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();
}
static void mainLoop( void )
{
AR2VideoBufferT *videoBuffL;
AR2VideoBufferT *videoBuffR;
ARUint8 *dataPtrL;
ARUint8 *dataPtrR;
int cornerFlagL;
int cornerFlagR;
int cornerCountL;
int cornerCountR;
char buf[256];
int i;
if ((videoBuffL = ar2VideoGetImage(vidL))) {
gVideoBuffL = videoBuffL;
}
if ((videoBuffR = ar2VideoGetImage(vidR))) {
gVideoBuffR = videoBuffR;
}
if (gVideoBuffL && gVideoBuffR) {
// Warn about significant time differences.
i = ((int)gVideoBuffR->time_sec - (int)gVideoBuffL->time_sec) * 1000
+ ((int)gVideoBuffR->time_usec - (int)gVideoBuffL->time_usec) / 1000;
if( i > 20 ) {
ARLOG("Time diff = %d[msec]\n", i);
} else if( i < -20 ) {
ARLOG("Time diff = %d[msec]\n", i);
}
dataPtrL = gVideoBuffL->buff;
dataPtrR = gVideoBuffR->buff;
glClear(GL_COLOR_BUFFER_BIT);
argDrawMode2D( vpL );
argDrawImage( dataPtrL );
argDrawMode2D( vpR );
argDrawImage( dataPtrR );
copyImage( dataPtrL, (ARUint8 *)calibImageL->imageData, xsizeL*ysizeL, pixFormatL );
cornerFlagL = cvFindChessboardCorners(calibImageL, cvSize(chessboardCornerNumY,chessboardCornerNumX),
cornersL, &cornerCountL, CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS );
copyImage( dataPtrR, (ARUint8 *)calibImageR->imageData, xsizeR*ysizeR, pixFormatR );
cornerFlagR = cvFindChessboardCorners(calibImageR, cvSize(chessboardCornerNumY,chessboardCornerNumX),
cornersR, &cornerCountR, CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS );
argDrawMode2D( vpL );
if(cornerFlagL) glColor3f(1.0f, 0.0f, 0.0f);
else glColor3f(0.0f, 1.0f, 0.0f);
glLineWidth(2.0f);
//ARLOG("Detected corners = %d\n", cornerCount);
for( i = 0; i < cornerCountL; i++ ) {
argDrawLineByObservedPos(cornersL[i].x-5, cornersL[i].y-5, cornersL[i].x+5, cornersL[i].y+5);
argDrawLineByObservedPos(cornersL[i].x-5, cornersL[i].y+5, cornersL[i].x+5, cornersL[i].y-5);
//ARLOG(" %f, %f\n", cornersL[i].x, cornersL[i].y);
sprintf(buf, "%d\n", i);
argDrawStringsByObservedPos(buf, cornersL[i].x, cornersL[i].y+20);
}
argDrawMode2D( vpR );
if(cornerFlagR) glColor3f(1.0f, 0.0f, 0.0f);
else glColor3f(0.0f, 1.0f, 0.0f);
glLineWidth(2.0f);
//ARLOG("Detected corners = %d\n", cornerCount);
for( i = 0; i < cornerCountR; i++ ) {
argDrawLineByObservedPos(cornersR[i].x-5, cornersR[i].y-5, cornersR[i].x+5, cornersR[i].y+5);
argDrawLineByObservedPos(cornersR[i].x-5, cornersR[i].y+5, cornersR[i].x+5, cornersR[i].y-5);
//ARLOG(" %f, %f\n", cornersR[i].x, cornersR[i].y);
sprintf(buf, "%d\n", i);
argDrawStringsByObservedPos(buf, cornersR[i].x, cornersR[i].y+20);
}
if( cornerFlagL && cornerFlagR ) {
cornerFlag = 1;
glColor3f(1.0f, 0.0f, 0.0f);
}
else {
cornerFlag = 0;
glColor3f(0.0f, 1.0f, 0.0f);
}
argDrawMode2D( vpL );
sprintf(buf, "Captured Image: %2d/%2d\n", capturedImageNum, calibImageNum);
argDrawStringsByIdealPos(buf, 10, 30);
argSwapBuffers();
gVideoBuffL = gVideoBuffR = NULL;
} else arUtilSleep(2);
}
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();
}
