Ejemplo n.º 1
0
/* 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();
}
Ejemplo n.º 2
0
static void mainLoop(void)
{
    int        i;
    static int imageNumber = 0;
    static int ms_prev;
    int        ms;
    float      s_elapsed;
    ARUint8    *image;

    // Find out how long since mainLoop() last ran.
    ms        = glutGet(GLUT_ELAPSED_TIME);
    s_elapsed = (float)(ms - ms_prev) * 0.001f;
    if (s_elapsed < 0.01f)
        return;                        // Don't update more often than 100 Hz.

    ms_prev = ms;

    // Grab a video frame.
    if ((image = arVideoGetImage()) != NULL)
    {
        gARTImage = image;              // Save the fetched image.

        if (gARTImageSavePlease)
        {
            char imageNumberText[15];
            sprintf(imageNumberText, "image-%04d.jpg", imageNumber++);
            if (arVideoSaveImageJPEG(gARHandle->xsize, gARHandle->ysize, gARHandle->arPixelFormat, gARTImage, imageNumberText, 75, 0) < 0)
            {
                ARLOGe("Error saving video image.\n");
            }

            gARTImageSavePlease = FALSE;
        }

        gCallCountMarkerDetect++;         // Increment ARToolKit FPS counter.

        // Detect the markers in the video frame.
        if (arDetectMarker(gARHandle, gARTImage) < 0)
        {
            exit(-1);
        }

        // If  marker config files were specified, evaluate detected patterns against them now.
        for (i = 0; i < gMultiConfigCount; i++)
        {
            if (gRobustFlag)
                gMultiErrs[i] = arGetTransMatMultiSquareRobust(gAR3DHandle, arGetMarker(gARHandle), arGetMarkerNum(gARHandle), gMultiConfigs[i]);
            else
                gMultiErrs[i] = arGetTransMatMultiSquare(gAR3DHandle, arGetMarker(gARHandle), arGetMarkerNum(gARHandle), gMultiConfigs[i]);

            // if (gMultiConfigs[i]->prevF != 0) ARLOGe("Found multimarker set %d, err=%0.3f\n", i, gMultiErrs[i]);
        }

        // Tell GLUT the display has changed.
        glutPostRedisplay();
    }
}
Ejemplo n.º 3
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();
}
Ejemplo n.º 4
0
//==================
// マーカー検出処理
//==================
bool cARTK::update( void )
{
	ARUint8			*pImage;
	ARMarkerInfo	*pMarkerInfo;
    int             iNumDetectedMarker;

	// カメラ画像の取得
	if( (pImage = arVideoGetImage()) != NULL )
	{
		m_pARTImage = pImage;
		m_bMarkersFound = false;

		// カメラ画像からマーカーを検出
		if( arDetectMarker( m_pARTImage, m_iThreshold, &pMarkerInfo, &iNumDetectedMarker ) < 0 )
		{
			exit( -1 );
		}

		// 検出されたマーカー情報の中から一番信頼性の高いものを探す
		for( int i = 0 ; i < ARMK_MAXNUM ; i++ )
		{
			int		k = -1;
			for( int j = 0 ; j < iNumDetectedMarker ; j++ )
			{
				if( pMarkerInfo[j].id == m_sMarkerInfo[i].iPattID )
				{
					if( k == -1 || pMarkerInfo[j].cf > pMarkerInfo[k].cf )	k = j;
				}
			}

			if( k != -1 )
			{
				// カメラのトランスフォーム行列を取得
				if( !m_sMarkerInfo[i].bVisible )
					nyar_NyARTransMat_O2_transMat( m_pNyARInst, &(pMarkerInfo[k]), m_sMarkerInfo[i].dCenterPos, m_sMarkerInfo[i].dWidth, m_sMarkerInfo[i].dTransMat );
				else
					nyar_NyARTransMat_O2_transMatCont( m_pNyARInst, &(pMarkerInfo[k]), m_sMarkerInfo[i].dTransMat, m_sMarkerInfo[i].dCenterPos, m_sMarkerInfo[i].dWidth, m_sMarkerInfo[i].dTransMat );

				m_sMarkerInfo[i].bVisible = true;
				m_bMarkersFound = true;
			}
			else
			{
				m_sMarkerInfo[i].bVisible = false;
			}
		}

		return true;
	}

	arUtilSleep( 2 );

	return false;
}
Ejemplo n.º 5
0
static void mainLoop(void)
{
    static int ms_prev;
    int ms;
    float s_elapsed;
    ARUint8 *image;

    ARMarkerInfo    *marker_info;					// Pointer to array holding the details of detected markers.
    int             marker_num;						// Count of number of markers detected.
    int             j, k;

    // Find out how long since mainLoop() last ran.
    ms = glutGet(GLUT_ELAPSED_TIME);
    s_elapsed = (float)(ms - ms_prev) * 0.001;
    if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz.
    ms_prev = ms;

    // Update drawing.
    DrawCubeUpdate(s_elapsed);

    // Grab a video frame.
    if ((image = arVideoGetImage()) != NULL) {
        gARTImage = image;	// Save the fetched image.

        gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.

        // Detect the markers in the video frame.
        if (arDetectMarker(gARTImage, gARTThreshhold, &marker_info, &marker_num) < 0) {
            exit(-1);
        }

        // Check through the marker_info array for highest confidence
        // visible marker matching our preferred pattern.
        k = -1;
        for (j = 0; j < marker_num; j++) {
            if (marker_info[j].id == gPatt_id) {
                if (k == -1) k = j; // First marker detected.
                else if(marker_info[j].cf > marker_info[k].cf) k = j; // Higher confidence marker detected.
            }
        }

        if (k != -1) {
            // Get the transformation between the marker and the real camera into gPatt_trans.
            arGetTransMat(&(marker_info[k]), gPatt_centre, gPatt_width, gPatt_trans);
            gPatt_found = 1;
        } else {
            gPatt_found = 0;
        }

        // Tell GLUT the display has changed.
        glutPostRedisplay();
    }
}
Ejemplo n.º 6
0
static int update(AppState* state)
{

    ARMarkerInfo    *marker_info;					// Pointer to array holding the details of detected markers.
    int             marker_num;						// Count of number of markers detected.
    int             j, k;

    // Grab a video frame.
    if ((gsARTImage = arVideoGetImage()) != NULL) {

        gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.

        // Detect the markers in the video frame.
        if (arDetectMarker(gsARTImage, gARTThreshhold, &marker_info, &marker_num) < 0) {
            exit(-1);
        }

        SDL_RenderClear(state->renderer);

        glDrawBuffer(GL_BACK);
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.

        renderBackgroundImage(state,gsARTImage);

        // Check through the marker_info array for highest confidence
        // visible marker matching our preferred pattern.
        k = -1;
        for (j = 0; j < marker_num; j++) {
            if (marker_info[j].id == gPatt_id) {
                if (k == -1) k = j; // First marker detected.
                else if(marker_info[j].cf > marker_info[k].cf) k = j; // Higher confidence marker detected.
            }
        }

        if (k != -1) {
            // Get the transformation between the marker and the real camera into gPatt_trans.
            arGetTransMat(&(marker_info[k]), gPatt_centre, gPatt_width, gPatt_trans);
            gPatt_found = 1;
        } else {
            gPatt_found = 0;
        }


        renderScene(state);


//        SDL_RenderPresent(state->renderer);

        SDL_GL_SwapWindow(state->window);
    }

}
Ejemplo n.º 7
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();
	}
Ejemplo n.º 8
0
static void dispImage(void)
{
    AR2VideoBufferT *buff;
    double        x, y;
    int           ssx, eex, ssy, eey;
    int           i;

    if( status == 0 ) {
        while (!(buff = arVideoGetImage()) || !buff->fillFlag) arUtilSleep(2);
        argDrawMode2D( vp );
        argDrawImage(buff->buff);
    }

    else if( status == 1 ) {
        argDrawMode2D( vp );
        argDrawImage( patt.savedImage[patt.loop_num-1] );

        for( i = 0; i < point_num; i++ ) {
            x = patt.point[patt.loop_num-1][i].x_coord;
            y = patt.point[patt.loop_num-1][i].y_coord;
            glColor3f( 1.0f, 0.0f, 0.0f );
            argDrawLineByObservedPos( x-10, y, x+10, y );
            argDrawLineByObservedPos( x, y-10, x, y+10 );
        }

        if( sx != -1 && sy != -1 ) {
            if( sx < ex ) { ssx = sx; eex = ex; }
             else         { ssx = ex; eex = sx; }
            if( sy < ey ) { ssy = sy; eey = ey; }
             else         { ssy = ey; eey = sy; }
            dispClipImage( ssx, ssy, eex-ssx+1, eey-ssy+1, clipImage );
        }
    }

    else if( status == 2 ) {
        argDrawMode2D( vp );
        argDrawImage( patt.savedImage[check_num] );
        for( i = 0; i < patt.h_num*patt.v_num; i++ ) {
            x = patt.point[check_num][i].x_coord;
            y = patt.point[check_num][i].y_coord;
            glColor3f( 1.0f, 0.0f, 0.0f );
            argDrawLineByObservedPos( x-10, y, x+10, y );
            argDrawLineByObservedPos( x, y-10, x, y+10 );
        }
        draw_line();
    }

    argSwapBuffers();
}
Ejemplo n.º 9
0
//==================
// マーカー検出処理
//==================
bool cARTK::update( void )
{
	ARUint8			*pImage;
	ARMarkerInfo	*pMarkerInfo;
    int             iNumDetectedMarker;

	// カメラ画像の取得
	if( (pImage = (ARUint8 *)arVideoGetImage()) == NULL ) {
        arUtilSleep(2);
        return false;
    }
	memcpy( m_pARTImage, pImage, m_uiARTImageSize );

	m_bMarkerFound = false;

	// カメラ画像からマーカーを検出
	if( arDetectMarker( m_pARTImage, 130, &pMarkerInfo, &iNumDetectedMarker ) < 0 )
	{
		exit( -1 );
	}

	// 検出されたマーカー情報の中から一番信頼性の高いものを探す
	int		k = -1;
	for( int j = 0 ; j < iNumDetectedMarker ; j++ )
	{
		if( pMarkerInfo[j].id == m_iPattID )
		{
			if( k == -1 || pMarkerInfo[j].cf > pMarkerInfo[k].cf )	k = j;
		}
	}

	if( k != -1 )
	{
		// カメラのトランスフォーム行列を取得
		if( m_bFirstTime )
			arGetTransMat( &(pMarkerInfo[k]), m_dPattCenter, m_dPattWidth, m_dPattTransMat );
		else
			arGetTransMatCont( &(pMarkerInfo[k]), m_dPattTransMat, m_dPattCenter, m_dPattWidth, m_dPattTransMat );

		m_bFirstTime = false;

		m_bMarkerFound = true;
	}

	// 次のカメラ画像のキャプチャを開始
	arVideoCapNext();

	return true;
}
Ejemplo n.º 10
0
static void mainLoop(void)
{
    ARUint8         *dataPtr;
    ARMarkerInfo    *marker_info;
    int             marker_num;
    int             areamax;
    int             i;

    if( (dataPtr = (unsigned char *)arVideoGetImage()) == NULL ) {
        arUtilSleep(2);
        return;
    }
    img_copy( dataPtr, image, xsize*ysize*AR_PIX_SIZE );
    arVideoCapNext();

    if( arDetectMarker(image, thresh, &marker_info, &marker_num) < 0 ) {
        cleanup();
        exit(0);
    }

    areamax = 0;
    target = NULL;
    for( i = 0; i < marker_num; i++ ) {
        if( marker_info[i].area > areamax ) {
            areamax = marker_info[i].area;
            target = &(marker_info[i]);
        }
    }
    argDispImage( image, 0, 0 );


    if( target != NULL ) {
        glLineWidth( 2.0 );
        glColor3d( 0.0, 1.0, 0.0 );
        argLineSeg( target->vertex[0][0], target->vertex[0][1],
                    target->vertex[1][0], target->vertex[1][1], 0, 0 );
        argLineSeg( target->vertex[3][0], target->vertex[3][1],
                    target->vertex[0][0], target->vertex[0][1], 0, 0 );
        glColor3d( 1.0, 0.0, 0.0 );
        argLineSeg( target->vertex[1][0], target->vertex[1][1],
                    target->vertex[2][0], target->vertex[2][1], 0, 0 );
        argLineSeg( target->vertex[2][0], target->vertex[2][1],
                    target->vertex[3][0], target->vertex[3][1], 0, 0 );
    }
    argSwapBuffers();
 
    return;
}
Ejemplo n.º 11
0
static void mainLoop(void)
{
	static int ms_prev;
	int ms;
	float s_elapsed;
	ARUint8 *image;
	ARdouble err;

    int             j, k;
	
	// Find out how long since mainLoop() last ran.
	ms = glutGet(GLUT_ELAPSED_TIME);
	s_elapsed = (float)(ms - ms_prev) * 0.001f;
	if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz.
	ms_prev = ms;
	
	// Update drawing.
	DrawCubeUpdate(s_elapsed);
	
	// Grab a video frame.
	if ((image = arVideoGetImage()) != NULL) {
		gARTImage = image;	// Save the fetched image.
		
		gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
		
		// Detect the markers in the video frame.
		if (arDetectMarker(gARHandle, gARTImage) < 0) {
			exit(-1);
		}

		err = arGetTransMatMultiSquare( gAR3DHandle, arGetMarker( gARHandle ), arGetMarkerNum( gARHandle ), gMultiConfig);
		if( gMultiConfig->prevF != 0 ) {
			gPatt_found = TRUE;
			for (k = 0; k < 3; k++) {
				for (j = 0; j < 4; j++) {
					gPatt_trans[k][j] = gMultiConfig->trans[k][j];
				}
			}
		} else {
			gPatt_found = FALSE;
		}
		// Tell GLUT the display has changed.
		glutPostRedisplay();
	}
}
Ejemplo n.º 12
0
static void mainLoop(void)
{
    ARUint8 *dataPtr;
    int     cornerCount;
    char    buf[256];
    int     i;

    if ((dataPtr = arVideoGetImage()) == NULL)
    {
        arUtilSleep(2);
        return;
    }

    glClear(GL_COLOR_BUFFER_BIT);
    argDrawMode2D(vp);
    argDrawImage(dataPtr);

    // Convert to grayscale, results will go to arIPI->image, which also provides the backing for calibImage.
    arImageProcLuma(arIPI, dataPtr);

    cornerFlag = cvFindChessboardCorners(calibImage, cvSize(chessboardCornerNumY, chessboardCornerNumX),
                                         corners, &cornerCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
    if (cornerFlag)
        glColor4ub(255, 0, 0, 255);
    else
        glColor4ub(0, 255, 0, 255);

    glLineWidth(2.0f);

    // ARLOG("Detected corners = %d\n", cornerCount);
    for (i = 0; i < cornerCount; i++)
    {
        argDrawLineByObservedPos(corners[i].x - 5, corners[i].y - 5, corners[i].x + 5, corners[i].y + 5);
        argDrawLineByObservedPos(corners[i].x - 5, corners[i].y + 5, corners[i].x + 5, corners[i].y - 5);
        // ARLOG("  %f, %f\n", corners[i].x, corners[i].y);
        sprintf(buf, "%d\n", i);
        argDrawStringsByObservedPos(buf, corners[i].x, corners[i].y + 20);
    }

    sprintf(buf, "Captured Image: %2d/%2d\n", capturedImageNum, calibImageNum);
    argDrawStringsByObservedPos(buf, 10, 30);

    argSwapBuffers();
}
Ejemplo n.º 13
0
void MainLoop(void)
{
	ARUint8 *image;
	ARMarkerInfo *marker_info;
	int marker_num;
	int j, k;

	if ((image = (ARUint8 *)arVideoGetImage()) == NULL) {
		arUtilSleep(2);
		return;

	}

	argDrawMode2D();
	argDispImage(image, 0, 0);

	if (arDetectMarker(image, thresh, &marker_info, &marker_num) < 0) {
		Cleanup();
		exit(0);

	}

	arVideoCapNext();

	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) {
		arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
		DrawObject();
	}

	argSwapBuffers();
}
Ejemplo n.º 14
0
static void mainLoop(void)
{
	static int ms_prev;
	int ms;
	float s_elapsed;
	ARUint8 *image;
    int             areamax;
	ARMarkerInfo    *marker_info;					// Pointer to array holding the details of detected markers.
    int             marker_num;						// Count of number of markers detected.
    int             i;
	
	// Find out how long since mainLoop() last ran.
	ms = glutGet(GLUT_ELAPSED_TIME);
	s_elapsed = (float)(ms - ms_prev) * 0.001;
	if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz.
	ms_prev = ms;
	
	// Grab a video frame.
	if ((image = arVideoGetImage()) != NULL) {
		gARTImage = image;
		
		if (arDetectMarker(gARTImage, gARTThreshhold, &marker_info, &marker_num) < 0) {
			exit(-1);
		}
		
		areamax = 0;
		gTarget = NULL;
		for (i = 0; i < marker_num; i++) {
			if (marker_info[i].area > areamax) {
				areamax = marker_info[i].area;
				gTarget = &(marker_info[i]);
			}
		}
		memcpy(gARTsaveImage, gARTImage,  gARTCparam.xsize * gARTCparam.ysize * AR_PIX_SIZE_DEFAULT);
		
		// Tell GLUT the display has changed.
		glutPostRedisplay();
	}
}
Ejemplo n.º 15
0
static void mainLoop(void)
{
	static int ms_prev;
	int ms;
	float s_elapsed;
	ARUint8 *image;
    AR2VideoBufferT *movieBuffer;
	ARdouble err;

    int             j, k;
	
	// Find out how long since mainLoop() last ran.
	ms = glutGet(GLUT_ELAPSED_TIME);
	s_elapsed = (float)(ms - ms_prev) * 0.001f;
	if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz.
	ms_prev = ms;
	
	// Grab a movie frame (if available).
    if ((movieBuffer = ar2VideoGetImage(gMovieVideo)) != NULL) {
        if (movieBuffer->buff && movieBuffer->fillFlag)
            gMovieImage = movieBuffer->buff;
    }
    
	// Grab a video frame.
	if ((image = arVideoGetImage()) != NULL) {
		gARTImage = image;	// Save the fetched image.
        
		gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
		
		// Detect the markers in the video frame.
		if (arDetectMarker(gARHandle, gARTImage) < 0) {
			exit(-1);
		}
		
		// Check through the marker_info array for highest confidence
		// visible marker matching our preferred pattern.
		k = -1;
		for (j = 0; j < gARHandle->marker_num; j++) {
			if (gARHandle->markerInfo[j].id == gPatt_id) {
				if (k == -1) k = j; // First marker detected.
				else if (gARHandle->markerInfo[j].cf > gARHandle->markerInfo[k].cf) k = j; // Higher confidence marker detected.
			}
		}
		
		if (k != -1) {
			// Get the transformation between the marker and the real camera into gPatt_trans.
            if (gPatt_found && useContPoseEstimation) {
                err = arGetTransMatSquareCont(gAR3DHandle, &(gARHandle->markerInfo[k]), gPatt_trans, gPatt_width, gPatt_trans);
            } else {
                err = arGetTransMatSquare(gAR3DHandle, &(gARHandle->markerInfo[k]), gPatt_width, gPatt_trans);
                // Marker has appeared, so un-pause movie.
                ar2VideoCapStart(gMovieVideo);
            }
			gPatt_found = TRUE;
		} else {
            if (gPatt_found) {
                // Marker has disappeared, so pause movie.
                ar2VideoCapStop(gMovieVideo);
            }
			gPatt_found = FALSE;
		}
		
		// Tell GLUT the display has changed.
		glutPostRedisplay();
	}
}
Ejemplo n.º 16
0
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();
}
Ejemplo n.º 17
0
static void Idle(void)
{
	static int ms_prev;
	int ms;
	float s_elapsed;
	ARUint8 *image;

	ARMarkerInfo    *marker_info;					// Pointer to array holding the details of detected markers.
    int             marker_num;						// Count of number of markers detected.
    int             i, j, k;
	
	// Find out how long since Idle() last ran.
	ms = glutGet(GLUT_ELAPSED_TIME);
	s_elapsed = (float)(ms - ms_prev) * 0.001;
	if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz.
	ms_prev = ms;
	
	// Update drawing.
	arVrmlTimerUpdate();
	
	// Grab a video frame.
	if ((image = arVideoGetImage()) != NULL) {
		gARTImage = image;	// Save the fetched image.
		gPatt_found = FALSE;	// Invalidate any previous detected markers.
		
		gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
		
		// Detect the markers in the video frame.
		if (arDetectMarker(gARTImage, gARTThreshhold, &marker_info, &marker_num) < 0) {
			exit(-1);
		}
				
		// Check for object visibility.
		
		for (i = 0; i < gObjectDataCount; i++) {
		
			// Check through the marker_info array for highest confidence
			// visible marker matching our object's pattern.
			k = -1;
			for (j = 0; j < marker_num; j++) {
				if (marker_info[j].id == gObjectData[i].id) {
					if( k == -1 ) k = j; // First marker detected.
					else if (marker_info[k].cf < marker_info[j].cf) k = j; // Higher confidence marker detected.
				}
			}
			
			if (k != -1) {
				// Get the transformation between the marker and the real camera.
				//fprintf(stderr, "Saw object %d.\n", i);
				if (gObjectData[i].visible == 0) {
					arGetTransMat(&marker_info[k],
								  gObjectData[i].marker_center, gObjectData[i].marker_width,
								  gObjectData[i].trans);
				} else {
					arGetTransMatCont(&marker_info[k], gObjectData[i].trans,
									  gObjectData[i].marker_center, gObjectData[i].marker_width,
									  gObjectData[i].trans);
				}
				gObjectData[i].visible = 1;
				gPatt_found = TRUE;
			} else {
				gObjectData[i].visible = 0;
			}
		}
		
		// Tell GLUT to update the display.
		glutPostRedisplay();
	}
}
Ejemplo n.º 18
0
static void mouseEvent(int button, int state, int x, int y)
{
    AR2VideoBufferT *buff;
    unsigned char   *p, *p1;
    int             ssx, ssy, eex, eey;
    int             i, j, k;
    char            line[256];

	if( x < 0 ) x = 0;
	if( x >= xsize ) x = xsize-1;
	if( y < 0 ) y = 0;
	if( y >= ysize ) y = ysize-1;

	x *= SCALE;
	y *= SCALE;

    if( button == GLUT_RIGHT_BUTTON  && state == GLUT_UP ) {
        if( status == 0 ) {
            arVideoCapStop();
            arVideoClose();

            if( patt.loop_num > 0 ) {
                calc_distortion( &patt, xsize, ysize, aspect_ratio, dist_factor, dist_function_version );
                ARLOG("--------------\n");
				if (dist_function_version == 3) {
					ARLOG("Center X: %f\n", dist_factor[0]);
					ARLOG("       Y: %f\n", dist_factor[1]);
					ARLOG("Size Adjust: %f\n", dist_factor[2]);
					ARLOG("Aspect Ratio: %f\n", dist_factor[3]);
					ARLOG("Dist Factor1: %f\n", dist_factor[4]);
					ARLOG("Dist Factor2: %f\n", dist_factor[5]);
				} else if (dist_function_version == 2) {
					ARLOG("Center X: %f\n", dist_factor[0]);
					ARLOG("       Y: %f\n", dist_factor[1]);
					ARLOG("Size Adjust: %f\n", dist_factor[2]);
					ARLOG("Dist Factor1: %f\n", dist_factor[3]);
					ARLOG("Dist Factor2: %f\n", dist_factor[4]);
				} else if (dist_function_version == 1) {
					ARLOG("Center X: %f\n", dist_factor[0]);
					ARLOG("       Y: %f\n", dist_factor[1]);
					ARLOG("Size Adjust: %f\n", dist_factor[2]);
					ARLOG("Dist Factor: %f\n", dist_factor[3]);
				}
                ARLOG("--------------\n");
                status = 2;
                check_num = 0;
                print_comment(5);
            }
            else {
                exit(0);
            }
        }
        else if( status == 1 ) {
            if( patt.loop_num == 0 ) {ARLOGe("error!!\n"); exit(0);}
            patt.loop_num--;
            free( patt.point[patt.loop_num] );
            free( patt.savedImage[patt.loop_num] );
            status = 0;
            point_num = 0;
            arVideoCapStart();

            if( patt.loop_num == 0 ) print_comment(0);
             else                    print_comment(4);
        }
    }

    if( button == GLUT_LEFT_BUTTON  && state == GLUT_DOWN ) {
        if( status == 1 && point_num < patt.h_num*patt.v_num ) {
            sx = ex = x;
            sy = ey = y;

            p  = &(patt.savedImage[patt.loop_num-1][(y*xsize+x)*pixelSize]);
            p1 = &(clipImage[0]);
			if (pixelFormat == AR_PIXEL_FORMAT_BGRA || pixelFormat == AR_PIXEL_FORMAT_RGBA) {
				k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
				if( k < thresh ) k = 0;
                else k = 255;
				*(p1+0) = *(p1+1) = *(p1+2) = k;
			}
			else if (pixelFormat == AR_PIXEL_FORMAT_ARGB || pixelFormat == AR_PIXEL_FORMAT_ABGR) {
				k = (255*3 - (*(p+1) + *(p+2) + *(p+3))) / 3;
				if( k < thresh ) k = 0;
                else k = 255;
				*(p1+1) = *(p1+2) = *(p1+3) = k;
			}
			else if (pixelFormat == AR_PIXEL_FORMAT_BGR || pixelFormat == AR_PIXEL_FORMAT_RGB) {
				k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
				if( k < thresh ) k = 0;
                else k = 255;
				*(p1+0) = *(p1+1) = *(p1+2) = k;
			}
			else if (pixelFormat == AR_PIXEL_FORMAT_MONO || pixelFormat == AR_PIXEL_FORMAT_420v || pixelFormat == AR_PIXEL_FORMAT_420f) {
				k = 255 - *p;
				if( k < thresh ) k = 0;
                else k = 255;
				*p1 = k;
			}
			else if (pixelFormat == AR_PIXEL_FORMAT_2vuy) {
				k = 255 - *(p+1);
				if( k < thresh ) k = 0;
                else k = 255;
				*(p1+1) = k;
			}
			else if (pixelFormat == AR_PIXEL_FORMAT_yuvs) {
				k = 255 - *p;
				if( k < thresh ) k = 0;
                else k = 255;
				*p1 = k;
			}
        }
    }

    if( button == GLUT_LEFT_BUTTON  && state == GLUT_UP ) {
        if( status == 0 && patt.loop_num < LOOP_MAX ) {
            while (!(buff = arVideoGetImage()) || !buff->fillFlag) arUtilSleep(2);
            p = buff->buff;
            patt.savedImage[patt.loop_num] = (unsigned char *)malloc( xsize*ysize*pixelSize );
            if( patt.savedImage[patt.loop_num] == NULL ) exit(0);

            p1 = patt.savedImage[patt.loop_num];
            for(i=0;i<xsize*ysize*pixelSize;i++) *(p1++) = *(p++);
            arVideoCapStop();

            patt.point[patt.loop_num] = (CALIB_COORD_T *)malloc( sizeof(CALIB_COORD_T)*patt.h_num*patt.v_num );
            if( patt.point[patt.loop_num] == NULL ) exit(0);

            patt.loop_num++;
            status = 1;
            sx = sy = ex= ey = -1;

            print_comment(1);
        }
        else if( status == 1 && point_num == patt.h_num*patt.v_num ) {
            status = 0;
            point_num = 0;
            arVideoCapStart();

            ARLOG("### No.%d ###\n", patt.loop_num);
            for( j = 0; j < patt.v_num; j++ ) {
                for( i = 0; i < patt.h_num; i++ ) {
                    ARLOG("%2d, %2d: %6.2f, %6.2f\n", i+1, j+1,
                           patt.point[patt.loop_num-1][j*patt.h_num+i].x_coord,
                           patt.point[patt.loop_num-1][j*patt.h_num+i].y_coord);
                }
            }
            ARLOG("\n\n");
            if( patt.loop_num < LOOP_MAX ) print_comment(4);
             else                          print_comment(6);
        }
        else if( status == 1 ) {
            if( sx < ex ) { ssx = sx; eex = ex; }
             else         { ssx = ex; eex = sx; }
            if( sy < ey ) { ssy = sy; eey = ey; }
             else         { ssy = ey; eey = sy; }

            patt.point[patt.loop_num-1][point_num].x_coord = 0.0;
            patt.point[patt.loop_num-1][point_num].y_coord = 0.0;
            p = clipImage;
            k = 0;
            for( j = 0; j < (eey-ssy+1); j++ ) {
                for( i = 0; i < (eex-ssx+1); i++ ) {
                    if( pixelSize == 1 ) {
                        patt.point[patt.loop_num-1][point_num].x_coord += i * *p;
                        patt.point[patt.loop_num-1][point_num].y_coord += j * *p;
                        k += *p;
                    }
                    else {
                        patt.point[patt.loop_num-1][point_num].x_coord += i * *(p+1);
                        patt.point[patt.loop_num-1][point_num].y_coord += j * *(p+1);
                        k += *(p+1);
                    }
                    p += pixelSize;
                }
            }
            if( k != 0 ) {
                patt.point[patt.loop_num-1][point_num].x_coord /= k;
                patt.point[patt.loop_num-1][point_num].y_coord /= k;
                patt.point[patt.loop_num-1][point_num].x_coord += ssx;
                patt.point[patt.loop_num-1][point_num].y_coord += ssy;
                point_num++;
            }
            sx = sy = ex= ey = -1;

            ARLOG(" # %d/%d\n", point_num, patt.h_num*patt.v_num);
            if( point_num == patt.h_num*patt.v_num ) print_comment(2);
        }
        else if( status == 2 ) {
            check_num++;
            if( check_num == patt.loop_num ) {
                if(patt.loop_num >= 2) {
                    if( calc_inp(&patt, dist_factor, xsize, ysize, mat, dist_function_version) < 0 ) {
                        ARLOGe("Calibration failed.\n");
                        exit(0);
                    }
                    save_param();
					if (dist_function_version == 3) {
						printf("Do you want to repeat again?");
						scanf("%s", line);
						if( line[0] == 'y' ) {
							aspect_ratio *= mat[0][0] / mat[1][1];
							ARLOG("New aspect ratio = %f\n", aspect_ratio);
							calc_distortion( &patt, xsize, ysize, aspect_ratio, dist_factor, dist_function_version );
							ARLOG("--------------\n");
							ARLOG("Center X: %f\n", dist_factor[0]);
							ARLOG("       Y: %f\n", dist_factor[1]);
							ARLOG("Size Adjust: %f\n", dist_factor[2]);
							ARLOG("Aspect Ratio: %f\n", dist_factor[3]);
							ARLOG("Dist Factor1: %f\n", dist_factor[4]);
							ARLOG("Dist Factor2: %f\n", dist_factor[5]);
							ARLOG("--------------\n");
							status = 2;
							check_num = 0;
							print_comment(5);
							return;
						}
					}
                }
                exit(0);
            }

            if( check_num+1 == patt.loop_num ) {
                ARLOG("\nLeft Mouse Button: Next Step.\n");
            }
            else {
                ARLOG("   %d/%d.\n", check_num+1, patt.loop_num);
            }
        }
    }

    return;
}
Ejemplo n.º 19
0
Archivo: main.c Proyecto: SNce/ARMaze
static void dispImage(void)
{
    unsigned char  *dataPtr;
    double         x, y;
    int            ssx, eex, ssy, eey;
    int            i;

    if( status == 0 ) {
        if( (dataPtr = (unsigned char *)arVideoGetImage()) == NULL ) {
            arUtilSleep(2);
            return;
        }
        dispImage2( dataPtr );
        arVideoCapNext();
    }

    else if( status == 1 ) {
        dispImage2( patt.savedImage[patt.loop_num-1] );

        for( i = 0; i < point_num; i++ ) {
            x = patt.point[patt.loop_num-1][i].x_coord;
            y = patt.point[patt.loop_num-1][i].y_coord;
            glColor3f( 1.0, 0.0, 0.0 );
            glBegin(GL_LINES);
              glVertex2f( x-10, (ysize-1)-y );
              glVertex2f( x+10, (ysize-1)-y );
              glVertex2f( x, (ysize-1)-(y-10) );
              glVertex2f( x, (ysize-1)-(y+10) );
            glEnd();
        }

        if( sx != -1 && sy != -1 ) {
            if( sx < ex ) { ssx = sx; eex = ex; }
             else         { ssx = ex; eex = sx; }
            if( sy < ey ) { ssy = sy; eey = ey; }
             else         { ssy = ey; eey = sy; }
            dispClipImage( ssx, ysize-1-ssy, eex-ssx+1, eey-ssy+1, clipImage );
#if 0
            glColor3f( 0.0, 0.0, 1.0 );
            glBegin(GL_LINE_LOOP);
              glVertex2f( sx, (ysize-1)-sy );
              glVertex2f( ex, (ysize-1)-sy );
              glVertex2f( ex, (ysize-1)-ey );
              glVertex2f( sx, (ysize-1)-ey );
            glEnd();
#endif
        }
    }

    else if( status == 2 ) {
        dispImage2( patt.savedImage[check_num] );
        for( i = 0; i < patt.h_num*patt.v_num; i++ ) {
            x = patt.point[check_num][i].x_coord;
            y = patt.point[check_num][i].y_coord;
            glColor3f( 1.0, 0.0, 0.0 );
            glBegin(GL_LINES);
              glVertex2f( x-10, (ysize-1)-y );
              glVertex2f( x+10, (ysize-1)-y );
              glVertex2f( x, (ysize-1)-(y-10) );
              glVertex2f( x, (ysize-1)-(y+10) );
            glEnd();
        }
        draw_line();
    }

    glutSwapBuffers();
}
Ejemplo n.º 20
0
static void argCalibMainFunc(void)
{
    ARUint8         *dataPtr;
    ARMarkerInfo    *marker_info;
    int             marker_num;
    int             i, j;
    double          cfmax;
    double          err;

    /* grab a vide frame */
    if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
        arUtilSleep(2);
        return;
    }
    target_visible = 0;

    /* detect the markers in the video frame */
    if( arDetectMarker(dataPtr, thresh,
                       &marker_info, &marker_num) < 0 ) {
        (*gCalibPostFunc)( NULL, NULL );
        arFittingMode = arFittingModeBak;
#ifndef ANDROID		
        glutKeyboardFunc( gKeyFunc );
        glutMouseFunc( gMouseFunc );
        glutIdleFunc( gMainFunc );
        glutDisplayFunc( gMainFunc );
#endif		
        return;
    }
    arVideoCapNext();

    glClearColor( 0.0, 0.0, 0.0, 0.0 );
	
#ifndef ANDROID		    
	glClear(GL_COLOR_BUFFER_BIT);
#endif

    /* if the debug mode is on draw squares
       around the detected squares in the video image */
    if( arDebug && gMiniXnum >= 2 && gMiniYnum >= 1 ) {
        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 );
    }

    if( left_right == 0 ) argDraw2dLeft();
     else                 argDraw2dRight();
    glLineWidth( 3.0 );
    glColor3f( 1.0, 1.0, 1.0 );
    argLineSegHMD( 0, calib_pos[co1][1], AR_HMD_XSIZE, calib_pos[co1][1] );
    argLineSegHMD( calib_pos[co1][0], 0, calib_pos[co1][0], AR_HMD_YSIZE );
    glLineWidth( 1.0 );
    argDrawMode2D();

    cfmax = 0.0;
    j = -1;
    for( i = 0; i < marker_num; i++ ) {
        if( marker_info[i].id != target_id ) continue;

        if( marker_info[i].cf > cfmax ) {
            cfmax = marker_info[i].cf;
            j = i;
        }
    }
    if( j < 0 ) {
        argSwapBuffers();
        return;
    }
    err = arGetTransMat(&marker_info[j], target_center, target_width, target_trans);
    if( err >= 0.0 ) {
        target_visible = 1;

        if( left_right == 0 ) argDraw2dLeft();
         else                 argDraw2dRight();
        argDrawAttention( calib_pos[co1], co2 );
        argDrawMode2D();

        if( arDebug && gMiniXnum >= 2 && gMiniYnum >= 1 ) {
            glColor3f( 0.0, 1.0, 0.0 );
            glLineWidth( 3.0 );
            argDrawSquare( marker_info[j].vertex, 1, 1 );
            glLineWidth( 1.0 );
        }
    }

    argSwapBuffers();
}
/* 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");
    }
}
Ejemplo n.º 22
0
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();
}
Ejemplo n.º 23
0
static void mainLoop(void)
{
    static int imageNumber = 0;
	static int ms_prev;
	int ms;
	float s_elapsed;
	ARUint8 *image;
	ARdouble err;

    int             j, k;
	
	// Find out how long since mainLoop() last ran.
	ms = glutGet(GLUT_ELAPSED_TIME);
	s_elapsed = (float)(ms - ms_prev) * 0.001f;
	if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz.
	ms_prev = ms;
	
	// Update drawing.
	DrawCubeUpdate(s_elapsed);
	
	// Grab a video frame.
	if ((image = arVideoGetImage()) != NULL) {
		gARTImage = image;	// Save the fetched image.
        
        if (gARTImageSavePlease) {
            char imageNumberText[15];
            sprintf(imageNumberText, "image-%04d.jpg", imageNumber++);
            if (arVideoSaveImageJPEG(gARHandle->xsize, gARHandle->ysize, gARHandle->arPixelFormat, gARTImage, imageNumberText, 75, 0) < 0) {
                ARLOGe("Error saving video image.\n");
            }
            gARTImageSavePlease = FALSE;
        }
		
		gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
		
		// Detect the markers in the video frame.
		if (arDetectMarker(gARHandle, gARTImage) < 0) {
			exit(-1);
		}
		
		// Check through the marker_info array for highest confidence
		// visible marker matching our preferred pattern.
		k = -1;
		for (j = 0; j < gARHandle->marker_num; j++) {
			if (gARHandle->markerInfo[j].id == gPatt_id) {
				if (k == -1) k = j; // First marker detected.
				else if (gARHandle->markerInfo[j].cf > gARHandle->markerInfo[k].cf) k = j; // Higher confidence marker detected.
			}
		}
		
		if (k != -1) {
			// Get the transformation between the marker and the real camera into gPatt_trans.
			err = arGetTransMatSquare(gAR3DHandle, &(gARHandle->markerInfo[k]), gPatt_width, gPatt_trans);
			gPatt_found = TRUE;
		} else {
			gPatt_found = FALSE;
		}
		
		// Tell GLUT the display has changed.
		glutPostRedisplay();
	}
}
Ejemplo n.º 24
0
static void mainLoop(void)
{
    static int ms_prev;
    int ms;
    float s_elapsed;
    ARUint8 *image;
    ARdouble err;

    int             i, j, k;

    // Find out how long since mainLoop() last ran.
    ms = glutGet(GLUT_ELAPSED_TIME);
    s_elapsed = (float)(ms - ms_prev) * 0.001f;
    if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz.
    ms_prev = ms;

    // Update drawing.
    arVrmlTimerUpdate();

    // Grab a video frame.
    if ((image = arVideoGetImage()) != NULL) {
        gARTImage = image;	// Save the fetched image.

        gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.

        // Detect the markers in the video frame.
        if (arDetectMarker(gARHandle, gARTImage) < 0) {
            exit(-1);
        }

        // Check for object visibility.

        for (i = 0; i < gObjectDataCount; i++) {

            // Check through the marker_info array for highest confidence
            // visible marker matching our object's pattern.
            k = -1;
            for (j = 0; j < gARHandle->marker_num; j++) {
                if (gARHandle->markerInfo[j].id == gObjectData[i].id) {
                    if (k == -1) k = j; // First marker detected.
                    else if (gARHandle->markerInfo[j].cf > gARHandle->markerInfo[k].cf) k = j; // Higher confidence marker detected.
                }
            }

            if (k != -1) {
                // Get the transformation between the marker and the real camera.
                //ARLOGe("Saw object %d.\n", i);
                if (gObjectData[i].visible && useContPoseEstimation) {
                    err = arGetTransMatSquareCont(gAR3DHandle, &(gARHandle->markerInfo[k]),
                                                  gObjectData[i].trans,
                                                  gObjectData[i].marker_width, gObjectData[i].trans);
                } else {
                    err = arGetTransMatSquare(gAR3DHandle, &(gARHandle->markerInfo[k]),
                                              gObjectData[i].marker_width, gObjectData[i].trans);
                }
                gObjectData[i].visible = 1;
            } else {
                gObjectData[i].visible = 0;
            }
        }

        // Tell GLUT the display has changed.
        glutPostRedisplay();
    }
}
Ejemplo n.º 25
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();
}
Ejemplo n.º 26
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();
}
Ejemplo n.º 27
0
Archivo: main.c Proyecto: SNce/ARMaze
static void mouseEvent(int button, int state, int x, int y)
{
    unsigned char   *p, *p1;
    int             ssx, ssy, eex, eey;
    int             i, j, k;

    if( button == GLUT_RIGHT_BUTTON  && state == GLUT_UP ) {
        if( status == 0 ) {
            arVideoCapStop();
            arVideoClose();

            if( patt.loop_num > 0 ) {
                calc_distortion( &patt, xsize, ysize, dist_factor );
                printf("--------------\n");
                printf("Center X: %f\n", dist_factor[0]);
                printf("       Y: %f\n", dist_factor[1]);
                printf("Dist Factor: %f\n", dist_factor[2]);
                printf("Size Adjust: %f\n", dist_factor[3]);
                printf("--------------\n");
                status = 2;
                check_num = 0;
                print_comment(5);
            }
            else {
                glutDestroyWindow( win );
                exit(0);
            }
        }
        else if( status == 1 ) {
            if( patt.loop_num == 0 ) {printf("error!!\n"); exit(0);}
            patt.loop_num--;
            free( patt.point[patt.loop_num] );
            free( patt.savedImage[patt.loop_num] );
            status = 0;
            point_num = 0;
            arVideoCapStart();

            if( patt.loop_num == 0 ) print_comment(0);
             else                    print_comment(4);
        }
    }

    if( button == GLUT_LEFT_BUTTON  && state == GLUT_DOWN ) {
        if( status == 1 && point_num < patt.h_num*patt.v_num ) {
            sx = ex = x;
            sy = ey = y;

            p  = &(patt.savedImage[patt.loop_num-1][(y*xsize+x)*AR_PIX_SIZE]);
            p1 = &(clipImage[0]);
#ifdef  AR_PIX_FORMAT_BGRA
            k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
            if( k < thresh ) k = 0;
                else k = 255;
            *(p1+0) = *(p1+1) = *(p1+2) = k;
#endif
#ifdef  AR_PIX_FORMAT_ABGR
            k = (255*3 - (*(p+1) + *(p+2) + *(p+3))) / 3;
            if( k < thresh ) k = 0;
                else k = 255;
            *(p1+1) = *(p1+2) = *(p1+3) = k;
#endif
#ifdef  AR_PIX_FORMAT_BGR
            k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
            if( k < thresh ) k = 0;
                else k = 255;
            *(p1+0) = *(p1+1) = *(p1+2) = k;
#endif
#ifdef  AR_PIX_FORMAT_RGBA
            k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
            if( k < thresh ) k = 0;
                else k = 255;
            *(p1+0) = *(p1+1) = *(p1+2) = k;
#endif
#ifdef  AR_PIX_FORMAT_RGB
            k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
            if( k < thresh ) k = 0;
                else k = 255;
            *(p1+0) = *(p1+1) = *(p1+2) = k;
#endif
        }
    }

    if( button == GLUT_LEFT_BUTTON  && state == GLUT_UP ) {
        if( status == 0 && patt.loop_num < LOOP_MAX ) {
            while( (p = (unsigned char *)arVideoGetImage()) == NULL ) {
                arUtilSleep(2);
            }
#ifdef USE_TEXMAP
            patt.savedImage[patt.loop_num] = (unsigned char *)malloc( xsize*tex1Ysize*AR_PIX_SIZE );
#else
            patt.savedImage[patt.loop_num] = (unsigned char *)malloc( xsize*ysize*AR_PIX_SIZE );
#endif
            if( patt.savedImage[patt.loop_num] == NULL ) exit(0);

            p1 = patt.savedImage[patt.loop_num];
            for(i=0;i<xsize*ysize*AR_PIX_SIZE;i++) *(p1++) = *(p++);
            arVideoCapStop();

            patt.point[patt.loop_num] = (CALIB_COORD_T *)malloc( sizeof(CALIB_COORD_T)*patt.h_num*patt.v_num );
            if( patt.point[patt.loop_num] == NULL ) exit(0);

            patt.loop_num++;
            status = 1;
            sx = sy = ex= ey = -1;

            print_comment(1);
        }
        else if( status == 1 && point_num == patt.h_num*patt.v_num ) {
            status = 0;
            point_num = 0;
            arVideoCapStart();

            printf("### No.%d ###\n", patt.loop_num);
            for( j = 0; j < patt.v_num; j++ ) {
                for( i = 0; i < patt.h_num; i++ ) {
                    printf("%2d, %2d: %6.2f, %6.2f\n", i+1, j+1,
                           patt.point[patt.loop_num-1][j*patt.h_num+i].x_coord,
                           patt.point[patt.loop_num-1][j*patt.h_num+i].y_coord);
                }
            }
            printf("\n\n");
            if( patt.loop_num < LOOP_MAX ) print_comment(4);
             else                          print_comment(6);
        }
        else if( status == 1 ) {
            if( sx < ex ) { ssx = sx; eex = ex; }
             else         { ssx = ex; eex = sx; }
            if( sy < ey ) { ssy = sy; eey = ey; }
             else         { ssy = ey; eey = sy; }

            patt.point[patt.loop_num-1][point_num].x_coord = 0.0;
            patt.point[patt.loop_num-1][point_num].y_coord = 0.0;
            p = clipImage;
            k = 0;
            for( j = 0; j < (eey-ssy+1); j++ ) {
                for( i = 0; i < (eex-ssx+1); i++ ) {
                    patt.point[patt.loop_num-1][point_num].x_coord += i * *(p+1);
                    patt.point[patt.loop_num-1][point_num].y_coord += j * *(p+1);
                    k += *(p+1);
                    p += AR_PIX_SIZE;
                }
            }
            if( k != 0 ) {
                patt.point[patt.loop_num-1][point_num].x_coord /= k;
                patt.point[patt.loop_num-1][point_num].y_coord /= k;
                patt.point[patt.loop_num-1][point_num].x_coord += ssx;
                patt.point[patt.loop_num-1][point_num].y_coord += ssy;
                point_num++;
            }
            sx = sy = ex= ey = -1;

            printf(" # %d/%d\n", point_num, patt.h_num*patt.v_num);
            if( point_num == patt.h_num*patt.v_num ) print_comment(2);
        }
        else if( status == 2 ) {
            check_num++;
            if( check_num == patt.loop_num ) {
                if(patt.loop_num >= 2) {
                    if( calc_inp(&patt, dist_factor, xsize, ysize, mat) < 0 ) {
                        printf("Calibration failed.\n");
                        exit(0);
                    }
                    save_param();
                }
                glutDestroyWindow( win );
                exit(0);
            }

            if( check_num+1 == patt.loop_num ) {
                printf("\nLeft Mouse Button: Next Step.\n");
            }
            else {
                printf("   %d/%d.\n", check_num+1, patt.loop_num);
            }
        }
    }
}
Ejemplo n.º 28
0
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);
	}
    
}
Ejemplo n.º 29
0
static void mainLoop(void)
{
	static int ms_prev;
	int ms;
	float s_elapsed;
	ARUint8 *image;
    ARMarkerInfo* markerInfo;
    int markerNum;
	ARdouble err;
    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.
		
		gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
		
		// Detect the markers in the video frame.
		if (arDetectMarker(gARHandle, gARTImage) < 0) {
			exit(-1);
		}
		
		// Get detected markers
		markerInfo = arGetMarker(gARHandle);
		markerNum = arGetMarkerNum(gARHandle);
	
		// Update markers.
		for (i = 0; i < markersSquareCount; i++) {
			markersSquare[i].validPrev = markersSquare[i].valid;
            
            
			// Check through the marker_info array for highest confidence
			// visible marker matching our preferred pattern.
			k = -1;
			if (markersSquare[i].patt_type == AR_PATTERN_TYPE_TEMPLATE) {
				for (j = 0; j < markerNum; j++) {
					if (markersSquare[i].patt_id == markerInfo[j].idPatt) {
						if (k == -1) {
							if (markerInfo[j].cfPatt >= markersSquare[i].matchingThreshold) k = j; // First marker detected.
						} else if (markerInfo[j].cfPatt > markerInfo[k].cfPatt) k = j; // Higher confidence marker detected.
					}
				}
				if (k != -1) {
					markerInfo[k].id = markerInfo[k].idPatt;
					markerInfo[k].cf = markerInfo[k].cfPatt;
					markerInfo[k].dir = markerInfo[k].dirPatt;
				}
			} else {
				for (j = 0; j < markerNum; j++) {
					if (markersSquare[i].patt_id == markerInfo[j].idMatrix) {
						if (k == -1) {
							if (markerInfo[j].cfMatrix >= markersSquare[i].matchingThreshold) k = j; // First marker detected.
						} else if (markerInfo[j].cfMatrix > markerInfo[k].cfMatrix) k = j; // Higher confidence marker detected.
					}
				}
				if (k != -1) {
					markerInfo[k].id = markerInfo[k].idMatrix;
					markerInfo[k].cf = markerInfo[k].cfMatrix;
					markerInfo[k].dir = markerInfo[k].dirMatrix;
				}
			}

			if (k != -1) {
				markersSquare[i].valid = TRUE;
				ARLOGd("Marker %d matched pattern %d.\n", i, markerInfo[k].id);
				// Get the transformation between the marker and the real camera into trans.
				if (markersSquare[i].validPrev && useContPoseEstimation) {
					err = arGetTransMatSquareCont(gAR3DHandle, &(markerInfo[k]), markersSquare[i].trans, markersSquare[i].marker_width, markersSquare[i].trans);
				} else {
					err = arGetTransMatSquare(gAR3DHandle, &(markerInfo[k]), markersSquare[i].marker_width, markersSquare[i].trans);
				}
			} else {
				markersSquare[i].valid = FALSE;
			}
	   
			if (markersSquare[i].valid) {
			
				// Filter the pose estimate.
				if (markersSquare[i].ftmi) {
					if (arFilterTransMat(markersSquare[i].ftmi, markersSquare[i].trans, !markersSquare[i].validPrev) < 0) {
						ARLOGe("arFilterTransMat error with marker %d.\n", i);
					}
				}
			
				if (!markersSquare[i].validPrev) {
					// Marker has become visible, tell any dependent objects.
                    VirtualEnvironmentHandleARMarkerAppeared(i);
				}
	
				// We have a new pose, so set that.
				arglCameraViewRH((const ARdouble (*)[4])markersSquare[i].trans, markersSquare[i].pose.T, 1.0f /*VIEW_SCALEFACTOR*/);
				// Tell any dependent objects about the update.
				VirtualEnvironmentHandleARMarkerWasUpdated(i, markersSquare[i].pose);
			
			} else {
			
				if (markersSquare[i].validPrev) {
					// Marker has ceased to be visible, tell any dependent objects.
					VirtualEnvironmentHandleARMarkerDisappeared(i);
				}
			}                    
		}
		
		// Tell GLUT the display has changed.
		glutPostRedisplay();
	} else {
		arUtilSleep(2);
	}
    
}
Ejemplo n.º 30
0
Archivo: exview.c Proyecto: SNce/ARMaze
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;
    }

    glClearColor( 0.0, 0.0, 0.0, 0.0 );
    glClearDepth( 1.0 );
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    argDrawMode2D();
    if( disp_mode ) {
        argDispImage( dataPtr, 0, 0 );
    }
    else {
        argDispImage( dataPtr, 1, 1 );
    }

    /* detect the markers in the video frame */
    if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
        cleanup();
        exit(0);
    }
    arVideoCapNext();

    /* if the debug mode is on draw squares 
       around the detected squares in the video image */
    if( arDebug ) {
        if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
            argDispHalfImage( arImage, 2, 1 );
        else
            argDispImage( arImage, 2, 1);
    }

    /* check for object visibility */
    k = -1;
    for( j = 0; j < marker_num; j++ ) {
        if( marker_info[j].id == target_id ) {
            if( k == -1 ) k = j;
            else {
                if( marker_info[k].cf < marker_info[j].cf ) k = j;
            }
        }
    }
    if( k != -1 ) {
        glDisable(GL_DEPTH_TEST);
        switch( outputMode ) {
            case 0:
                getResultRaw( &marker_info[k] );
                break;
            case 1:
                getResultQuat( &marker_info[k] );
                break;
        }
    }

    argSwapBuffers();
}