int main(int argc, char** argv)

{

    char glutGamemode[];

    const char *cparam_name = "Data2/camera_para.dat";

    char vconf[] = "";

    const char markerConfigDataFilename[] = "Data2/markers.dat";

    // 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

    // Marker data has been loaded, so now load NFT data.

    if (!loadNFTData()) {

        ARLOGe("Error loading NFT data.\n");

        cleanup();

        exit(-);

    }    

# 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;

 // 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);

 }