static void keyEvent( unsigned char key, int x, int y)
{
int value;
/* quit if the ESC key is pressed */
if( key == 0x1b ) {
cleanup();
exit(0);
}
if( key == '1' ) {
arGetLabelingThresh( arHandle, &value );
value -= 5;
if( value < 0 ) value = 0;
arSetLabelingThresh( arHandle, value );
ARLOG("thresh = %d\n", value);
}
if( key == '2' ) {
arGetLabelingThresh( arHandle, &value );
value += 5;
if( value > 255 ) value = 255;
arSetLabelingThresh( arHandle, value );
ARLOG("thresh = %d\n", value);
}
if( key == 'd' ) {
arGetDebugMode( arHandle, &value );
value = 1 - value;
arSetDebugMode( arHandle, value );
}
}
static void Keyboard(unsigned char key, int x, int y)
{
int mode, threshChange = 0;
AR_LABELING_THRESH_MODE modea;
switch (key) {
case 0x1B: // Quit.
case 'Q':
case 'q':
cleanup();
exit(0);
break;
case 'X':
case 'x':
arGetImageProcMode(gARHandle, &mode);
switch (mode) {
case AR_IMAGE_PROC_FRAME_IMAGE: mode = AR_IMAGE_PROC_FIELD_IMAGE; break;
case AR_IMAGE_PROC_FIELD_IMAGE:
default: mode = AR_IMAGE_PROC_FRAME_IMAGE; break;
}
arSetImageProcMode(gARHandle, mode);
break;
case 'C':
case 'c':
ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
break;
case 'a':
case 'A':
arGetLabelingThreshMode(gARHandle, &modea);
switch (modea) {
case AR_LABELING_THRESH_MODE_MANUAL: modea = AR_LABELING_THRESH_MODE_AUTO_MEDIAN; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: modea = AR_LABELING_THRESH_MODE_AUTO_OTSU; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: modea = AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: modea = AR_LABELING_THRESH_MODE_AUTO_BRACKETING; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING:
default: modea = AR_LABELING_THRESH_MODE_MANUAL; break;
}
arSetLabelingThreshMode(gARHandle, modea);
break;
case '-':
threshChange = -5;
break;
case '+':
case '=':
threshChange = +5;
break;
case 'D':
case 'd':
arGetDebugMode(gARHandle, &mode);
arSetDebugMode(gARHandle, !mode);
break;
case '?':
case '/':
gShowHelp++;
if (gShowHelp > 1) gShowHelp = 0;
break;
case 'm':
case 'M':
gShowMode = !gShowMode;
break;
default:
break;
}
if (threshChange) {
int threshhold;
arGetLabelingThresh(gARHandle, &threshhold);
threshhold += threshChange;
if (threshhold < 0) threshhold = 0;
if (threshhold > 255) threshhold = 255;
arSetLabelingThresh(gARHandle, threshhold);
}
}
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 Keyboard(unsigned char key, int x, int y)
{
int mode, threshChange = 0;
switch (key) {
case 0x1B: // Quit.
case 'Q':
case 'q':
cleanup();
exit(0);
break;
case ' ':
gDrawRotate = !gDrawRotate;
break;
case 'C':
case 'c':
ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
debugReportMode(gARHandle);
break;
case '-':
threshChange = -5;
break;
case '+':
case '=':
threshChange = +5;
break;
case 'D':
case 'd':
arGetDebugMode(gARHandle, &mode);
arSetDebugMode(gARHandle, !mode);
break;
case 'B':
case 'b':
arGetLabelingMode(gARHandle, &mode);
if (mode == AR_LABELING_BLACK_REGION) arSetLabelingMode(gARHandle, AR_LABELING_WHITE_REGION);
else arSetLabelingMode(gARHandle, AR_LABELING_BLACK_REGION);
break;
case '?':
case '/':
ARLOG("Keys:\n");
ARLOG(" q or [esc] Quit demo.\n");
ARLOG(" c Calulcate frame rate.\n");
ARLOG(" - and + Adjust threshhold.\n");
ARLOG(" d Activate / deactivate debug mode.\n");
ARLOG(" b Toggle between detection of black markers and white markers.\n");
ARLOG(" ? or / Show this help.\n");
ARLOG("\nAdditionally, the ARVideo library supplied the following help text:\n");
arVideoDispOption();
break;
default:
break;
}
if (threshChange) {
int threshhold;
arGetLabelingThresh(gARHandle, &threshhold);
threshhold += threshChange;
if (threshhold < 0) threshhold = 0;
if (threshhold > 255) threshhold = 255;
arSetLabelingThresh(gARHandle, threshhold);
ARLOG("Threshhold changed to %d.\n", threshhold);
}
}
static void Keyboard(unsigned char key, int x, int y)
{
int mode, threshChange = 0;
AR_LABELING_THRESH_MODE modea;
switch (key) {
case 0x1B: // Quit.
case 'Q':
case 'q':
cleanup();
exit(0);
break;
case ' ':
gDrawRotate = !gDrawRotate;
break;
case 'X':
case 'x':
arGetImageProcMode(gARHandle, &mode);
switch (mode) {
case AR_IMAGE_PROC_FRAME_IMAGE: mode = AR_IMAGE_PROC_FIELD_IMAGE; break;
case AR_IMAGE_PROC_FIELD_IMAGE:
default: mode = AR_IMAGE_PROC_FRAME_IMAGE; break;
}
arSetImageProcMode(gARHandle, mode);
break;
case 'C':
case 'c':
mode = arglDrawModeGet(gArglSettings);
if (mode == AR_DRAW_BY_GL_DRAW_PIXELS) {
arglDrawModeSet(gArglSettings, AR_DRAW_BY_TEXTURE_MAPPING);
arglTexmapModeSet(gArglSettings, AR_DRAW_TEXTURE_FULL_IMAGE);
} else {
mode = arglTexmapModeGet(gArglSettings);
if (mode == AR_DRAW_TEXTURE_FULL_IMAGE) arglTexmapModeSet(gArglSettings, AR_DRAW_TEXTURE_HALF_IMAGE);
else arglDrawModeSet(gArglSettings, AR_DRAW_BY_GL_DRAW_PIXELS);
}
ARLOGe("*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
gCallCountMarkerDetect = 0;
arUtilTimerReset();
break;
case 'a':
case 'A':
arGetLabelingThreshMode(gARHandle, &modea);
switch (modea) {
case AR_LABELING_THRESH_MODE_MANUAL: modea = AR_LABELING_THRESH_MODE_AUTO_MEDIAN; break;
case AR_LABELING_THRESH_MODE_AUTO_MEDIAN: modea = AR_LABELING_THRESH_MODE_AUTO_OTSU; break;
case AR_LABELING_THRESH_MODE_AUTO_OTSU: modea = AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE; break;
case AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE: modea = AR_LABELING_THRESH_MODE_AUTO_BRACKETING; break;
case AR_LABELING_THRESH_MODE_AUTO_BRACKETING:
default: modea = AR_LABELING_THRESH_MODE_MANUAL; break;
}
arSetLabelingThreshMode(gARHandle, modea);
break;
case '-':
threshChange = -5;
break;
case '+':
case '=':
threshChange = +5;
break;
case 'D':
case 'd':
arGetDebugMode(gARHandle, &mode);
arSetDebugMode(gARHandle, !mode);
break;
case 's':
case 'S':
if (!gARTImageSavePlease) gARTImageSavePlease = TRUE;
break;
case '?':
case '/':
gShowHelp++;
if (gShowHelp > 1) gShowHelp = 0;
break;
case 'm':
case 'M':
gShowMode = !gShowMode;
break;
default:
break;
}
if (threshChange) {
int threshhold;
arGetLabelingThresh(gARHandle, &threshhold);
threshhold += threshChange;
if (threshhold < 0) threshhold = 0;
if (threshhold > 255) threshhold = 255;
arSetLabelingThresh(gARHandle, threshhold);
}
}
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();
}
void arglDispImage(ARUint8 *image, const ARParam *cparam, const double zoom, ARGL_CONTEXT_SETTINGS_REF contextSettings)
{
GLint texEnvModeSave;
GLboolean lightingSave;
GLboolean depthTestSave;
#if ARGL_SUPPORT_DEBUG_MODE
int arDebugMode = AR_DEBUG_DISABLE, arImageProcMode;
#endif // ARGL_SUPPORT_DEBUG_MODE
#ifdef ARGL_DEBUG
GLenum err;
const GLubyte *errs;
#endif // ARGL_DEBUG
if (!image || !cparam) return;
// Prepare an orthographic projection, set camera position for 2D drawing, and save GL state.
glGetTexEnviv(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, &texEnvModeSave); // Save GL texture environment mode.
if (texEnvModeSave != GL_REPLACE) glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
lightingSave = glIsEnabled(GL_LIGHTING); // Save enabled state of lighting.
if (lightingSave == GL_TRUE) glDisable(GL_LIGHTING);
depthTestSave = glIsEnabled(GL_DEPTH_TEST); // Save enabled state of depth test.
if (depthTestSave == GL_TRUE) glDisable(GL_DEPTH_TEST);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, cparam->xsize, 0, cparam->ysize, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
#if ARGL_SUPPORT_DEBUG_MODE
if (contextSettings->arhandle) arGetDebugMode(contextSettings->arhandle, &arDebugMode);
if (arDebugMode == AR_DEBUG_ENABLE) {
if (contextSettings->arhandle->labelInfo.bwImage) {
arGetImageProcMode(contextSettings->arhandle, &arImageProcMode);
if (arImageProcMode == AR_IMAGE_PROC_FIELD_IMAGE) {
ARParam cparamScaled = *cparam;
cparamScaled.xsize /= 2;
cparamScaled.ysize /= 2;
arglDispImageStateful(contextSettings->arhandle->labelInfo.bwImage, &cparamScaled, zoom * 2.0, contextSettings);
} else {
arglDispImageStateful(contextSettings->arhandle->labelInfo.bwImage, cparam, zoom, contextSettings);
}
}
} else {
#endif // ARGL_SUPPORT_DEBUG_MODE
arglDispImageStateful(image, cparam, zoom, contextSettings);
#if ARGL_SUPPORT_DEBUG_MODE
}
#endif // ARGL_SUPPORT_DEBUG_MODE
// Restore previous projection, camera position, and GL state.
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
if (depthTestSave == GL_TRUE) glEnable(GL_DEPTH_TEST); // Restore enabled state of depth test.
if (lightingSave == GL_TRUE) glEnable(GL_LIGHTING); // Restore enabled state of lighting.
if (texEnvModeSave != GL_REPLACE) glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, texEnvModeSave); // Restore GL texture environment mode.
#ifdef ARGL_DEBUG
// Report any errors we generated.
while ((err = glGetError()) != GL_NO_ERROR) {
errs = gluErrorString(err); // fetch error code
ARLOGe("GL error: %s (0x%04X)\n", errs, (int)err); // write err code and number to stderr
}
#endif // ARGL_DEBUG
}