int main(int argc, char** argv) {
if (argc < 3)
return -1;
capture = cvCreateCameraCapture(atoi(argv[1]));
if (!capture) {
std::cerr << "Create camera capture failed" << std::endl;
return -1;
}
CvarTemplate template_;
cvarLoadTemplateTag(&template_, argv[2]);
templates.push_back(template_);
if (argc < 4) {
cvarReadCamera(argv[3], &camera);
} else {
IplImage* frame = cvQueryFrame(capture);
cvarReadCamera(NULL, &camera);
cvarCameraScale(&camera, frame->width, frame->height);
}
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB);
glutInitWindowSize(640, 480);
glutCreateWindow("AR");
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
glutIdleFunc(idle);
glEnable(GL_DEPTH_TEST);
glutMainLoop();
cvReleaseCapture(&capture);
return 0;
}
int main(int argc, char** argv)
{
// use an ArgumentParser object to manage the program arguments.
osg::ArgumentParser arguments(&argc,argv);
// set up the usage document, in case we need to print out how to use this program.
arguments.getApplicationUsage()->setApplicationName(arguments.getApplicationName());
arguments.getApplicationUsage()->setDescription(arguments.getApplicationName()+" example demonstrates the use of ImageStream for rendering movies as textures.");
arguments.getApplicationUsage()->setCommandLineUsage(arguments.getApplicationName()+" [options] filename ...");
arguments.getApplicationUsage()->addCommandLineOption("-h or --help","Display this information");
arguments.getApplicationUsage()->addCommandLineOption("--texture2D","Use Texture2D rather than TextureRectangle.");
arguments.getApplicationUsage()->addCommandLineOption("--shader","Use shaders to post process the video.");
arguments.getApplicationUsage()->addCommandLineOption("--interactive","Use camera manipulator to allow movement around movie.");
arguments.getApplicationUsage()->addCommandLineOption("--flip","Flip the movie so top becomes bottom.");
// construct the viewer.
osgViewer::Viewer viewer(arguments);
if (arguments.argc()<1)
{
arguments.getApplicationUsage()->write(std::cout,osg::ApplicationUsage::COMMAND_LINE_OPTION);
return 1;
}
osg::ref_ptr<osg::Group> root = new osg::Group;
/* osg::Light* light = new osg::Light();
light->setPosition(osg::Vec4d(-500.0, 1000.0, 500.0, 1.0));
light->setDirection(osg::Vec3d(5.0, -10.0, -5.0));
light->setSpotCutoff(70);
light->setAmbient(osg::Vec4d(0.05, 0.05, 0.05, 1.0));
light->setDiffuse(osg::Vec4d(0.5, 0.5, 0.5, 1.0));
//light->setQuadraticAttenuation(0.001);
osg::LightSource* lightSource = new osg::LightSource();
lightSource->setLight(light);
//osg::Light * attachedlight = lightSource->getLight();
//attache light to root group
root->addChild(lightSource);
//activate light
osg::StateSet* stateSet = root->getOrCreateStateSet();
lightSource->setStateSetModes(*stateSet, osg::StateAttribute::ON);
osg::StateSet* stateset = root->getOrCreateStateSet();
stateset->setMode(GL_LIGHTING,osg::StateAttribute::ON);
*/
osg::ref_ptr<osg::Geode> geode = new osg::Geode;
//OpenCV-AR
CvCapture* cameraCapture;
CvCapture* fileCapture;
//cameraCapture = cvCreateCameraCapture(0);
fileCapture = cvCreateFileCapture("video/whal.avi");
cameraCapture = fileCapture;
if(!cameraCapture) {
fprintf(stderr,"OpenCV: Create camera capture failed\n");
return 1;
}
//printf("%f\n", cvGetCaptureProperty(cameraCapture, CV_CAP_PROP_FPS));
//cvSetCaptureProperty(cameraCapture, CV_CAP_PROP_FRAME_WIDTH, 1280);
//cvSetCaptureProperty(cameraCapture, CV_CAP_PROP_FRAME_HEIGHT, 960);
//cvSetCaptureProperty(cameraCapture, CV_CAP_PROP_FPS, 15);
IplImage* frame = cvQueryFrame(cameraCapture);
IplImage* flipFrame = cvCreateImage(cvGetSize(frame), frame->depth, frame->nChannels);
//osg::Image* image = osgDB::readImageFile("aclib-large.png");
osg::Image* image = new osg::Image();
//image->setPixelBufferObject( new osg::PixelBufferObject(image));
image->setDataVariance( osg::Object::DYNAMIC );
iplImageToOsgImage(flipFrame, image);
//load model
osg::ref_ptr<osg::PositionAttitudeTransform> modelPat = new osg::PositionAttitudeTransform();
//osg::ref_ptr<osg::Node> loadedModel = osgDB::readNodeFile("models/Cars/AstonMartin-DB9.3ds");
osg::ref_ptr<osg::Node> loadedModel = osgDB::readNodeFile("models/ferrari_car_2.osg");
modelPat->addChild(loadedModel);
modelPat->setScale(osg::Vec3(0.5, 0.5, 0.5));
modelPat->setAttitude(osg::Quat(3.14 / 2, osg::Vec3d(-1.0, 0.0, 0.0)));
if (!loadedModel) {
std::cout << "No model data loaded" << std::endl;
return 1;
}
//C_BODY
std::vector<osg::MatrixTransform*> topMtList = getMatrixTransformListByName("C_TOP", loadedModel);
std::vector<osg::MatrixTransform*> leftDoorMtList = getMatrixTransformListByName("C_LDOOR", loadedModel);
std::vector<osg::MatrixTransform*> rightDoorMtList = getMatrixTransformListByName("C_RDOOR", loadedModel);
std::vector<osg::MatrixTransform*> leftWheelsMtList = getMatrixTransformListByName("C_LWS", loadedModel);
std::vector<osg::MatrixTransform*> rightWheelsMtList = getMatrixTransformListByName("C_RWS", loadedModel);
std::vector<osg::MatrixTransform*> forwardBumperMtList = getMatrixTransformListByName("C_BUMP_F", loadedModel);
std::vector<osg::MatrixTransform*> backBumperMtList = getMatrixTransformListByName("C_BUMP_B", loadedModel);
std::vector<osg::MatrixTransform*> engineMtList = getMatrixTransformListByName("C_ENGINE", loadedModel);
std::vector<osg::MatrixTransform*> bodyMtList = getMatrixTransformListByName("C_BODY", loadedModel);
std::vector<osg::MatrixTransform*> salonMtList = getMatrixTransformListByName("C_SALON", loadedModel);
/* //findNodeVisitor findNode("C_BODY");
FindNamedNode findNode("C_BODY");
loadedModel->accept(findNode);
std::vector<osg::Node*> foundNodeList = findNode.getNodeList();
int listCount = foundNodeList.size();
printf("%d\n", listCount);
std::vector<osg::MatrixTransform*> bodyMtList;
//vector<int>::const_iterator i;
for(int i = 0; i < listCount; i++) {
bodyMtList.push_back(new osg::MatrixTransform());
//obj4Mt->setName("obj4Mt");
osg::Group* foundNodeParent = foundNodeList[i]->getParent(0);
bodyMtList[i]->addChild(foundNodeList[i]);
foundNodeParent->addChild(bodyMtList[i]);
foundNodeParent->removeChild(foundNodeList[i]);
}
*/
osg::Matrix translateMatrix;
//osg::Node* foundNode = NULL;
//foundNode = findNamedNode("obj5", loadedModel);
//osg::ref_ptr<osg::MatrixTransform> obj5Mt = new osg::MatrixTransform();
//obj4Mt->setName("obj5Mt");
//osg::Group* foundNodeParent = foundNode->getParent(0);
//obj5Mt->addChild(foundNode);
//foundNodeParent->addChild(obj5Mt);
//foundNodeParent->removeChild(foundNode);
osg::Matrix rotateMatrix;
float theta(M_PI * 0.1f);
osg::Vec3f axis (1.0, 1.0, 0.1);
osg::Quat wheelAxis( theta, axis);
osg::BoundingSphere modelBoundingSphere = modelPat->getBound();
printf("%f\n", modelBoundingSphere.radius());
modelBoundingSphere.radius() *= 1.5f;
osg::BoundingBox modelBoundingBox;
modelBoundingBox.expandBy(modelBoundingSphere);
//Light group
//create light
root->addChild(createLights(modelBoundingBox, root->getOrCreateStateSet()));
//collect scene
// only clear the depth buffer
viewer.getCamera()->setClearMask(GL_DEPTH_BUFFER_BIT);
// create a HUD as slave camera attached to the master view.
viewer.setUpViewAcrossAllScreens();
osgViewer::Viewer::Windows windows;
viewer.getWindows(windows);
if (windows.empty()) return 1;
osg::Camera* screenCamera = createScreen(image);
// set up cameras to rendering on the first window available.
screenCamera->setGraphicsContext(windows[0]);
screenCamera->setViewport(0,0,windows[0]->getTraits()->width, windows[0]->getTraits()->height);
//screenCamera->setViewport(0, 0, 6.4, 4.8);
viewer.addSlave(screenCamera, false);
//root->addChild( geode.get());
//root->addChild( createPyramid());
//root->addChild( createScreen());//100.0, 100.0, image));
root->addChild(modelPat);
//root->addChild(objectPat);
// set the scene to render
viewer.setSceneData(root.get());
viewer.realize();
viewer.getCamera()->setClearColor(osg::Vec4(0.0f,0.0f,0.0f,1.0f));
/*
//viewer.getCamera()->setProjameraCaptureectionMatrixAsOrtho(topleft.x(),bottomright.x(),topleft.y(),bottomright.y(), -10, 10);
//viewer.getCamera()->setProjectionMatrixAsPerspective(60.0, screenAspectRatio, 100.0, -1.0);
*/
viewer.getCamera()->setViewMatrixAsLookAt(osg::Vec3d(100.0, 100.0, 100.0), osg::Vec3d(0.0, 0.0, 0.0), osg::Vec3d(0.0, 1.0, 0.0));
//Define vector of OpenCV-AR template
vector<CvarTemplate> openCvArTemplateList;
//load template
CvarTemplate openCvArTemplate1;
cvarLoadTemplateTag(&openCvArTemplate1,"aclib.png");
//cvarLoadTemplateTag(&openCvArTemplate1,"markers/431.jpg");
openCvArTemplateList.push_back(openCvArTemplate1);
CvarTemplate openCvArTemplate2;
cvarLoadTemplate(&openCvArTemplate2,"aclib.png",1);
//cvarLoadTemplate(&openCvArTemplate2,"markers/431.jpg", 1);
openCvArTemplateList.push_back(openCvArTemplate2);
//Define OpenCV-AR marker;
vector<CvarMarker> openCvArMarker;
//Create OpenCV-AR camera
CvarCamera openCvArCamera;
//IplImage* frame = osgImage2IplImage(image);
//cvarReadCamera("camera.yml", &openCvArCamera);
cvarReadCamera(NULL, &openCvArCamera);
cvarCameraScale(&openCvArCamera,frame->width,frame->height);
viewer.getCamera()->setProjectionMatrix(osg::Matrixd(openCvArCamera.projection));
//CvarOpticalFlow *flow;
// srand(time(NULL));
//int thresh = 60;
double matchThresh = 0.7;
//int state = 0;
int counter = 0;
while(!viewer.done())
{
counter++;
char c = 0;//cvWaitKey(33);
//printf("%d\n", c);
if (c == 27) { // нажата ESC
printf("esc\n");
break;
}
if (c == 107) { // matchThresh up
matchThresh = matchThresh + 0.01;
}
if (c == 106) { // matchThresh down
matchThresh = matchThresh - 0.01;
}
if ((counter >= 300) and (counter < 310)) { // matchThresh down
//Top
translateMatrixTransformList(topMtList, 0.0, -1.2, 0.0);
//Engine
translateMatrixTransformList(engineMtList, 0.0, -1.0, 0.0);
//Body
translateMatrixTransformList(bodyMtList, 0.0, -0.8, 0.0);
//Salon
translateMatrixTransformList(salonMtList, 0.0, -0.4, 0.0);
//leftWeels
translateMatrixTransformList(leftWheelsMtList, -0.5, 0.0, 0.0);
//rightWeels
translateMatrixTransformList(rightWheelsMtList, 0.5, 0.0, 0.0);
//Left doors
translateMatrixTransformList(leftDoorMtList, -0.5, 0.0, 0.0);
//Right doors
translateMatrixTransformList(rightDoorMtList, 0.5, 0.0, 0.0);
//Forward bumper
translateMatrixTransformList(forwardBumperMtList, 0.0, 0.0, 0.5);
//back bumper
translateMatrixTransformList(backBumperMtList, 0.0, 0.0, -0.5);
}
//rotateMatrix.makeRotate(rotateMatrix.getRotate() * wheelAxis);
//obj5Mt->setMatrix(rotateMatrix);
//thresh = rand() % 256;
//printf("Match thresh value: %f\n", matchThresh);
frame = cvQueryFrame(cameraCapture);
cvCopy(frame, flipFrame);
cvFlip(flipFrame, flipFrame);
//cvNamedWindow("Original", 1);
//cvShowImage("Original", frame);
iplImageToOsgImage(frame, image);
image->dirty();
//osg::Image* = osg::Image(*image);
//frame = osgImage2IplImage(image);
//AR detection
//GLdouble modelview[16] = {0};
//Detect marker
int arDetect = cvarArMultRegistration(flipFrame,&openCvArMarker,openCvArTemplateList,&openCvArCamera, 60, 0.91);
//printf("Marker found: %d\n", arDetect);
viewer.getCamera()->setViewMatrixAsLookAt(osg::Vec3d(0.0, 0.0, 100.0), osg::Vec3d(0.0, 0.0, 1000.0), osg::Vec3d(0.0, 1.0, 0.0));
for(int i=0;i<arDetect;i++) {
//if(openCvArMarker[i].tpl == 0);
osg::Matrixf osgModelViewMatrix;
for (int column = 0; column < 4; column++) {
for (int row = 0; row < 4; row++) {
osgModelViewMatrix(column, row) = openCvArMarker[i].modelview[column * 4 + row];
}
}
viewer.getCamera()->setViewMatrix(osgModelViewMatrix);
}
viewer.frame();
}
return 0;
}
