count.\n");
fclose(fp);
return;
} arMallocClear(markersNFT, ARMarkerNFT, tempI);
markersNFTCount = tempI; ARLOGd("Reading %d marker configuration(s).\n", markersNFTCount); 37 for (i = ; i < markersNFTCount; i++) { // Read marker file name.
if (!get_buff(buf, MAXPATHLEN, fp, )) {
ARLOGe("Error in marker configuration data file; expected marker name.\n");
break;
} // Read marker type.
if (!get_buff(buf1, MAXPATHLEN, fp, )) {
ARLOGe("Error in marker configuration data file; expected marker type.\n");
break;
} // Interpret marker type, and read more data.
if (strcmp(buf1, "SINGLE") == ) {
ARLOGe("Error in marker configuration data file; SINGLE markers not supported in this build.\n");
} else if (strcmp(buf1, "MULTI") == ) {
ARLOGe("Error in marker configuration data file; MULTI markers not supported in this build.\n");
} else if (strcmp(buf1, "NFT") == ) {
markersNFT[i].valid = markersNFT[i].validPrev = FALSE;
arMalloc(markersNFT[i].datasetPathname, char, markersConfigDataDirCLen + strlen(buf) + );
strcpy(markersNFT[i].datasetPathname, markersConfigDataDirC);
strcpy(markersNFT[i].datasetPathname + markersConfigDataDirCLen, buf);
markersNFT[i].pageNo = -;
} else {
ARLOGe("Error in marker configuration data file; unsupported marker type %s.\n", buf1);
} // Look for optional tokens. A blank line marks end of options.
while (get_buff(buf, MAXPATHLEN, fp, ) && (buf[] != '\0')) {
if (strncmp(buf, "FILTER", ) == ) {
markersNFT[i].filterCutoffFrequency = AR_FILTER_TRANS_MAT_CUTOFF_FREQ_DEFAULT;
markersNFT[i].filterSampleRate = AR_FILTER_TRANS_MAT_SAMPLE_RATE_DEFAULT;
if (strlen(buf) != ) {
if (sscanf(&buf[],
#ifdef ARDOUBLE_IS_FLOAT
"%f"
#else
"%lf"
#endif
, &tempF) == ) markersNFT[i].filterCutoffFrequency = tempF;
}
markersNFT[i].ftmi = arFilterTransMatInit(markersNFT[i].filterSampleRate, markersNFT[i].filterCutoffFrequency);
}
// Unknown tokens are ignored.
}
84 }
fclose(fp); // If not all markers were read, an error occurred.
if (i < markersNFTCount) { // Clean up.
for (; i >= ; i--) {
if (markersNFT[i].datasetPathname) free(markersNFT[i].datasetPathname);
if (markersNFT[i].ftmi) arFilterTransMatFinal(markersNFT[i].ftmi);
}
free(markersNFT); *markersNFTCount_out = ;
*markersNFT_out = NULL;
return;
} *markersNFTCount_out = markersNFTCount;
*markersNFT_out = markersNFT;
}
typedef struct _ARMarkerNFT {
// ARMarker protected
bool valid;
bool validPrev;
ARdouble trans[][];
ARPose pose;
ARdouble marker_width;
ARdouble marker_height;
// ARMarker private
ARFilterTransMatInfo *ftmi; // 变换矩阵，为何使用链表的形式？
ARdouble filterCutoffFrequency;
ARdouble filterSampleRate;
// ARMarkerNFT
int pageNo;
char *datasetPathname;
} ARMarkerNFT;loadNFTData 开始分析。
// References globals: markersNFTCount
// Modifies globals: threadHandle, surfaceSet[], surfaceSetCount, markersNFT[]
static int loadNFTData(void)
{
int i;
KpmRefDataSet *refDataSet; // If data was already loaded, stop KPM tracking thread and unload previously loaded data.
if (threadHandle) {
ARLOGi("Reloading NFT data.\n");
unloadNFTData();
} else {
ARLOGi("Loading NFT data.\n");
} refDataSet = NULL; 18 for (i = ; i < markersNFTCount; i++) { // 重点在这里！
// (1) Load KPM data.
KpmRefDataSet *refDataSet2;
ARLOGi("Reading %s.fset3\n", markersNFT[i].datasetPathname);
if (kpmLoadRefDataSet(markersNFT[i].datasetPathname, "fset3", &refDataSet2) < ) {
ARLOGe("Error reading KPM data from %s.fset3\n", markersNFT[i].datasetPathname);
markersNFT[i].pageNo = -;
continue;
}
markersNFT[i].pageNo = surfaceSetCount;
ARLOGi(" Assigned page no. %d.\n", surfaceSetCount);
if (kpmChangePageNoOfRefDataSet(refDataSet2, KpmChangePageNoAllPages, surfaceSetCount) < ) {
ARLOGe("Error: kpmChangePageNoOfRefDataSet\n");
exit(-);
}
if (kpmMergeRefDataSet(&refDataSet, &refDataSet2) < ) {
ARLOGe("Error: kpmMergeRefDataSet\n");
exit(-);
}
ARLOGi(" Done.\n"); // (2) Load AR2 data.
ARLOGi("Reading %s.fset\n", markersNFT[i].datasetPathname); if ((surfaceSet[surfaceSetCount] = ar2ReadSurfaceSet(markersNFT[i].datasetPathname, "fset", NULL)) == NULL ) {
ARLOGe("Error reading data from %s.fset\n", markersNFT[i].datasetPathname);
}
ARLOGi(" Done.\n"); surfaceSetCount++;
if (surfaceSetCount == PAGES_MAX) break;
49 }
if (kpmSetRefDataSet(kpmHandle, refDataSet) < ) {
ARLOGe("Error: kpmSetRefDataSet\n");
exit(-);
}
kpmDeleteRefDataSet(&refDataSet); // Start the KPM tracking thread.
threadHandle = trackingInitInit(kpmHandle);
if (!threadHandle) exit(-); ARLOGi("Loading of NFT data complete.\n");
return (TRUE);
}
需要找个multi marker的例子再继续分析。