// Report state of ARToolKit tracker.
static void debugReportMode(ARHandle *arhandle)
{
int mode;
arGetImageProcMode(arhandle, &mode);
if (mode == AR_IMAGE_PROC_FRAME_IMAGE) {
ARLOGe("ProcMode (X) : FRAME IMAGE\n");
} else if (mode == AR_IMAGE_PROC_FIELD_IMAGE) {
ARLOGe("ProcMode (X) : FIELD IMAGE\n");
}
arGetPatternDetectionMode(arhandle, &mode);
if (mode == AR_TEMPLATE_MATCHING_COLOR) {
ARLOGe("TemplateMatchingMode (M) : Color Template\n");
} else if (mode == AR_TEMPLATE_MATCHING_MONO) {
ARLOGe("TemplateMatchingMode (M) : Mono Template\n");
} else if (mode == AR_MATRIX_CODE_DETECTION) {
ARLOGe("TemplateMatchingMode (M) : Matrix code detection\n");
}
}
static void printMode()
{
int len, thresh, line, mode, xsize, ysize;
AR_LABELING_THRESH_MODE threshMode;
ARdouble tempF;
char text[256], *text_p;
float hMargin = 2.0f;
float vMargin = 2.0f;
glColor4ub(255, 255, 255, 255);
line = 1;
// Image size and processing mode.
arVideoGetSize(&xsize, &ysize);
arGetImageProcMode(gARHandle, &mode);
if (mode == AR_IMAGE_PROC_FRAME_IMAGE) text_p = "full frame";
else text_p = "even field only";
snprintf(text, sizeof(text), "Processing %dx%d video frames %s", xsize, ysize, text_p);
print(text, hMargin, (line - 1)*(FONT_SIZE + FONT_LINE_SPACING) + vMargin, 0, 1);
line++;
// Threshold mode, and threshold, if applicable.
arGetLabelingThreshMode(gARHandle, &threshMode);
switch (threshMode) {
case AR_LABELING_THRESH_MODE_MANUAL: text_p = "MANUAL"; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: text_p = "AUTO_MEDIAN"; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: text_p = "AUTO_OTSU"; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: text_p = "AUTO_ADAPTIVE"; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING: text_p = "AUTO_BRACKETING"; break;
default: text_p = "UNKNOWN"; break;
}
snprintf(text, sizeof(text), "Threshold mode: %s", text_p);
if (threshMode != AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE) {
arGetLabelingThresh(gARHandle, &thresh);
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", thresh=%d", thresh);
}
print(text, hMargin, (line - 1)*(FONT_SIZE + FONT_LINE_SPACING) + vMargin, 0, 1);
line++;
// Border size, image processing mode, pattern detection mode.
arGetBorderSize(gARHandle, &tempF);
snprintf(text, sizeof(text), "Border: %0.1f%%", tempF*100.0);
arGetPatternDetectionMode(gARHandle, &mode);
switch (mode) {
case AR_TEMPLATE_MATCHING_COLOR: text_p = "Colour template (pattern)"; break;
case AR_TEMPLATE_MATCHING_MONO: text_p = "Mono template (pattern)"; break;
case AR_MATRIX_CODE_DETECTION: text_p = "Matrix (barcode)"; break;
case AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX: text_p = "Colour template + Matrix (2 pass, pattern + barcode)"; break;
case AR_TEMPLATE_MATCHING_MONO_AND_MATRIX: text_p = "Mono template + Matrix (2 pass, pattern + barcode "; break;
default: text_p = "UNKNOWN"; break;
}
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", Pattern detection mode: %s", text_p);
print(text, hMargin, (line - 1)*(FONT_SIZE + FONT_LINE_SPACING) + vMargin, 0, 1);
line++;
// Window size.
snprintf(text, sizeof(text), "Drawing into %dx%d window", gWindowW, gWindowH);
print(text, hMargin, (line - 1)*(FONT_SIZE + FONT_LINE_SPACING) + vMargin, 0, 1);
line++;
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
ARdouble p[16];
ARdouble m[16];
#ifdef ARDOUBLE_IS_FLOAT
GLdouble p0[16];
GLdouble m0[16];
#endif
int i, j, k;
GLfloat w, bw, bh, vertices[6][2];
GLubyte pixels[300];
char text[256];
GLdouble winX, winY, winZ;
int showMErr[CHECK_ID_MULTIMARKERS_MAX];
GLdouble MX[CHECK_ID_MULTIMARKERS_MAX];
GLdouble MY[CHECK_ID_MULTIMARKERS_MAX];
int pattDetectMode;
AR_MATRIX_CODE_TYPE matrixCodeType;
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglPixelBufferDataUpload(gArglSettings, gARTImage);
arglDispImage(gArglSettings);
if (gMultiConfigCount)
{
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(p);
#else
glLoadMatrixd(p);
#endif
glMatrixMode(GL_MODELVIEW);
glEnable(GL_DEPTH_TEST);
// If we have multi-configs, show their origin onscreen.
for (k = 0; k < gMultiConfigCount; k++)
{
showMErr[k] = FALSE;
if (gMultiConfigs[k]->prevF != 0)
{
arglCameraViewRH((const ARdouble (*)[4])gMultiConfigs[k]->trans, m, 1.0);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(m);
#else
glLoadMatrixd(m);
#endif
drawAxes();
#ifdef ARDOUBLE_IS_FLOAT
for (i = 0; i < 16; i++)
m0[i] = (GLdouble)m[i];
for (i = 0; i < 16; i++)
p0[i] = (GLdouble)p[i];
if (gluProject(0, 0, 0, m0, p0, gViewport, &winX, &winY, &winZ) == GL_TRUE)
#else
if (gluProject(0, 0, 0, m, p, gViewport, &winX, &winY, &winZ) == GL_TRUE)
#endif
{
showMErr[k] = TRUE;
MX[k] = winX; MY[k] = winY;
}
}
} // for k
}
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
arGetPatternDetectionMode(gARHandle, &pattDetectMode);
arGetMatrixCodeType(gARHandle, &matrixCodeType);
// For all markers, draw onscreen position.
// Colour based on cutoffPhase.
glLoadIdentity();
glVertexPointer(2, GL_FLOAT, 0, vertices);
glEnableClientState(GL_VERTEX_ARRAY);
glLineWidth(2.0f);
for (j = 0; j < gARHandle->marker_num; j++)
{
glColor3ubv(cutoffPhaseColours[gARHandle->markerInfo[j].cutoffPhase].colour);
for (i = 0; i < 5; i++)
{
int dir = gARHandle->markerInfo[j].dir;
vertices[i][0] = (float)gARHandle->markerInfo[j].vertex[(i + 4 - dir) % 4][0] * (float)windowWidth / (float)gARHandle->xsize;
vertices[i][1] = ((float)gARHandle->ysize - (float)gARHandle->markerInfo[j].vertex[(i + 4 - dir) % 4][1]) * (float)windowHeight / (float)gARHandle->ysize;
}
vertices[i][0] = (float)gARHandle->markerInfo[j].pos[0] * (float)windowWidth / (float)gARHandle->xsize;
vertices[i][1] = ((float)gARHandle->ysize - (float)gARHandle->markerInfo[j].pos[1]) * (float)windowHeight / (float)gARHandle->ysize;
glDrawArrays(GL_LINE_STRIP, 0, 6);
// For markers that have been identified, draw the ID number.
if (gARHandle->markerInfo[j].id >= 0)
{
glColor3ub(255, 0, 0);
if (matrixCodeType == AR_MATRIX_CODE_GLOBAL_ID && (pattDetectMode == AR_MATRIX_CODE_DETECTION || pattDetectMode == AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX || pattDetectMode == AR_TEMPLATE_MATCHING_MONO_AND_MATRIX))
snprintf(text, sizeof(text), "%llu (err=%d)", gARHandle->markerInfo[j].globalID, gARHandle->markerInfo[j].errorCorrected);
else
snprintf(text, sizeof(text), "%d", gARHandle->markerInfo[j].id);
print(text, (float)gARHandle->markerInfo[j].pos[0] * (float)windowWidth / (float)gARHandle->xsize, ((float)gARHandle->ysize - (float)gARHandle->markerInfo[j].pos[1]) * (float)windowHeight / (float)gARHandle->ysize, 0, 0);
}
}
glDisableClientState(GL_VERTEX_ARRAY);
// For matrix mode, draw the pattern image of the largest marker.
if (pattDetectMode == AR_MATRIX_CODE_DETECTION || pattDetectMode == AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX || pattDetectMode == AR_TEMPLATE_MATCHING_MONO_AND_MATRIX)
{
int area = 0, biggestMarker = -1;
for (j = 0; j < gARHandle->marker_num; j++)
if (gARHandle->markerInfo[j].area > area)
{
area = gARHandle->markerInfo[j].area;
biggestMarker = j;
}
if (area >= AR_AREA_MIN)
{
int imageProcMode;
ARdouble pattRatio;
ARUint8 ext_patt[AR_PATT_SIZE2_MAX * AR_PATT_SIZE2_MAX * 3]; // Holds unwarped pattern extracted from image.
int size;
int zoom = 4;
ARdouble vertexUpright[4][2];
// Reorder vertices based on dir.
for (i = 0; i < 4; i++)
{
int dir = gARHandle->markerInfo[biggestMarker].dir;
vertexUpright[i][0] = gARHandle->markerInfo[biggestMarker].vertex[(i + 4 - dir) % 4][0];
vertexUpright[i][1] = gARHandle->markerInfo[biggestMarker].vertex[(i + 4 - dir) % 4][1];
}
arGetImageProcMode(gARHandle, &imageProcMode);
arGetPattRatio(gARHandle, &pattRatio);
if (matrixCodeType == AR_MATRIX_CODE_GLOBAL_ID)
{
size = 14;
arPattGetImage2(imageProcMode, AR_MATRIX_CODE_DETECTION, size, size * AR_PATT_SAMPLE_FACTOR2,
gARTImage, gARHandle->xsize, gARHandle->ysize, gARHandle->arPixelFormat, &gCparamLT->paramLTf, vertexUpright, (ARdouble)14 / (ARdouble)(14 + 2), ext_patt);
}
else
{
size = matrixCodeType & AR_MATRIX_CODE_TYPE_SIZE_MASK;
arPattGetImage2(imageProcMode, AR_MATRIX_CODE_DETECTION, size, size * AR_PATT_SAMPLE_FACTOR2,
gARTImage, gARHandle->xsize, gARHandle->ysize, gARHandle->arPixelFormat, &gCparamLT->paramLTf, vertexUpright, pattRatio, ext_patt);
}
glRasterPos2f((float)(windowWidth - size * zoom) - 4.0f, (float)(size * zoom) + 4.0f);
glPixelZoom((float)zoom, (float)-zoom);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glDrawPixels(size, size, GL_LUMINANCE, GL_UNSIGNED_BYTE, ext_patt);
glPixelZoom(1.0f, 1.0f);
}
}
// Draw error value for multimarker pose.
for (k = 0; k < gMultiConfigCount; k++)
{
if (showMErr[k])
{
snprintf(text, sizeof(text), "err=%0.3f", gMultiErrs[k]);
print(text, MX[k], MY[k], 0, 0);
}
}
//
// Draw help text and mode.
//
glLoadIdentity();
if (gShowMode)
{
printMode();
}
if (gShowHelp)
{
if (gShowHelp == 1)
{
printHelpKeys();
}
else if (gShowHelp == 2)
{
bw = 0.0f;
for (i = 0; i < AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT; i++)
{
w = (float)glutBitmapLength(GLUT_BITMAP_HELVETICA_10, (unsigned char*)arMarkerInfoCutoffPhaseDescriptions[cutoffPhaseColours[i].cutoffPhase]);
if (w > bw)
bw = w;
}
bw += 12.0f; // Space for color block.
bh = AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT * 10.0f /* character height */ + (AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT - 1) * 2.0f /* line spacing */;
drawBackground(bw, bh, 2.0f, 2.0f);
// Draw the colour block and text, line by line.
for (i = 0; i < AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT; i++)
{
for (j = 0; j < 300; j += 3)
{
pixels[j] = cutoffPhaseColours[i].colour[0];
pixels[j + 1] = cutoffPhaseColours[i].colour[1];
pixels[j + 2] = cutoffPhaseColours[i].colour[2];
}
glRasterPos2f(2.0f, (AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT - 1 - i) * 12.0f + 2.0f);
glPixelZoom(1.0f, 1.0f);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glDrawPixels(10, 10, GL_RGB, GL_UNSIGNED_BYTE, pixels);
print(arMarkerInfoCutoffPhaseDescriptions[cutoffPhaseColours[i].cutoffPhase], 14.0f, (AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT - 1 - i) * 12.0f + 2.0f, 0, 0);
}
}
}
glutSwapBuffers();
}
static void printMode()
{
int len, thresh, line, mode, xsize, ysize;
AR_LABELING_THRESH_MODE threshMode;
ARdouble tempF;
char text[256], *text_p;
glColor3ub(255, 255, 255);
line = 1;
// Image size and processing mode.
arVideoGetSize(&xsize, &ysize);
arGetImageProcMode(gARHandle, &mode);
if (mode == AR_IMAGE_PROC_FRAME_IMAGE) text_p = "full frame";
else text_p = "even field only";
snprintf(text, sizeof(text), "Processing %dx%d video frames %s", xsize, ysize, text_p);
print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1);
line++;
// Threshold mode, and threshold, if applicable.
arGetLabelingThreshMode(gARHandle, &threshMode);
switch (threshMode) {
case AR_LABELING_THRESH_MODE_MANUAL: text_p = "MANUAL"; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: text_p = "AUTO_MEDIAN"; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: text_p = "AUTO_OTSU"; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: text_p = "AUTO_ADAPTIVE"; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING: text_p = "AUTO_BRACKETING"; break;
default: text_p = "UNKNOWN"; break;
}
snprintf(text, sizeof(text), "Threshold mode: %s", text_p);
if (threshMode != AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE) {
arGetLabelingThresh(gARHandle, &thresh);
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", thresh=%d", thresh);
}
print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1);
line++;
// Border size, image processing mode, pattern detection mode.
arGetBorderSize(gARHandle, &tempF);
snprintf(text, sizeof(text), "Border: %0.1f%%", tempF*100.0);
arGetPatternDetectionMode(gARHandle, &mode);
switch (mode) {
case AR_TEMPLATE_MATCHING_COLOR: text_p = "Colour template (pattern)"; break;
case AR_TEMPLATE_MATCHING_MONO: text_p = "Mono template (pattern)"; break;
case AR_MATRIX_CODE_DETECTION: text_p = "Matrix (barcode)"; break;
case AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX: text_p = "Colour template + Matrix (2 pass, pattern + barcode)"; break;
case AR_TEMPLATE_MATCHING_MONO_AND_MATRIX: text_p = "Mono template + Matrix (2 pass, pattern + barcode "; break;
default: text_p = "UNKNOWN"; break;
}
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", Pattern detection mode: %s", text_p);
print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1);
line++;
// Draw mode.
if (arglDrawModeGet(gArglSettings) == AR_DRAW_BY_GL_DRAW_PIXELS) text_p = "GL_DRAW_PIXELS";
else {
if (arglTexmapModeGet(gArglSettings) == AR_DRAW_TEXTURE_FULL_IMAGE) text_p = "texture mapping";
else text_p = "texture mapping (even field only)";
}
snprintf(text, sizeof(text), "Drawing using %s into %dx%d window", text_p, windowWidth, windowHeight);
print(text, 2.0f, (line - 1)*12.0f + 2.0f, 0, 1);
line++;
}
static void printMode()
{
int len, thresh, line, mode, xsize, ysize, textPatternCount;
AR_LABELING_THRESH_MODE threshMode;
ARdouble tempF;
char text[256], *text_p;
glColor3ub(255, 255, 255);
line = 1;
// Image size and processing mode.
arVideoGetSize(&xsize, &ysize);
arGetImageProcMode(gARHandle, &mode);
if (mode == AR_IMAGE_PROC_FRAME_IMAGE)
text_p = "full frame";
else
text_p = "even field only";
snprintf(text, sizeof(text), "Processing %dx%d video frames %s", xsize, ysize, text_p);
print(text, 2.0f, (line - 1) * 12.0f + 2.0f, 0, 1);
line++;
// Threshold mode, and threshold, if applicable.
arGetLabelingThreshMode(gARHandle, &threshMode);
switch (threshMode)
{
case AR_LABELING_THRESH_MODE_MANUAL: text_p = "MANUAL"; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: text_p = "AUTO_MEDIAN"; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: text_p = "AUTO_OTSU"; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: text_p = "AUTO_ADAPTIVE"; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING: text_p = "AUTO_BRACKETING"; break;
default: text_p = "UNKNOWN"; break;
}
snprintf(text, sizeof(text), "Threshold mode: %s", text_p);
if (threshMode != AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE)
{
arGetLabelingThresh(gARHandle, &thresh);
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", thresh=%d", thresh);
}
print(text, 2.0f, (line - 1) * 12.0f + 2.0f, 0, 1);
line++;
// Border size, image processing mode, pattern detection mode.
arGetBorderSize(gARHandle, &tempF);
snprintf(text, sizeof(text), "Border: %0.2f%%", tempF * 100.0);
arGetPatternDetectionMode(gARHandle, &mode);
textPatternCount = 0;
switch (mode)
{
case AR_TEMPLATE_MATCHING_COLOR: text_p = "Colour template (pattern)"; break;
case AR_TEMPLATE_MATCHING_MONO: text_p = "Mono template (pattern)"; break;
case AR_MATRIX_CODE_DETECTION: text_p = "Matrix (barcode)"; textPatternCount = -1; break;
case AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX: text_p = "Colour template + Matrix (2 pass, pattern + barcode)"; break;
case AR_TEMPLATE_MATCHING_MONO_AND_MATRIX: text_p = "Mono template + Matrix (2 pass, pattern + barcode "; break;
default: text_p = "UNKNOWN"; textPatternCount = -1; break;
}
if (textPatternCount != -1)
textPatternCount = gARPattHandle->patt_num;
len = (int)strlen(text);
if (textPatternCount != -1)
snprintf(text + len, sizeof(text) - len, ", Pattern detection mode: %s, %d patterns loaded", text_p, textPatternCount);
else
snprintf(text + len, sizeof(text) - len, ", Pattern detection mode: %s", text_p);
print(text, 2.0f, (line - 1) * 12.0f + 2.0f, 0, 1);
line++;
// Robust mode.
if (gMultiConfigCount)
{
snprintf(text, sizeof(text), "Robust multi-marker pose estimation %s", (gRobustFlag ? "ON" : "OFF"));
if (gRobustFlag)
{
icpGetInlierProbability(gAR3DHandle->icpHandle, &tempF);
len = (int)strlen(text);
snprintf(text + len, sizeof(text) - len, ", inliner prob. %0.1f%%", tempF * 100.0f);
}
print(text, 2.0f, (line - 1) * 12.0f + 2.0f, 0, 1);
line++;
}
// Window size.
snprintf(text, sizeof(text), "Drawing into %dx%d window", windowWidth, windowHeight);
print(text, 2.0f, (line - 1) * 12.0f + 2.0f, 0, 1);
line++;
}
