/
Source.cpp
168 lines (109 loc) · 2.69 KB
/
Source.cpp
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#include <windows.h>
#include <stdio.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glut.h>
#include <AR/ar.h>
#include <AR/param.h>
#include <AR/video.h>
#include <AR/gsub.h>
char *vconf_name = "Data/WDM_camera_flipV.xml";
char *cparam_name = "Data/camera_para.dat";
char *patt_name = "Data/patt.hiro";
int patt_id;
double patt_trans[3][4];
double patt_center[2] = { 0.0, 0.0 };
double patt_width = 80.0;
int thresh = 100;
void MainLoop(void);
void KeyEvent(unsigned char key, int x, int y);
void MouseEvent(int button, int state, int x, int y);
void Cleanup(void);
void DrawObject(void);
int main(int argc, char **argv)
{
ARParam cparam;
ARParam wparam;
int xsize, ysize;
printf("test\n");
glutInit(&argc, argv);
if (arVideoOpen(vconf_name) < 0) {
printf("ビデオデバイスのエラー");
return -1;
}
if (arVideoInqSize(&xsize, &ysize) < 0) return -1;
if (arParamLoad(cparam_name, 1, &wparam) < 0) {
printf("カメラパラメータの読み込みに失敗しました\n");
return -1;
}
arParamChangeSize(&wparam, xsize, ysize, &cparam);
arInitCparam(&cparam);
if ((patt_id = arLoadPatt(patt_name)) < 0) {
printf("パターンファイルの読み込みに失敗しました\n");
return -1;
}
argInit(&cparam, 1.0, 0, 0, 0, 0);
arVideoCapStart();
argMainLoop(MouseEvent, KeyEvent, MainLoop);
return 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();
}
void DrawObject(void)
{
double gl_para[16];
argDrawMode3D();
argDraw3dCamera(0, 0);
argConvGlpara(patt_trans, gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd(gl_para);
glTranslatef(0.0, 0.0, 20.0);
glColor3f(0.0, 1.0, 0.0);
glLineWidth(3.0);
glutWireCube(40.0);
}
void KeyEvent(unsigned char key, int x, int y)
{
if (key == 0x1b) {
Cleanup();
exit(0);
}
}
void MouseEvent(int button, int state, int x, int y)
{
printf("ボタン:%d 状態:%d 座標:(x, y) = (%d, %d) \n", button, state, x, y);
}
void Cleanup(void)
{
arVideoCapStop();
arVideoClose();
argCleanup();
}