void vDrawScene()
{
    if (TheResizedImage.rows==0) //prevent from going on until the image is initialized
        return;
    ///clear
    glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
    ///draw image in the buffer
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    glOrtho(0, TheGlWindowSize.width, 0, TheGlWindowSize.height, -1.0, 1.0);
    glViewport(0, 0, TheGlWindowSize.width , TheGlWindowSize.height);
    glDisable(GL_TEXTURE_2D);
    glPixelZoom( 1, -1);
    glRasterPos3f( 0, TheGlWindowSize.height  - 0.5, -1.0 );
    glDrawPixels ( TheGlWindowSize.width , TheGlWindowSize.height , GL_RGB , GL_UNSIGNED_BYTE , TheResizedImage.ptr(0) );
    ///Set the appropriate projection matrix so that rendering is done in a enrvironment
    //like the real camera (without distorsion)
    glMatrixMode(GL_PROJECTION);
    double proj_matrix[16];
    TheCameraParams.glGetProjectionMatrix(TheInputImage.size(),TheGlWindowSize,proj_matrix,0.05,10);
    glLoadIdentity();
    glLoadMatrixd(proj_matrix);
    glLineWidth(2);
    //now, for each marker,
    double modelview_matrix[16];

    /*    for (unsigned int m=0;m<TheMarkers.size();m++)
        {
            TheMarkers[m].glGetModelViewMatrix(modelview_matrix);
            glMatrixMode(GL_MODELVIEW);
            glLoadIdentity();
            glLoadMatrixd(modelview_matrix);
    // 		axis(TheMarkerSize);
            glColor3f(1,0.4,0.4);
            glTranslatef(0, TheMarkerSize/2,0);
            glPushMatrix();
            glutWireCube( TheMarkerSize );

            glPopMatrix();
        }*/
    //If the board is detected with enough probability
    if (TheBoardDetected.second>0.3) {
        TheBoardDetected.first.glGetModelViewMatrix(modelview_matrix);
        glMatrixMode(GL_MODELVIEW);
        glLoadIdentity();
        glLoadMatrixd(modelview_matrix);
        glColor3f(0,1,0);
        glTranslatef(0, TheMarkerSize/2,0);
        glPushMatrix();
        glutWireCube( TheMarkerSize );
        axis(TheMarkerSize);
        glPopMatrix();
    }

    glutSwapBuffers();

}
Beispiel #2
0
/*!
 *  
 */
static void vDrawScene()
{
  if (resImg.rows==0) //prevent from going on until the image is initialized
    return;
  ///clear
  glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
  ///draw image in the buffer
  glMatrixMode(GL_MODELVIEW);
  glLoadIdentity();
  glMatrixMode(GL_PROJECTION);
  glLoadIdentity();
  glOrtho(0, glSize.width, 0, glSize.height, -1.0, 1.0);
  glViewport(0, 0, glSize.width , glSize.height);
  glDisable(GL_TEXTURE_2D);
  glPixelZoom( 1, -1);
  glRasterPos3f( 0, glSize.height  - 0.5, -1.0 );
  glDrawPixels (glSize.width , glSize.height , GL_BGR_EXT , GL_UNSIGNED_BYTE , resImg.ptr(0) );
  ///Set the appropriate projection matrix so that rendering is done in a enrvironment
  //like the real camera (without distorsion)
  glMatrixMode(GL_PROJECTION);
  double proj_matrix[16];
  camParams.glGetProjectionMatrix(inImg.size(),glSize,proj_matrix,0.05,10);
  glLoadIdentity();
  glLoadMatrixd(proj_matrix);

  //now, for each marker,
  double modelview_matrix[16];
  for (unsigned int m=0; m<markers.size(); m++)
  {
    markers[m].glGetModelViewMatrix(modelview_matrix);
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    glLoadMatrixd(modelview_matrix);


    axis(msiz->dval[0]);

    glColor3f(1,0.4,0.4);
    glTranslatef(0, msiz->dval[0]/2,0);
    glPushMatrix();
    glutWireCube( msiz->dval[0] );

    glPopMatrix();
  }

  glutSwapBuffers();

}
void MarkerDetector::glGetProjectionMatrix ( CameraParameters &  CamMatrix,cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert ) throw ( cv::Exception )
{
    cerr<<"MarkerDetector::glGetProjectionMatrix . This a deprecated function. Use CameraParameters::glGetProjectionMatrix instead. "<<__FILE__<<" "<<__LINE__<<endl;
    CamMatrix.glGetProjectionMatrix ( orgImgSize,size,proj_matrix,gnear,gfar,invert );
}
Beispiel #4
0
void vDrawScene()
{
  if (TheResizedImage.rows==0)// prevent from going on until the image is initialized
        return;
    ///clear
    glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
    //glColor3f(1.0f,0.0f,0.0f);
    //    draw image in the buffer
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    glOrtho(0, TheGlWindowSize.width, 0, TheGlWindowSize.height, -1.0, 1.0);
    glViewport(0, 0, TheGlWindowSize.width , TheGlWindowSize.height);
    glDisable(GL_TEXTURE_2D);
    
    
    glPixelZoom( 1, -1);
    glRasterPos3f( 0, TheGlWindowSize.height  - 0.5, -1.0 );
    glDrawPixels ( TheGlWindowSize.width , TheGlWindowSize.height , GL_RGB , GL_UNSIGNED_BYTE , TheResizedImage.ptr(0) );
    ///Set the appropriate projection matrix so that rendering is done in a enrvironment
    //like the real camera (without distorsion)

    glMatrixMode(GL_PROJECTION);
    double proj_matrix[16];
    TheCameraParams.glGetProjectionMatrix(TheInputImage.size(),TheGlWindowSize,proj_matrix,0.05,10);
    glLoadIdentity();
    glLoadMatrixd(proj_matrix);

    
    
    //now, for each marker,
    double modelview_matrix[16];
    glMatrixMode(GL_MODELVIEW);
    
    //Deepak Comment here
    glPushMatrix();
    vector<cv::Point2f> centers;

    for (unsigned int m=0;m<TheMarkers.size();m++)
      {
       	centers.push_back(TheMarkers[m].getCenter());
	
	// TheMarkers[m].glGetModelViewMatrix(modelview_matrix);
	// glLoadIdentity();
	// glLoadMatrixd(modelview_matrix);
	// axis(TheMarkerSize);
	// glColor3f(1,0.4,0.4);
	// glTranslatef(0, TheMarkerSize/2,0);
	// glPushMatrix();
	// glutWireCube( TheMarkerSize );
	// glPopMatrix();

      }
    
    char textString[100] = "Free Mode";
    char unitString[100] = "Metric Units";
     if ( mode == Free){
      
      freeMode(centers);
      int a = sprintf(textString,"%s","Free Mode");

    } else if (mode == Triangle){

      triangleMode(centers);
      int a = sprintf(textString,"%s","Triangle Exploration Mode");
   

    } else if (mode == Grid){

     
 int a = sprintf(textString,"%s","Grid Mode");
      gridMode(centers);

    } else if (mode == Line){
       int a = sprintf(textString,"%s","Line Mode");
       lineMode(centers);

    } else if (mode == Line2){
       int a = sprintf(textString,"%s","Line Mode2");
       lineMode2(centers);
     }

    
     int m =sprintf(unitString,"%s",imperialUnitFlag?"Imperial Units":"Metric Units");
    
    if (centers.size() > 0){
    cv::Mat t0 = TheMarkers[0].Tvec;
    float xTranslate = -0.1f;
    float yTranslate = -0.1f;
    glPushMatrix();
    glLoadIdentity();
    glColor4f(1.0f,0.0f,0.0f,0.5f);
    glTranslatef(t0.at<float>(0,0) + xTranslate,t0.at<float>(1,0)+yTranslate,-t0.at<float>(2,0));
    glRasterPos3f( 0.0f,0.0f,0.0f );
    char buffer[100];
    int n = sprintf(buffer,"%s \n%s",textString,unitString);
    drawString(buffer);
    glPopMatrix();  
    }

    glutSwapBuffers();
    
}