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();
}
}
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();
}
}
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();
}
}
static void mainLoop(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
// NFT results.
static int detectedPage = -2; // -2 Tracking not inited, -1 tracking inited OK, >= 0 tracking online on page.
static float trackingTrans[3][4];
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.
DrawCubeUpdate(s_elapsed);
// Grab a video frame.
if ((image = arVideoGetImage()) != NULL) {
gARTImage = image; // Save the fetched image.
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.
// --->
}
// 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.
// --->
} else {
if (markersNFT[i].validPrev) {
// Marker has ceased to be visible, tell any dependent objects.
// --->
}
}
}
// Tell GLUT the display has changed.
glutPostRedisplay();
}
}
