bool ofxArtool5::setupPattern(ofVec2f _camSize, ofVec2f _viewportSize, ofPixelFormat pf, string pthCamParam, string pthMarker){
artMode=ART_PATTERN;
curArtMode=(ofxArtoolMode*)(new ofxArtoolModePatt());
curArtMode->gCparamLT=gCparamLT;
if(!setupCamera(pthCamParam, _camSize, _viewportSize)){
return false;
}
return true;
artMode=ART_PATTERN;
curArtMode = (ofxArtoolMode * )(new ofxArtoolModePatt());
curArtMode->gCparamLT = gCparamLT;
bPattFound = false;
selectedId = -1;
if(!setupCamera(pthCamParam, _camSize, _viewportSize)){
return false;
}
arUtilTimerReset();
if(!setupMarker(pthMarker)){
cleanup();
return false;
}
return true;
}
/* main loop */
static void mainLoop(void)
{
int i, j, k;
if( count == 100 ) {
printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
count = 0;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0, 0 );
/* if the debug mode is on draw squares
around the detected squares in the video image */
if( arDebug ) {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 2, 1 );
else
argDispImage( arImage, 2, 1);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 3.0 );
for( i = 0; i < marker_num; i++ ) {
if( marker_info[i].id < 0 ) continue;
argDrawSquare( marker_info[i].vertex, 2, 1 );
}
glLineWidth( 1.0 );
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
//additions from sheyne, trying to understand how it is working.
//from documentation on http://artoolkit.sourceforge.net/apidoc/structARMarkerInfo.html
//also look at: http://www.hitl.washington.edu/artoolkit/documentation/devframework.htm
printf("pos: %f,%f\n", marker_info->pos[0], marker_info->pos[1]);
for (j=0; j<4; j++) {
printf("\t vertex: %f, %f\n", marker_info->vertex[j][0],marker_info->vertex[j][1]);
}
arVideoCapNext();
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) {
argSwapBuffers();
return;
}
/* get the transformation between the marker and the real camera */
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
draw();
argSwapBuffers();
}
static void Keyboard(unsigned char key, int x, int y)
{
int mode;
switch (key) {
case 0x1B: // Quit.
case 'r':
knight->Reset();
case 'x':
knight->TranslateX(0.1);
break;
case 'y':
knight->TranslateY(0.1);
break;
case 'z':
knight->TranslateZ(0.1);
break;
case 'Q':
case 'q':
Quit();
break;
case ' ':
gDrawRotate = !gDrawRotate;
break;
case 'C':
case 'c':
mode = arglDrawModeGet(gArglSettings);
if (mode == AR_DRAW_BY_GL_DRAW_PIXELS) {
arglDrawModeSet(gArglSettings, AR_DRAW_BY_TEXTURE_MAPPING);
arglTexmapModeSet(gArglSettings, AR_DRAW_TEXTURE_FULL_IMAGE);
} else {
mode = arglTexmapModeGet(gArglSettings);
if (mode == AR_DRAW_TEXTURE_FULL_IMAGE) arglTexmapModeSet(gArglSettings, AR_DRAW_TEXTURE_HALF_IMAGE);
else arglDrawModeSet(gArglSettings, AR_DRAW_BY_GL_DRAW_PIXELS);
}
fprintf(stderr, "*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
debugReportMode();
break;
case 'D':
case 'd':
arDebug = !arDebug;
break;
case '?':
case '/':
printf("Keys:\n");
printf(" q or [esc] Quit demo.\n");
printf(" c Change arglDrawMode and arglTexmapMode.\n");
printf(" d Activate / deactivate debug mode.\n");
printf(" ? or / Show this help.\n");
printf("\nAdditionally, the ARVideo library supplied the following help text:\n");
arVideoDispOption();
break;
default:
break;
}
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
if (dataPtr = GetNextImage()) {
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
printf("could'nt find any marker");
cleanup();
exit(0);
}
//else printf("i found the marker");
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) {
argSwapBuffers();
return;
}
/* get the transformation between the marker and the real camera */
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
if (geometry == 0) {
draw();
} else {
geometryout();
}
argSwapBuffers();
} else {
printf("Done - press any key \n");
getchar();
exit(0);
}
}
int main(int argc, char** argv) {
char glutGamemode[32];
glutInit(&argc, argv);
setup_camera();
setup_marker();
init_voxels_hp();
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
glutInitWindowSize(prefWidth, prefHeight);
camera_win_id = glutCreateWindow("Camera");
glutTimerFunc(10, TimeEvent, 1);
ARGL_CONTEXT_SETTINGS_REF argl_context_ref = NULL;
// Setup argl library for current context.
if ((argl_context_ref = arglSetupForCurrentContext()) == NULL) {
std::cout << "main(): arglSetupForCurrentContext() returned error." << std::endl;
exit(-1);
}
arUtilTimerReset();
glEnable(GL_TEXTURE_2D);
glEnable(GL_DEPTH_TEST);
glClearColor(0.0, 0.0, 0.0, 1.0);
glutVisibilityFunc(visibility_camera);
glutIdleFunc(idle_camera);
glutDisplayFunc(display_camera);
glutReshapeFunc(reshape);
glutKeyboardFunc(debug_only);
setup_voxels();
camera_set_context(argl_context_ref);
viewer_win_id = glutCreateWindow("Viewer");
glEnable(GL_TEXTURE_2D);
glEnable(GL_DEPTH_TEST);
glClearColor(0.0,0.0,0.0,1.0);
glutVisibilityFunc(visibility_viewer);
glutIdleFunc(idle_viewer);
glutDisplayFunc(display_viewer);
glutReshapeFunc(reshape_viewer);
auto voxel_t = std::thread(voxel_carving_routine);
auto capture_t = std::thread(image_capturing_routine);
auto should_capture_t = std::thread(should_capture_routine);
auto a_cam_buffer_t = std::thread(transfer);
voxel_t.detach();
capture_t.detach();
should_capture_t.detach();
a_cam_buffer_t.detach();
glutMainLoop();
return 0;
}
/* main loop */
static void mainLoop(void)
{
static int contF = 0;
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
arVideoCapNext();
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) {
contF = 0;
argSwapBuffers();
return;
}
/* get the transformation between the marker and the real camera */
if( mode == 0 || contF == 0 ) {
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
}
else {
arGetTransMatCont(&marker_info[k], patt_trans, patt_center, patt_width, patt_trans);
}
contF = 1;
draw( patt_trans );
argSwapBuffers();
}
int main(int argc,char**argv){
ARParam cparam;
ARParam wparam;
int xsize,ysize;
glutInit(&argc,argv);
if(arVideoOpen(vconf_name)<0){
puts("ビデオデバイスエラー");
return -1;
}
if(arVideoInqSize(&xsize,&ysize) < 0)return -1;
if(arParamLoad(cparam_name,1,&wparam)< 0){
puts("パラメータ読み込み失敗");
return -1;
}
arParamChangeSize(&wparam,xsize,ysize,&cparam);
arInitCparam(&cparam);
nyobj = nyar_NyARTransMat_O2_create(&cparam);
if( (patt_id=arLoadPatt(pattern_name)) < 0){
puts("パターン読み込みエラー");
return -1;
}
argInit(&cparam, 1.0, 0, 0, 0, 0);
mqoInit();
if(Data_Load()==-1)
return -1;
arVideoCapStart();
InitGame();
arUtilTimerReset();
#ifdef _WIN32
TIMECAPS Caps;
timeGetDevCaps(&Caps, sizeof(TIMECAPS)); // 性能取得
timeBeginPeriod(Caps.wPeriodMin);
#endif
argMainLoop(MouseEvent,KeyEvent,MainLoop);
#ifdef _WIN32
timeEndPeriod(Caps.wPeriodMin);
#endif
nyar_NyARTransMat_O2_free(nyobj);
return 0;
}
static void mainLoop() {
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
//Get video frame
if ((dataPtr = (ARUint8 *)arVideoGetImage()) == NULL) {
arUtilSleep(2);
return;
}
if (count == 0) {
arUtilTimerReset();
}
count++;
//Display video stream
argDrawMode2D();
argDispImage(dataPtr, 0, 0);
/* detect the markers in the video frame */
if (arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0) {
cleanup();
exit(0);
}
//Get next video frame
arVideoCapNext();
/* check for object visibility */
k = -1;
for (j = 0; j < marker_num; j++) {
if (patt_id == marker_info[j].id) {
if (k == -1) k = j;
else if (marker_info[k].cf < marker_info[j].cf) k = j;
}
}
//Don't bother drawing or calculating orientations if no patterns are found
if (k == -1) {
argSwapBuffers();
return;
}
/* get the transformation between the marker and the real camera */
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
draw();
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
if( count == 100 ) {
printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
count = 0;
}
if( count == 0 ) arUtilTimerReset();
count++;
rotate_angle+=1.;
if (rotate_angle>360)
{
rotate_angle=0.;
}
draw();
argSwapBuffers();
}
int main(int argc, char *argv[])
{
glutInit(&argc, argv);
init(argc, argv);
argSetWindow(w1);
argSetDispFunc(mainLoop, 1);
argSetKeyFunc(keyEvent);
argSetWindow(w2);
argSetDispFunc(mainLoop, 1);
argSetKeyFunc(keyEvent);
count = 0;
fps[0] = '\0';
arVideoCapStart();
arUtilTimerReset();
argMainLoop();
return (0);
}
bool ofxArtool5::setupNFT(ofVec2f _camSize, ofVec2f _viewportSize, ofPixelFormat pf, string pthCamParam, string pthMarkerData){
artMode=ART_NFT;
bPattFound = false;
if(!setupCamera(pthCamParam, _camSize, _viewportSize)){
return false;
}
if(!initNFT(gCparamLT, toAR(pf))){
return false;
}
arUtilTimerReset();
const char * cMarkerData = ofToDataPath(pthMarkerData).c_str();
newMarkers(cMarkerData, &markersNFT, &markersNFTCount);
if(!markersNFTCount){
ofLogError("ofxArtool5::setupNFT","error loading markers from file");
cleanup();
return false;
}
return true;
}
static void Keyboard(unsigned char key, int x, int y)
{
int mode, threshChange = 0;
AR_LABELING_THRESH_MODE modea;
switch (key) {
case 0x1B: // Quit.
case 'Q':
case 'q':
cleanup();
exit(0);
break;
case ' ':
gDrawRotate = !gDrawRotate;
break;
case 'X':
case 'x':
arGetImageProcMode(gARHandle, &mode);
switch (mode) {
case AR_IMAGE_PROC_FRAME_IMAGE: mode = AR_IMAGE_PROC_FIELD_IMAGE; break;
case AR_IMAGE_PROC_FIELD_IMAGE:
default: mode = AR_IMAGE_PROC_FRAME_IMAGE; break;
}
arSetImageProcMode(gARHandle, mode);
break;
case 'C':
case 'c':
mode = arglDrawModeGet(gArglSettings);
if (mode == AR_DRAW_BY_GL_DRAW_PIXELS) {
arglDrawModeSet(gArglSettings, AR_DRAW_BY_TEXTURE_MAPPING);
arglTexmapModeSet(gArglSettings, AR_DRAW_TEXTURE_FULL_IMAGE);
} else {
mode = arglTexmapModeGet(gArglSettings);
if (mode == AR_DRAW_TEXTURE_FULL_IMAGE) arglTexmapModeSet(gArglSettings, AR_DRAW_TEXTURE_HALF_IMAGE);
else arglDrawModeSet(gArglSettings, AR_DRAW_BY_GL_DRAW_PIXELS);
}
ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
break;
case 'a':
case 'A':
arGetLabelingThreshMode(gARHandle, &modea);
switch (modea) {
case AR_LABELING_THRESH_MODE_MANUAL: modea = AR_LABELING_THRESH_MODE_AUTO_MEDIAN; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: modea = AR_LABELING_THRESH_MODE_AUTO_OTSU; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: modea = AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: modea = AR_LABELING_THRESH_MODE_AUTO_BRACKETING; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING:
default: modea = AR_LABELING_THRESH_MODE_MANUAL; break;
}
arSetLabelingThreshMode(gARHandle, modea);
break;
case '-':
threshChange = -5;
break;
case '+':
case '=':
threshChange = +5;
break;
case 'D':
case 'd':
arGetDebugMode(gARHandle, &mode);
arSetDebugMode(gARHandle, !mode);
break;
case 's':
case 'S':
if (!gARTImageSavePlease) gARTImageSavePlease = TRUE;
break;
case '?':
case '/':
gShowHelp++;
if (gShowHelp > 1) gShowHelp = 0;
break;
case 'm':
case 'M':
gShowMode = !gShowMode;
break;
default:
break;
}
if (threshChange) {
int threshhold;
arGetLabelingThresh(gARHandle, &threshhold);
threshhold += threshChange;
if (threshhold < 0) threshhold = 0;
if (threshhold > 255) threshhold = 255;
arSetLabelingThresh(gARHandle, threshhold);
}
}
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *markerInfo;
int markerNum;
ARdouble patt_trans[3][4];
ARdouble err;
int imageProcMode;
int debugMode;
int j, k;
/* grab a video frame */
if ((dataPtr = (ARUint8*)arVideoGetImage()) == NULL)
{
arUtilSleep(2);
return;
}
/* detect the markers in the video frame */
if (arDetectMarker(arHandle, dataPtr) < 0)
{
cleanup();
exit(0);
}
argSetWindow(w1);
argDrawMode2D(vp1);
arGetDebugMode(arHandle, &debugMode);
if (debugMode == 0)
{
argDrawImage(dataPtr);
}
else
{
arGetImageProcMode(arHandle, &imageProcMode);
if (imageProcMode == AR_IMAGE_PROC_FRAME_IMAGE)
{
argDrawImage(arHandle->labelInfo.bwImage);
}
else
{
argDrawImageHalf(arHandle->labelInfo.bwImage);
}
}
argSetWindow(w2);
argDrawMode2D(vp2);
argDrawImage(dataPtr);
argSetWindow(w1);
if (count % 10 == 0)
{
sprintf(fps, "%f[fps]", 10.0 / arUtilTimer());
arUtilTimerReset();
}
count++;
glColor3f(0.0f, 1.0f, 0.0f);
argDrawStringsByIdealPos(fps, 10, ysize - 30);
markerNum = arGetMarkerNum(arHandle);
if (markerNum == 0)
{
argSetWindow(w1);
argSwapBuffers();
argSetWindow(w2);
argSwapBuffers();
return;
}
/* check for object visibility */
markerInfo = arGetMarker(arHandle);
k = -1;
for (j = 0; j < markerNum; j++)
{
// ARLOG("ID=%d, CF = %f\n", markerInfo[j].id, markerInfo[j].cf);
if (patt_id == markerInfo[j].id)
{
if (k == -1)
{
if (markerInfo[j].cf > 0.7)
k = j;
}
else if (markerInfo[j].cf > markerInfo[k].cf)
k = j;
}
}
if (k == -1)
{
argSetWindow(w1);
argSwapBuffers();
argSetWindow(w2);
argSwapBuffers();
return;
}
err = arGetTransMatSquare(ar3DHandle, &(markerInfo[k]), patt_width, patt_trans);
sprintf(errValue, "err = %f", err);
glColor3f(0.0f, 1.0f, 0.0f);
argDrawStringsByIdealPos(fps, 10, ysize - 30);
argDrawStringsByIdealPos(errValue, 10, ysize - 60);
// ARLOG("err = %f\n", err);
draw(patt_trans);
argSetWindow(w1);
argSwapBuffers();
argSetWindow(w2);
argSwapBuffers();
}
/*
* Class: net_towerdefender_image_MarkerInfo
* Method: artoolkit_detectmarkers
* Signature: ([B[D)I
*/
JNIEXPORT jint JNICALL Java_net_towerdefender_image_ARToolkit_artoolkit_1detectmarkers(
JNIEnv *env, jobject object, jbyteArray image, jobject transMatMonitor) {
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
double *matrixPtr;
int marker_num;
int j, k = -1;
Object* curObject;
/* grab a vide frame */
dataPtr = (*env)->GetByteArrayElements(env, image, JNI_FALSE);
if (count == 0)
arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if (arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0) {
__android_log_write(ANDROID_LOG_ERROR, "AR native",
"arDetectMarker failed!!");
jclass exc = (*env)->FindClass(env,
"net/towerdefender/exceptions/ARException");
if (exc != NULL)
(*env)->ThrowNew(env, exc, "failed to detect marker");
}
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","detected %d markers",marker_num);
#endif
//lock the matrix
/*(*env)->MonitorEnter(env, transMatMonitor);
cur_marker_id = k;
argConvGlpara(patt_trans, gl_para);
(*env)->MonitorExit(env, transMatMonitor);*/
static jfieldID visibleField = NULL;
static jfieldID glMatrixField = NULL;
static jfieldID transMatField = NULL;
static jfieldID vertexField = NULL;
//static jfieldID dirField = NULL;
jclass arObjectClass = NULL;
jfloatArray glMatrixArrayObj = NULL;
jdoubleArray transMatArrayObj = NULL;
jdoubleArray vertexArrayObj = NULL;
//jint dirObj = NULL;
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","done detecting markers, going to iterate over markers now");
#endif
//iterate over objects:
list_iterator_start(&objects); /* starting an iteration "session" */
int itCount = 0;
while (list_iterator_hasnext(&objects)) { /* tell whether more values available */
curObject = (Object *) list_iterator_next(&objects); /* get the next value */
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","now handling object with id %d, in %d iteration",curObject->name, itCount);
#endif
itCount++;
// //get field ID'
if (visibleField == NULL) {
if (arObjectClass == NULL) {
if (curObject->objref != NULL)
arObjectClass = (*env)->GetObjectClass(env,
curObject->objref);
}
if (arObjectClass != NULL) {
visibleField = (*env)->GetFieldID(env, arObjectClass, "visible",
"Z"); //Z means boolean
}
}
if (glMatrixField == NULL) {
if (arObjectClass == NULL) {
if (curObject->objref != NULL)
arObjectClass = (*env)->GetObjectClass(env,
curObject->objref);
}
if (arObjectClass != NULL) {
glMatrixField = (*env)->GetFieldID(env, arObjectClass,
"glMatrix", "[F"); //[F means array of floats
}
}
if (transMatField == NULL) {
if (arObjectClass == NULL) {
if (curObject->objref != NULL)
arObjectClass = (*env)->GetObjectClass(env,
curObject->objref);
}
if (arObjectClass != NULL) {
transMatField = (*env)->GetFieldID(env, arObjectClass,
"transMat", "[D"); //[D means array of doubles
}
}
if (vertexField == NULL) {
if (arObjectClass == NULL) {
if (curObject->objref != NULL)
arObjectClass = (*env)->GetObjectClass(env,
curObject->objref);
}
if (arObjectClass != NULL) {
vertexField = (*env)->GetFieldID(env, arObjectClass, "vertexMat",
"[D"); //[F means array of floats
}
}
/*if (dirField == NULL) {
if (arObjectClass == NULL) {
if (curObject->objref != NULL)
arObjectClass = (*env)->GetObjectClass(env,
curObject->objref);
}
if (arObjectClass != NULL) {
dirField = (*env)->GetFieldID(env, arObjectClass, "dir",
"I"); //[F means array of floats
}
}
*/
if (visibleField == NULL || glMatrixField == NULL
|| transMatField == NULL /*|| dirField == NULL*/) {
//something went wrong..
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","error: either visibleField or glMatrixField or transMatField null");
#endif
continue;
}
// check for object visibility
k = -1;
for (j = 0; j < marker_num; j++) {
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","marker with id: %d", marker_info[j].id);
#endif
if (curObject->id == marker_info[j].id) {
if (k == -1) {
k = j;
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","detected object %d with marker %d and object marker %d",curObject->name,k,curObject->id);
#endif
} else if (marker_info[k].cf < marker_info[j].cf) {
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","detected better object %d with marker %d and object marker %d",curObject->name,k,curObject->id);
#endif
k = j;
}
}
}
if (k == -1) {
//object not visible
curObject->contF = 0;
(*env)->SetBooleanField(env, curObject->objref, visibleField,
JNI_FALSE);
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","object %d not visible, with marker ID %d",curObject->name,curObject->id);
#endif
continue;
}
//object visible
//lock the object
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","locking object");
#endif
(*env)->MonitorEnter(env, curObject->objref);
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","done locking object...obtaining arrays");
#endif
//access the arrays of the current object
glMatrixArrayObj = (*env)->GetObjectField(env, curObject->objref,
glMatrixField);
transMatArrayObj = (*env)->GetObjectField(env, curObject->objref,
transMatField);
vertexArrayObj = (*env)->GetObjectField(env, curObject->objref,
vertexField);
/*dirObj = (*env)->GetObjectField(env, curObject->objref,
dirField);*/
if (transMatArrayObj == NULL || glMatrixArrayObj == NULL || vertexArrayObj == NULL /*|| dirObj == NULL*/) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","failed to fetch the matrix arrays objects");
#endif
continue; //something went wrong
}
float *glMatrix = (*env)->GetFloatArrayElements(env, glMatrixArrayObj,
JNI_FALSE);
if (glMatrix == NULL) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","failed to fetch the matrix arrays");
#endif
continue; //something went wrong
}
double *vertexMatrix = (*env)->GetDoubleArrayElements(env, vertexArrayObj,
JNI_FALSE);
if (vertexMatrix == NULL) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","failed to fetch the vertex arrays");
#endif
continue; //something went wrong
}
double* transMat = (*env)->GetDoubleArrayElements(env, transMatArrayObj,
JNI_FALSE);
if (transMat == NULL) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","failed to fetch the matrix arrays");
#endif
continue; //something went wrong
}
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","calculating trans mat now");
#endif
/*int* dirPtr = (*env)->GetIntArrayElements(env, dirObj,
JNI_FALSE);
if (dirPtr == NULL) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","failed to fetch the matrix arrays");
#endif
continue; //something went wrong
}
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","calculating trans mat now");
#endif
*/
// get the transformation between the marker and the real camera
if (curObject->contF == 0) {
arGetTransMat(&marker_info[k], curObject->marker_center,
curObject->marker_width, transMat);
} else {
arGetTransMatCont(&marker_info[k], transMat,
curObject->marker_center, curObject->marker_width,
transMat);
}
curObject->contF = 1;
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","calculating OpenGL trans mat now");
#endif
argConvGlpara(transMat, glMatrix);
int vertexId = 0;
double inx,iny,outx,outy;
for (vertexId = 0 ; vertexId < 8 ; vertexId+=2)
{
inx = ((double *)marker_info[k].vertex)[vertexId];
iny = ((double *)marker_info[k].vertex)[vertexId+1];
arParamIdeal2Observ ( arParam.dist_factor, inx,iny,&outx,&outy);
vertexMatrix[vertexId] = outx;
vertexMatrix[vertexId+1] = outy;
}
//*dirPtr = marker_info[k].dir;
//argConvGlpara(patt_trans, gl_para);
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","releasing arrays");
#endif
(*env)->ReleaseFloatArrayElements(env, glMatrixArrayObj, glMatrix, 0);
(*env)->ReleaseDoubleArrayElements(env, transMatArrayObj, transMat, 0);
(*env)->ReleaseDoubleArrayElements(env, vertexArrayObj, vertexMatrix, 0);
//(*env)->ReleaseDoubleArrayElements(env, dirObj, dirPtr, 0);
(*env)->SetBooleanField(env, curObject->objref, visibleField, JNI_TRUE);
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","releasing lock");
#endif
//release the lock on the object
(*env)->MonitorExit(env, curObject->objref);
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","done releasing lock");
#endif
}
list_iterator_stop(&objects); /* starting the iteration "session" */
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","releasing image array");
#endif
(*env)->ReleaseByteArrayElements(env, image, dataPtr, 0);
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","releasing image array");
#endif
return marker_num;
}
static void mainLoop(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
int i, j, k;
// Calculate time delta.
ms = glutGet(GLUT_ELAPSED_TIME);
s_elapsed = (float)(ms - ms_prev) * 0.001f;
ms_prev = ms;
// Grab a video frame.
if ((image = arVideoGetImage()) != NULL) {
gARTImage = image; // Save the fetched image.
// Calculate FPS every 30 frames.
if (gCallCountMarkerDetect % 30 == 0) {
gFPS = 30.0/arUtilTimer();
arUtilTimerReset();
gCallCountMarkerDetect = 0;
}
gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
// Run marker detection on frame
if (threadHandle) {
// Perform NFT tracking.
float err;
int ret;
int pageNo;
if( detectedPage == -2 ) {
trackingInitStart( threadHandle, gARTImage );
detectedPage = -1;
}
if( detectedPage == -1 ) {
ret = trackingInitGetResult( threadHandle, trackingTrans, &pageNo);
if( ret == 1 ) {
if (pageNo >= 0 && pageNo < surfaceSetCount) {
ARLOGd("Detected page %d.\n", pageNo);
detectedPage = pageNo;
ar2SetInitTrans(surfaceSet[detectedPage], trackingTrans);
} else {
ARLOGe("Detected bad page %d.\n", pageNo);
detectedPage = -2;
}
} else if( ret < 0 ) {
ARLOGd("No page detected.\n");
detectedPage = -2;
}
}
if( detectedPage >= 0 && detectedPage < surfaceSetCount) {
if( ar2Tracking(ar2Handle, surfaceSet[detectedPage], gARTImage, trackingTrans, &err) < 0 ) {
ARLOGd("Tracking lost.\n");
detectedPage = -2;
} else {
ARLOGd("Tracked page %d (max %d).\n", detectedPage, surfaceSetCount - 1);
}
}
} else {
ARLOGe("Error: threadHandle\n");
detectedPage = -2;
}
// Update markers.
for (i = 0; i < markersNFTCount; i++) {
markersNFT[i].validPrev = markersNFT[i].valid;
if (markersNFT[i].pageNo >= 0 && markersNFT[i].pageNo == detectedPage) {
markersNFT[i].valid = TRUE;
for (j = 0; j < 3; j++) for (k = 0; k < 4; k++) markersNFT[i].trans[j][k] = trackingTrans[j][k];
}
else markersNFT[i].valid = FALSE;
if (markersNFT[i].valid) {
// Filter the pose estimate.
if (markersNFT[i].ftmi) {
if (arFilterTransMat(markersNFT[i].ftmi, markersNFT[i].trans, !markersNFT[i].validPrev) < 0) {
ARLOGe("arFilterTransMat error with marker %d.\n", i);
}
}
if (!markersNFT[i].validPrev) {
// Marker has become visible, tell any dependent objects.
VirtualEnvironmentHandleARMarkerAppeared(i);
}
// We have a new pose, so set that.
arglCameraViewRH(markersNFT[i].trans, markersNFT[i].pose.T, VIEW_SCALEFACTOR);
// Tell any dependent objects about the update.
VirtualEnvironmentHandleARMarkerWasUpdated(i, markersNFT[i].pose);
} else {
if (markersNFT[i].validPrev) {
// Marker has ceased to be visible, tell any dependent objects.
VirtualEnvironmentHandleARMarkerDisappeared(i);
}
}
}
// Tell GLUT the display has changed.
glutPostRedisplay();
} else {
arUtilSleep(2);
}
}
int main(int argc, char** argv)
{
int i;
char glutGamemode[32];
const char *cparam_name =
"Data/camera_para.dat";
#ifdef _WIN32
char *vconf = "Data\\WDM_camera_flipV.xml";
#else
char *vconf = "";
#endif
char objectDataFilename[] = "Data/object_data_vrml";
// ----------------------------------------------------------------------------
// Library inits.
//
glutInit(&argc, argv);
// ----------------------------------------------------------------------------
// Hardware setup.
//
if (!setupCamera(cparam_name, vconf, &gARTCparam)) {
fprintf(stderr, "main(): Unable to set up AR camera.\n");
exit(-1);
}
#ifdef _WIN32
CoInitialize(NULL);
#endif
// ----------------------------------------------------------------------------
// Library setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!prefWindowed) {
if (prefRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else sprintf(glutGamemode, "%ix%i:%i", prefWidth, prefHeight, prefDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
glutInitWindowSize(gARTCparam.xsize, gARTCparam.ysize);
glutCreateWindow(argv[0]);
}
// Setup argl library for current context.
if ((gArglSettings = arglSetupForCurrentContext()) == NULL) {
fprintf(stderr, "main(): arglSetupForCurrentContext() returned error.\n");
exit(-1);
}
debugReportMode();
arUtilTimerReset();
if (!setupMarkersObjects(objectDataFilename)) {
fprintf(stderr, "main(): Unable to set up AR objects and markers.\n");
Quit();
}
// Test render all the VRML objects.
fprintf(stdout, "Pre-rendering the VRML objects...");
fflush(stdout);
glEnable(GL_TEXTURE_2D);
for (i = 0; i < gObjectDataCount; i++) {
arVrmlDraw(gObjectData[i].vrml_id);
}
glDisable(GL_TEXTURE_2D);
fprintf(stdout, " done\n");
// Register GLUT event-handling callbacks.
// NB: Idle() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
int i;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
arVideoCapNext();
/* check for object visibility */
for( i = 0; i < PTT_NUM; i++){
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( object[i].patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) { /* not find marker */
object[i].visible = 0;
isFirst[i] = 1;
}
else{
/* get the transformation between the marker and the real camera */
if( isFirst[i]){
arGetTransMat(&marker_info[k], object[i].patt_center, object[i].patt_width, object[i].patt_trans);
}else{
arGetTransMatCont(&marker_info[k], object[i].patt_trans, object[i].patt_center, object[i].patt_width, object[i].patt_trans);
}
object[i].visible = 1;
isFirst[i] = 0;
/* 追加 */
if(i == PTT2_MARK_ID){
arUtilMatInv( object[PTT2_MARK_ID].patt_trans, itrans2); // 逆行列の計算
}
}
}
//Initialize(); // fix me
draw();
argSwapBuffers();
}
int main(int argc, char** argv)
{
char glutGamemode[32] = "";
char *vconf = NULL;
char cparaDefault[] = "Data2/camera_para.dat";
char *cpara = NULL;
int i;
int gotTwoPartOption;
const char markerConfigDataFilename[] = "Data2/markers.dat";
const char objectDataFilename[] = "Data2/objects.dat";
#ifdef DEBUG
arLogLevel = AR_LOG_LEVEL_DEBUG;
#endif
//
// Process command-line options.
//
glutInit(&argc, argv);
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc) {
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc) {
if (strcmp(argv[i], "--vconf") == 0) {
i++;
vconf = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--cpara") == 0) {
i++;
cpara = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--width") == 0) {
i++;
// Get width from second field.
if (sscanf(argv[i], "%d", &prefWidth) != 1) {
ARLOGe("Error: --width option must be followed by desired width.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--height") == 0) {
i++;
// Get height from second field.
if (sscanf(argv[i], "%d", &prefHeight) != 1) {
ARLOGe("Error: --height option must be followed by desired height.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--refresh") == 0) {
i++;
// Get refresh rate from second field.
if (sscanf(argv[i], "%d", &prefRefresh) != 1) {
ARLOGe("Error: --refresh option must be followed by desired refresh rate.\n");
}
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption) {
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0) {
usage(argv[0]);
} else if (strncmp(argv[i], "-cpara=", 7) == 0) {
cpara = &(argv[i][7]);
} 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],"--windowed") == 0) {
prefWindowed = TRUE;
} else if (strcmp(argv[i],"--fullscreen") == 0) {
prefWindowed = FALSE;
} else {
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!setupCamera((cpara ? cpara : cparaDefault), vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
if (!initNFT(gCparamLT, arVideoGetPixelFormat())) {
ARLOGe("main(): Unable to init NFT.\n");
exit(-1);
}
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, &markersNFT, &markersNFTCount);
if (!markersNFTCount) {
ARLOGe("Error loading markers from config. file '%s'.\n", markerConfigDataFilename);
cleanup();
exit(-1);
}
ARLOGi("Marker count = %d\n", markersNFTCount);
// Marker data has been loaded, so now load NFT data.
if (!loadNFTData()) {
ARLOGe("Error loading NFT data.\n");
cleanup();
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (prefWindowed) {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
else glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
} else {
if (glutGameModeGet(GLUT_GAME_MODE_POSSIBLE)) {
if (prefWidth && prefHeight) {
if (prefDepth) {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i", prefWidth, prefHeight, prefDepth);
} else {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i@%i", prefWidth, prefHeight, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
} else {
prefWidth = glutGameModeGet(GLUT_GAME_MODE_WIDTH);
prefHeight = glutGameModeGet(GLUT_GAME_MODE_HEIGHT);
snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
glutFullScreen();
}
}
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
cameraPoseValid = FALSE;
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
// Load objects (i.e. OSG models).
VirtualEnvironmentInit(objectDataFilename);
VirtualEnvironmentHandleARViewUpdatedCameraLens(cameraLens);
//
// Setup complete. Start tracking.
//
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
arUtilTimerReset();
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char** argv)
{
char glutGamemode[32];
char *cparam_name = "Data/camera_para.dat";
char *vconf = "";
char *patt_name = "Data/patt.hiro";
// ----------------------------------------------------------------------------
// Library inits.
//
glutInit(&argc, argv);
// ----------------------------------------------------------------------------
// Hardware setup.
//
if (!setupCamera(cparam_name, vconf, &gARTCparam)) {
fprintf(stderr, "main(): Unable to set up AR camera.\n");
exit(-1);
}
// ----------------------------------------------------------------------------
// Library setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!prefWindowed) {
if (prefRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else sprintf(glutGamemode, "%ix%i:%i", prefWidth, prefHeight, prefDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
}
// // Setup ARgsub_lite library for current OpenGL context.
// if ((gArglSettings = arglSetupForCurrentContext()) == NULL) {
// fprintf(stderr, "main(): arglSetupForCurrentContext() returned error.\n");
// cleanup();
// exit(-1);
// }
// debugReportMode(gArglSettings);
glEnable(GL_DEPTH_TEST);
arUtilTimerReset();
// Load marker(s).
if (!setupMarker(patt_name, &gPatt_id)) {
fprintf(stderr, "main(): Unable to set up AR marker.\n");
cleanup();
exit(-1);
}
// // Register GLUT event-handling callbacks.
// // NB: mainLoop() is registered by Visibility.
// glutDisplayFunc(Display);
// glutReshapeFunc(Reshape);
// glutVisibilityFunc(Visibility);
// glutKeyboardFunc(Keyboard);
// glutMainLoop();
return (0);
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i, j, k;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
arVideoCapNext();
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
/* check for object visibility */
for( i = 0; i < 2; i++ ) {
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( object[i].patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
object[i].visible = k;
if( k >= 0 ) {
arGetTransMat(&marker_info[k],
object[i].center, object[i].width,
object[i].trans);
draw( object[i].model_id, object[i].trans );
}
}
argSwapBuffers();
if( object[0].visible >= 0
&& object[1].visible >= 0 ) {
double wmat1[3][4], wmat2[3][4];
arUtilMatInv(object[0].trans, wmat1);
arUtilMatMul(wmat1, object[1].trans, wmat2);
for( j = 0; j < 3; j++ ) {
for( i = 0; i < 4; i++ ) printf("%8.4f ", wmat2[j][i]);
printf("\n");
}
printf("\n\n");
}
}
static void mainLoop(void)
{
AR2VideoBufferT *buff;
ARMarkerInfo *markerInfo;
int markerNum;
ARdouble patt_trans[3][4];
ARdouble err;
int debugMode;
int j, k;
/* grab a video frame */
buff = arVideoGetImage();
if (!buff || !buff->fillFlag) {
arUtilSleep(2);
return;
}
/* detect the markers in the video frame */
if( arDetectMarker(arHandle, buff) < 0 ) {
cleanup();
exit(0);
}
argSetWindow(w1);
arGetDebugMode(arHandle, &debugMode);
if (debugMode == AR_DEBUG_ENABLE) {
int imageProcMode;
argViewportSetPixFormat(vp1, AR_PIXEL_FORMAT_MONO); // Drawing the debug image.
argDrawMode2D(vp1);
arGetImageProcMode(arHandle, &imageProcMode);
if (imageProcMode == AR_IMAGE_PROC_FRAME_IMAGE) argDrawImage(arHandle->labelInfo.bwImage);
else argDrawImageHalf(arHandle->labelInfo.bwImage);
} else {
AR_PIXEL_FORMAT pixFormat;
arGetPixelFormat(arHandle, &pixFormat);
argViewportSetPixFormat(vp1, pixFormat); // Drawing the input image.
argDrawMode2D(vp1);
argDrawImage(buff->buff);
}
argSetWindow(w2);
argDrawMode2D(vp2);
argDrawImage(buff->buff);
argSetWindow(w1);
if( count % 10 == 0 ) {
sprintf(fps, "%f[fps]", 10.0/arUtilTimer());
arUtilTimerReset();
}
count++;
glColor3f(0.0f, 1.0f, 0.0f);
argDrawStringsByIdealPos(fps, 10, ysize-30);
markerNum = arGetMarkerNum( arHandle );
if( markerNum == 0 ) {
argSetWindow(w1);
argSwapBuffers();
argSetWindow(w2);
argSwapBuffers();
return;
}
/* check for object visibility */
markerInfo = arGetMarker( arHandle );
k = -1;
for( j = 0; j < markerNum; j++ ) {
//ARLOG("ID=%d, CF = %f\n", markerInfo[j].id, markerInfo[j].cf);
if( patt_id == markerInfo[j].id ) {
if( k == -1 ) {
if (markerInfo[j].cf > 0.7) k = j;
} else if (markerInfo[j].cf > markerInfo[k].cf) k = j;
}
}
if( k == -1 ) {
argSetWindow(w1);
argSwapBuffers();
argSetWindow(w2);
argSwapBuffers();
return;
}
err = arGetTransMatSquare(ar3DHandle, &(markerInfo[k]), patt_width, patt_trans);
sprintf(errValue, "err = %f", err);
glColor3f(0.0f, 1.0f, 0.0f);
argDrawStringsByIdealPos(fps, 10, ysize-30);
argDrawStringsByIdealPos(errValue, 10, ysize-60);
//ARLOG("err = %f\n", err);
draw(patt_trans);
argSetWindow(w1);
argSwapBuffers();
argSetWindow(w2);
argSwapBuffers();
}
int main(int argc, char** argv)
{
char glutGamemode[32] = "";
char *vconf = NULL;
char cparaDefault[] = "../share/artoolkit-examples/Data/camera_para.dat";
char *cpara = NULL;
int i;
int gotTwoPartOption;
const char markerConfigDataFilename[] = "../share/artoolkit-examples/Data/markers.dat";
const char objectDataFilename[] = "../share/artoolkit-examples/Data/objects.dat";
//
// Process command-line options.
//
glutInit(&argc, argv);
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc) {
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc) {
if (strcmp(argv[i], "--vconf") == 0) {
i++;
vconf = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--cpara") == 0) {
i++;
cpara = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--width") == 0) {
i++;
// Get width from second field.
if (sscanf(argv[i], "%d", &prefWidth) != 1) {
ARLOGe("Error: --width option must be followed by desired width.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--height") == 0) {
i++;
// Get height from second field.
if (sscanf(argv[i], "%d", &prefHeight) != 1) {
ARLOGe("Error: --height option must be followed by desired height.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--refresh") == 0) {
i++;
// Get refresh rate from second field.
if (sscanf(argv[i], "%d", &prefRefresh) != 1) {
ARLOGe("Error: --refresh option must be followed by desired refresh rate.\n");
}
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption) {
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0) {
usage(argv[0]);
} else if (strncmp(argv[i], "-cpara=", 7) == 0) {
cpara = &(argv[i][7]);
} 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],"--windowed") == 0) {
prefWindowed = TRUE;
} else if (strcmp(argv[i],"--fullscreen") == 0) {
prefWindowed = FALSE;
} else {
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!setupCamera((cpara ? cpara : cparaDefault), vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
// Init AR.
gARPattHandle = arPattCreateHandle();
if (!gARPattHandle) {
ARLOGe("Error creating pattern handle.\n");
exit(-1);
}
gARHandle = arCreateHandle(gCparamLT);
if (!gARHandle) {
ARLOGe("Error creating AR handle.\n");
exit(-1);
}
arPattAttach(gARHandle, gARPattHandle);
if (arSetPixelFormat(gARHandle, arVideoGetPixelFormat()) < 0) {
ARLOGe("Error setting pixel format.\n");
exit(-1);
}
gAR3DHandle = ar3DCreateHandle(&gCparamLT->param);
if (!gAR3DHandle) {
ARLOGe("Error creating 3D handle.\n");
exit(-1);
}
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, gARPattHandle, &markersSquare, &markersSquareCount, &gARPattDetectionMode);
ARLOGi("Marker count = %d\n", markersSquareCount);
//
// Other ARToolKit setup.
//
arSetMarkerExtractionMode(gARHandle, AR_USE_TRACKING_HISTORY_V2);
//arSetMarkerExtractionMode(gARHandle, AR_NOUSE_TRACKING_HISTORY);
//arSetLabelingThreshMode(gARHandle, AR_LABELING_THRESH_MODE_MANUAL); // Uncomment to force manual thresholding.
// Set the pattern detection mode (template (pictorial) vs. matrix (barcode) based on
// the marker types as defined in the marker config. file.
arSetPatternDetectionMode(gARHandle, gARPattDetectionMode); // Default = AR_TEMPLATE_MATCHING_COLOR
// Other application-wide marker options. Once set, these apply to all markers in use in the application.
// If you are using standard ARToolKit picture (template) markers, leave commented to use the defaults.
// If you are usign a different marker design (see http://www.artoolworks.com/support/app/marker.php )
// then uncomment and edit as instructed by the marker design application.
//arSetLabelingMode(gARHandle, AR_LABELING_BLACK_REGION); // Default = AR_LABELING_BLACK_REGION
//arSetBorderSize(gARHandle, 0.25f); // Default = 0.25f
//arSetMatrixCodeType(gARHandle, AR_MATRIX_CODE_3x3); // Default = AR_MATRIX_CODE_3x3
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (prefWindowed) {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
else glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
} else {
if (glutGameModeGet(GLUT_GAME_MODE_POSSIBLE)) {
if (prefWidth && prefHeight) {
if (prefDepth) {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i", prefWidth, prefHeight, prefDepth);
} else {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i@%i", prefWidth, prefHeight, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
} else {
prefWidth = glutGameModeGet(GLUT_GAME_MODE_WIDTH);
prefHeight = glutGameModeGet(GLUT_GAME_MODE_HEIGHT);
snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
glutFullScreen();
}
}
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
cameraPoseValid = FALSE;
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
// Load objects (i.e. OSG models).
VirtualEnvironmentInit(objectDataFilename);
VirtualEnvironmentHandleARViewUpdatedCameraLens(cameraLens);
//
// Setup complete. Start tracking.
//
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
arUtilTimerReset();
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char** argv)
{
char glutGamemode[32];
char cparam_name[] = "Data/camera_para.dat";
char vconf[] = "";
char patt_name[] = "Data/patt.hiro";
char movieFileName[] = "Data/sample.mov";
char *movieURI;
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
if (!setupCamera(cparam_name, vconf, &gCparamLT, &gARHandle, &gAR3DHandle)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!windowed) {
if (windowRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", windowWidth, windowHeight, windowDepth, windowRefresh);
else sprintf(glutGamemode, "%ix%i:%i", windowWidth, windowHeight, windowDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
glutInitWindowSize(windowWidth, windowHeight);
glutCreateWindow(argv[0]);
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
arUtilTimerReset();
// Load marker(s).
if (!setupMarker(patt_name, &gPatt_id, gARHandle, &gARPattHandle)) {
ARLOGe("main(): Unable to set up AR marker.\n");
cleanup();
exit(-1);
}
//
// Movie loading.
//
// In this example, we load a movie via a file URI, but other URIs allowed
// by the QuickTime module would also be fine.
// Movie relative path is in "movieFileName". Get a file:// URI for it.
movieURI = arUtilGetFileURI(movieFileName);
if (!movieURI) {
ARLOGe("Error: Unable to construct URI for movie file '%s'.\n", movieFileName);
cleanup();
exit(-1);
}
// Now open the movie.
if (!setupMovie(movieURI)) {
ARLOGe("Error: Unable to open movie at URI '%s'.\n", movieURI);
free(movieURI);
cleanup();
exit(-1);
}
free(movieURI); // We're finished with movieURI, so free it.
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char **argv)
{
char glutGamemode[32];
char *cpara = NULL;
char cparaDefault[] = "Data/camera_para.dat";
char *vconf = NULL;
int patt_names_count = 0;
char *patt_names[CHECK_ID_MULTIMARKERS_MAX] = {NULL};
ARdouble pattRatio = (ARdouble)AR_PATT_RATIO;
AR_MATRIX_CODE_TYPE matrixCodeType = AR_MATRIX_CODE_TYPE_DEFAULT;
int labelingMode = AR_DEFAULT_LABELING_MODE;
int patternDetectionMode = AR_DEFAULT_PATTERN_DETECTION_MODE;
int i, gotTwoPartOption;
float tempF;
int tempI;
//
// Library inits.
//
glutInit(&argc, argv);
//
// Startup options.
//
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc)
{
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc)
{
if (strcmp(argv[i], "--vconf") == 0)
{
i++;
vconf = argv[i];
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--cpara") == 0)
{
i++;
cpara = argv[i];
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattRatio") == 0)
{
i++;
if (sscanf(argv[i], "%f", &tempF) == 1 && tempF > 0.0f && tempF < 1.0f)
pattRatio = (ARdouble)tempF;
else
ARLOGe("Error: argument '%s' to --pattRatio invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattSize") == 0)
{
i++;
if (sscanf(argv[i], "%d", &tempI) == 1 && tempI >= 16 && tempI <= AR_PATT_SIZE1_MAX)
gPattSize = tempI;
else
ARLOGe("Error: argument '%s' to --pattSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattCountMax") == 0)
{
i++;
if (sscanf(argv[i], "%d", &tempI) == 1 && tempI > 0)
gPattCountMax = tempI;
else
ARLOGe("Error: argument '%s' to --pattSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--borderSize") == 0)
{
i++;
if (sscanf(argv[i], "%f", &tempF) == 1 && tempF > 0.0f && tempF < 0.5f)
pattRatio = (ARdouble)(1.0f - 2.0f * tempF);
else
ARLOGe("Error: argument '%s' to --borderSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--matrixCodeType") == 0)
{
i++;
if (strcmp(argv[i], "AR_MATRIX_CODE_3x3") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3;
else if (strcmp(argv[i], "AR_MATRIX_CODE_3x3_HAMMING63") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3_HAMMING63;
else if (strcmp(argv[i], "AR_MATRIX_CODE_3x3_PARITY65") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3_PARITY65;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4_BCH_13_9_3") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4_BCH_13_9_3;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4_BCH_13_5_5") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4_BCH_13_5_5;
else if (strcmp(argv[i], "AR_MATRIX_CODE_5x5") == 0)
matrixCodeType = AR_MATRIX_CODE_5x5;
else if (strcmp(argv[i], "AR_MATRIX_CODE_6x6") == 0)
matrixCodeType = AR_MATRIX_CODE_6x6;
else if (strcmp(argv[i], "AR_MATRIX_CODE_GLOBAL_ID") == 0)
matrixCodeType = AR_MATRIX_CODE_GLOBAL_ID;
else
ARLOGe("Error: argument '%s' to --matrixCodeType invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--labelingMode") == 0)
{
i++;
if (strcmp(argv[i], "AR_LABELING_BLACK_REGION") == 0)
labelingMode = AR_LABELING_BLACK_REGION;
else if (strcmp(argv[i], "AR_LABELING_WHITE_REGION") == 0)
labelingMode = AR_LABELING_WHITE_REGION;
else
ARLOGe("Error: argument '%s' to --labelingMode invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--patternDetectionMode") == 0)
{
i++;
if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_COLOR") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_COLOR;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_MONO") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_MONO;
else if (strcmp(argv[i], "AR_MATRIX_CODE_DETECTION") == 0)
patternDetectionMode = AR_MATRIX_CODE_DETECTION;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_MONO_AND_MATRIX") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_MONO_AND_MATRIX;
else
ARLOGe("Error: argument '%s' to --patternDetectionMode invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption)
{
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0)
{
usage(argv[0]);
}
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 (strncmp(argv[i], "-border=", 8) == 0)
{
if (sscanf(&(argv[i][8]), "%f", &tempF) == 1 && tempF > 0.0f && tempF < 0.5f)
pattRatio = (ARdouble)(1.0f - 2.0f * tempF);
else
ARLOGe("Error: argument '%s' to -border= invalid.\n", argv[i]);
}
else
{
if (patt_names_count < CHECK_ID_MULTIMARKERS_MAX)
{
patt_names[patt_names_count] = argv[i];
patt_names_count++;
}
// } else {
// ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
// usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!cpara)
cpara = cparaDefault;
if (!setupCamera(cpara, vconf, &gCparamLT, &gARHandle, &gAR3DHandle))
{
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
arSetPatternDetectionMode(gARHandle, patternDetectionMode);
arSetLabelingMode(gARHandle, labelingMode);
arSetPattRatio(gARHandle, pattRatio);
arSetMatrixCodeType(gARHandle, matrixCodeType);
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!windowed)
{
if (windowRefresh)
sprintf(glutGamemode, "%ix%i:%i@%i", windowWidth, windowHeight, windowDepth, windowRefresh);
else
sprintf(glutGamemode, "%ix%i:%i", windowWidth, windowHeight, windowDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
}
else
{
glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL)
{
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
arUtilTimerReset();
// Load marker(s).
if (!setupMarkers(patt_names_count, (const char**)patt_names, gMultiConfigs, gARHandle, &gARPattHandle))
{
ARLOGe("main(): Unable to set up AR marker(s).\n");
cleanup();
exit(-1);
}
gMultiConfigCount = patt_names_count;
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char** argv)
{
int i;
char glutGamemode[32];
char cparam_name[] = "Data/camera_para.dat";
char vconf[] = "";
char objectDataFilename[] = "Data/object_data_vrml";
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
if (!setupCamera(cparam_name, vconf, &gCparamLT, &gARHandle, &gAR3DHandle)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
#ifdef _WIN32
CoInitialize(NULL);
#endif
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!windowed) {
if (windowRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", windowWidth, windowHeight, windowDepth, windowRefresh);
else sprintf(glutGamemode, "%ix%i:%i", windowWidth, windowHeight, windowDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
glutInitWindowSize(windowWidth, windowHeight);
glutCreateWindow(argv[0]);
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
arUtilTimerReset();
if (!setupMarkersObjects(objectDataFilename, &gObjectData, &gObjectDataCount, gARHandle)) {
ARLOGe("main(): Unable to set up AR objects and markers.\n");
cleanup();
exit(-1);
}
// Test render all the VRML objects.
ARLOGi("Pre-rendering the VRML objects...\n");
glEnable(GL_TEXTURE_2D);
for (i = 0; i < gObjectDataCount; i++) {
arVrmlDraw(gObjectData[i].vrml_id);
}
glDisable(GL_TEXTURE_2D);
ARLOGi(" done\n");
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i,j,k;
/* grab a video frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/*draw the video*/
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* capture the next video frame */
arVideoCapNext();
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth(6.0);
/* detect the markers in the video frame */
if(arDetectMarker(dataPtr, thresh,
&marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
for( i = 0; i < marker_num; i++ ) {
argDrawSquare(marker_info[i].vertex,0,0);
}
/* check for known patterns */
for( i = 0; i < objectnum; i++ ) {
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( object[i].id == marker_info[j].id) {
/* you've found a pattern */
//printf("Found pattern: %d ",patt_id);
glColor3f( 0.0, 1.0, 0.0 );
argDrawSquare(marker_info[j].vertex,0,0);
if( k == -1 ) k = j;
else /* make sure you have the best pattern (highest confidence factor) */
if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) {
object[i].visible = 0;
continue;
}
/* calculate the transform for each marker */
if( object[i].visible == 0 ) {
arGetTransMat(&marker_info[k],
object[i].marker_center, object[i].marker_width,
object[i].trans);
}
else {
arGetTransMatCont(&marker_info[k], object[i].trans,
object[i].marker_center, object[i].marker_width,
object[i].trans);
}
object[i].visible = 1;
}
/*check for object collisions between marker 0 and 1 */
if(object[0].visible && object[1].visible) {
if(checkCollisions(object[0],object[1],COLLIDE_DIST)) {
object[0].collide = 1;
object[1].collide = 1;
}
else {
object[0].collide = 0;
object[1].collide = 0;
}
}
/* draw the AR graphics */
draw( object, objectnum );
/*swap the graphics buffers*/
argSwapBuffers();
}
static void Keyboard(unsigned char key, int x, int y)
{
int mode, threshChange = 0;
switch (key) {
case 0x1B: // Quit.
case 'Q':
case 'q':
cleanup();
exit(0);
break;
case ' ':
gDrawRotate = !gDrawRotate;
break;
case 'C':
case 'c':
ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
debugReportMode(gARHandle);
break;
case '-':
threshChange = -5;
break;
case '+':
case '=':
threshChange = +5;
break;
case 'D':
case 'd':
arGetDebugMode(gARHandle, &mode);
arSetDebugMode(gARHandle, !mode);
break;
case 'B':
case 'b':
arGetLabelingMode(gARHandle, &mode);
if (mode == AR_LABELING_BLACK_REGION) arSetLabelingMode(gARHandle, AR_LABELING_WHITE_REGION);
else arSetLabelingMode(gARHandle, AR_LABELING_BLACK_REGION);
break;
case '?':
case '/':
ARLOG("Keys:\n");
ARLOG(" q or [esc] Quit demo.\n");
ARLOG(" c Calulcate frame rate.\n");
ARLOG(" - and + Adjust threshhold.\n");
ARLOG(" d Activate / deactivate debug mode.\n");
ARLOG(" b Toggle between detection of black markers and white markers.\n");
ARLOG(" ? or / Show this help.\n");
ARLOG("\nAdditionally, the ARVideo library supplied the following help text:\n");
arVideoDispOption();
break;
default:
break;
}
if (threshChange) {
int threshhold;
arGetLabelingThresh(gARHandle, &threshhold);
threshhold += threshChange;
if (threshhold < 0) threshhold = 0;
if (threshhold > 255) threshhold = 255;
arSetLabelingThresh(gARHandle, threshhold);
ARLOG("Threshhold changed to %d.\n", threshhold);
}
}
static void Keyboard(unsigned char key, int x, int y)
{
int mode, threshChange = 0;
AR_LABELING_THRESH_MODE modea;
switch (key) {
case 0x1B: // Quit.
case 'Q':
case 'q':
cleanup();
exit(0);
break;
case 'X':
case 'x':
arGetImageProcMode(gARHandle, &mode);
switch (mode) {
case AR_IMAGE_PROC_FRAME_IMAGE: mode = AR_IMAGE_PROC_FIELD_IMAGE; break;
case AR_IMAGE_PROC_FIELD_IMAGE:
default: mode = AR_IMAGE_PROC_FRAME_IMAGE; break;
}
arSetImageProcMode(gARHandle, mode);
break;
case 'C':
case 'c':
ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
break;
case 'a':
case 'A':
arGetLabelingThreshMode(gARHandle, &modea);
switch (modea) {
case AR_LABELING_THRESH_MODE_MANUAL: modea = AR_LABELING_THRESH_MODE_AUTO_MEDIAN; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: modea = AR_LABELING_THRESH_MODE_AUTO_OTSU; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: modea = AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: modea = AR_LABELING_THRESH_MODE_AUTO_BRACKETING; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING:
default: modea = AR_LABELING_THRESH_MODE_MANUAL; break;
}
arSetLabelingThreshMode(gARHandle, modea);
break;
case '-':
threshChange = -5;
break;
case '+':
case '=':
threshChange = +5;
break;
case 'D':
case 'd':
arGetDebugMode(gARHandle, &mode);
arSetDebugMode(gARHandle, !mode);
break;
case '?':
case '/':
gShowHelp++;
if (gShowHelp > 1) gShowHelp = 0;
break;
case 'm':
case 'M':
gShowMode = !gShowMode;
break;
default:
break;
}
if (threshChange) {
int threshhold;
arGetLabelingThresh(gARHandle, &threshhold);
threshhold += threshChange;
if (threshhold < 0) threshhold = 0;
if (threshhold > 255) threshhold = 255;
arSetLabelingThresh(gARHandle, threshhold);
}
}
int main(int argc, char** argv)
{
char glutGamemode[32];
const char *cparam_name = "Data/camera_para.dat";
char vconf[] = "";
const char *patt_name = "Data/cubeMarkerConfig.dat";
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
if (!setupCamera(cparam_name, vconf, &gCparamLT, &gARHandle, &gAR3DHandle)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!prefWindowed) {
if (prefRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else sprintf(glutGamemode, "%ix%i:%i", prefWidth, prefHeight, prefDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
debugReportMode(gARHandle);
glEnable(GL_DEPTH_TEST);
arUtilTimerReset();
// Load marker(s).
if (!setupCubeMarker(patt_name, &gMultiConfig, gARHandle, &gARPattHandle)) {
ARLOGe("main(): Unable to set up AR marker.\n");
cleanup();
exit(-1);
}
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}