//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
ARdouble p[16];
ARdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglPixelBufferDataUpload(gArglSettings, gARTImage);
arglDispImage(gArglSettings);
gARTImage = NULL; // Invalidate image data.
// Projection transformation.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(p);
#else
glLoadMatrixd(p);
#endif
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
if (gPatt_found) {
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(m);
#else
glLoadMatrixd(m);
#endif
// Before drawing any geometry, mask out the area occupied by the cube marker itself.
// This makes for a nicer visual presentation, but obviously only applies for this particular
// shape of marker.
DrawCubeMarkerMask();
// All lighting and geometry to be drawn relative to the marker goes here.
DrawCube();
} // gPatt_found
// Any 2D overlays go here.
//none
glutSwapBuffers();
}
bool ofxArtool5::setupCamera(string pthCamParam, ofVec2f _camSize, ofVec2f _viewportSize, ofPixelFormat pf){
ARParam cParam;
AR_PIXEL_FORMAT pixFormat = toAR(pf);
const char * cPathCamParam = ofToDataPath(pthCamParam).c_str();
camSize=_camSize;
viewportSize=_viewportSize;
if(arParamLoad(cPathCamParam, 1, &cParam)){
ofLogError("ofxArtool5::setupCamera()", "error loading param file");
return false;
}
if(cParam.xsize!=camSize.x||cParam.ysize!=camSize.y){
ofLogWarning("ofxArtool5::setupCamera()","camera param needs resizing");
arParamChangeSize(&cParam, camSize.x, camSize.y, &cParam);
}
if((gCparamLT = arParamLTCreate(&cParam, AR_PARAM_LT_DEFAULT_OFFSET))==NULL){
ofLogError("ofxArtool5::setupCamera()","Error: arParamLTCreate");
return false;
}
if(artMode==ART_PATTERN){
if((gARHandle = arCreateHandle(gCparamLT))==NULL){
ofLogError("ofxArtool5::setupCamera()","Error: arCreateHandle");
return false;
}
if(arSetPixelFormat(gARHandle, pixFormat)<0){
ofLogError("ofxArtool5::setupCamera()","Error arSetPixelFormat");
return false;
}
if(arSetDebugMode(gARHandle, AR_DEBUG_DISABLE)<0){
ofLogError("ofxArtool5::setupCamera()","Error arSetDebugMode");
return false;
}
if((gAR3DHandle = ar3DCreateHandle(&cParam))==NULL){
ofLogError("ofxArtool5::setupCamera()","Error ar3DCreateHandle");
return false;
}
}else if(artMode==ART_NFT){
arglCameraFrustumRH(&(gCparamLT->param), getMinDistance(), getMaxDistance(), cameraLens);
}
cvColorFrame.allocate(camSize.x, camSize.y);
cvGrayFrame.allocate(camSize.x, camSize.y);
return true;
}
void ARTApp::display(ARUint8 *arImage, ARParamLT *arParam, ARGL_CONTEXT_SETTINGS_REF arSettings, GLMmodel *objModel, const ARdouble pattTrans[3][4])
{
ARdouble p[16];
ARdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(arImage, &(arParam->param), 1.0, arSettings); // zoom = 1.0.
// Projection transformation.
arglCameraFrustumRH(&(arParam->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
if (objModel)
{
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(pattTrans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All lighting and geometry to be drawn relative to the marker goes here.
glPushMatrix(); // Save world coordinate system.
glTranslatef(0.0f, 0.0f, pattWidth / 2.0); // Place base of object on marker surface.
glmDraw(objModel, GLM_SMOOTH | GLM_MATERIAL);
glPopMatrix(); // Restore world coordinate system.
}
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
glutSwapBuffers();
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
int i;
GLdouble p[16];
GLdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings); // zoom = 1.0.
arVideoCapNext();
gARTImage = NULL; // Image data is no longer valid after calling arVideoCapNext().
if (gPatt_found) {
// Projection transformation.
arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
// All other lighting and geometry goes here.
// Calculate the camera position for each object and draw it.
for (i = 0; i < gObjectDataCount; i++) {
if ((gObjectData[i].visible != 0) && (gObjectData[i].vrml_id >= 0)) {
//fprintf(stderr, "About to draw object %i\n", i);
arglCameraViewRH(gObjectData[i].trans, m, VIEW_SCALEFACTOR_4);
glLoadMatrixd(m);
arVrmlDraw(gObjectData[i].vrml_id);
}
}
} // gPatt_found
// Any 2D overlays go here.
//none
glutSwapBuffers();
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
GLdouble p[16];
GLdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings); // zoom = 1.0.
arVideoCapNext();
gARTImage = NULL; // Image data is no longer valid after calling arVideoCapNext().
for(std::list<Piece*>::iterator it = pieces.begin(); it != pieces.end(); it++)
{
if ((*it)->patt_found) // gPatt_found
{
// Projection transformation.
arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
// ARToolKit supplied distance in millimetres, but I want OpenGL to work in my units.
arglCameraViewRH((*it)->patt_trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All other lighting and geometry goes here.
(*it)->Draw();
}
// Any 2D overlays go here.
//none
}
glutSwapBuffers();
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
GLdouble p[16];
GLdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
// arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings); // zoom = 1.0.
arVideoCapNext();
gARTImage = NULL; // Image data is no longer valid after calling arVideoCapNext().
// Projection transformation.
arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
if (gPatt_found) {
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All lighting and geometry to be drawn relative to the marker goes here.
DrawCube();
} // gPatt_found
// Any 2D overlays go here.
//none
glutSwapBuffers();
}
int CWebCam::SetupWebCam(const char *cparam_names, char *vconfs)
{
int xsize, ysize;
ARParam wparam;
if((ARTVideo = ar2VideoOpen(vconfs)) == 0) return(0);
if(ar2VideoInqSize(ARTVideo, &xsize, &ysize) < 0) return(0);
if(arParamLoad(cparam_names, 1, &wparam) < 0) return(0);
arParamChangeSize(&wparam, xsize, ysize, &ARTCparam);
arInitCparam(&ARTCparam);
arParamDisp(&ARTCparam);
ARTThreshhold = 100;
arglCameraFrustumRH(&ARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, projectionMat);
if(ar2VideoCapStart(ARTVideo) != 0) return(0);
ar2VideoCapNext(ARTVideo);
return(1);
}
static int renderScene(AppState* state)
{
if (gPatt_found) {
GLdouble projectionMatrix[16];
GLdouble modelViewMatrix[16];
// Projection transformation.
arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, projectionMatrix);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(projectionMatrix);
glMatrixMode(GL_MODELVIEW);
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, modelViewMatrix, VIEW_SCALEFACTOR);
glLoadMatrixd(modelViewMatrix);
// All lighting and geometry to be drawn relative to the marker goes here.
// DrawCube();
} // gPatt_found
{
GLuint gle = glGetError();
if (gle) {
fprintf(stderr,"GL error 0x%x\n");
}
}
}
//============================
// プロジェクション行列の取得
//============================
void cARTK::getProjectionMat( double dMat[16] )
{
// near far
arglCameraFrustumRH( &m_sCameraParam, 0.1, 400.0, dMat );
}
int main(int argc, char** argv)
{
char glutGamemode[32] = "";
char *vconf = NULL;
char cparaDefault[] = "Data2/camera_para.dat";
char *cpara = NULL;
int i;
int gotTwoPartOption;
const char markerConfigDataFilename[] = "Data2/markers.dat";
const char objectDataFilename[] = "Data2/objects.dat";
#ifdef DEBUG
arLogLevel = AR_LOG_LEVEL_DEBUG;
#endif
//
// Process command-line options.
//
glutInit(&argc, argv);
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc) {
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc) {
if (strcmp(argv[i], "--vconf") == 0) {
i++;
vconf = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--cpara") == 0) {
i++;
cpara = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--width") == 0) {
i++;
// Get width from second field.
if (sscanf(argv[i], "%d", &prefWidth) != 1) {
ARLOGe("Error: --width option must be followed by desired width.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--height") == 0) {
i++;
// Get height from second field.
if (sscanf(argv[i], "%d", &prefHeight) != 1) {
ARLOGe("Error: --height option must be followed by desired height.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--refresh") == 0) {
i++;
// Get refresh rate from second field.
if (sscanf(argv[i], "%d", &prefRefresh) != 1) {
ARLOGe("Error: --refresh option must be followed by desired refresh rate.\n");
}
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption) {
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0) {
usage(argv[0]);
} else if (strncmp(argv[i], "-cpara=", 7) == 0) {
cpara = &(argv[i][7]);
} else if (strcmp(argv[i], "--version") == 0 || strcmp(argv[i], "-version") == 0 || strcmp(argv[i], "-v") == 0) {
ARLOG("%s version %s\n", argv[0], AR_HEADER_VERSION_STRING);
exit(0);
} else if (strcmp(argv[i],"--windowed") == 0) {
prefWindowed = TRUE;
} else if (strcmp(argv[i],"--fullscreen") == 0) {
prefWindowed = FALSE;
} else {
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!setupCamera((cpara ? cpara : cparaDefault), vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
if (!initNFT(gCparamLT, arVideoGetPixelFormat())) {
ARLOGe("main(): Unable to init NFT.\n");
exit(-1);
}
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, &markersNFT, &markersNFTCount);
if (!markersNFTCount) {
ARLOGe("Error loading markers from config. file '%s'.\n", markerConfigDataFilename);
cleanup();
exit(-1);
}
ARLOGi("Marker count = %d\n", markersNFTCount);
// Marker data has been loaded, so now load NFT data.
if (!loadNFTData()) {
ARLOGe("Error loading NFT data.\n");
cleanup();
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (prefWindowed) {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
else glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
} else {
if (glutGameModeGet(GLUT_GAME_MODE_POSSIBLE)) {
if (prefWidth && prefHeight) {
if (prefDepth) {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i", prefWidth, prefHeight, prefDepth);
} else {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i@%i", prefWidth, prefHeight, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
} else {
prefWidth = glutGameModeGet(GLUT_GAME_MODE_WIDTH);
prefHeight = glutGameModeGet(GLUT_GAME_MODE_HEIGHT);
snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
glutFullScreen();
}
}
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
cameraPoseValid = FALSE;
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
// Load objects (i.e. OSG models).
VirtualEnvironmentInit(objectDataFilename);
VirtualEnvironmentHandleARViewUpdatedCameraLens(cameraLens);
//
// Setup complete. Start tracking.
//
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
arUtilTimerReset();
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
int main(int argc, char** argv)
{
char glutGamemode[32];
const char *cparam_name = "Data2/camera_para.dat";
char vconf[] = "";
const char markerConfigDataFilename[] = "Data2/markers.dat";
#ifdef DEBUG
arLogLevel = AR_LOG_LEVEL_DEBUG;
#endif
//
// Library inits.
//
glutInit(&argc, argv);
//
// Video setup.
//
#ifdef _WIN32
CoInitialize(NULL);
#endif
if (!setupCamera(cparam_name, vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
if (!initNFT(gCparamLT, arVideoGetPixelFormat())) {
ARLOGe("main(): Unable to init NFT.\n");
exit(-1);
}
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!prefWindowed) {
if (prefRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else sprintf(glutGamemode, "%ix%i:%i", prefWidth, prefHeight, prefDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arUtilTimerReset();
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, &markersNFT, &markersNFTCount);
if (!markersNFTCount) {
ARLOGe("Error loading markers from config. file '%s'.\n", markerConfigDataFilename);
cleanup();
exit(-1);
}
ARLOGi("Marker count = %d\n", markersNFTCount);
// Marker data has been loaded, so now load NFT data.
if (!loadNFTData()) {
ARLOGe("Error loading NFT data.\n");
cleanup();
exit(-1);
}
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
ARdouble p[16];
ARdouble m[16];
#ifdef ARDOUBLE_IS_FLOAT
GLdouble p0[16];
GLdouble m0[16];
#endif
int i, j, k;
GLfloat w, bw, bh, vertices[6][2];
GLubyte pixels[300];
char text[256];
GLdouble winX, winY, winZ;
int showMErr[CHECK_ID_MULTIMARKERS_MAX];
GLdouble MX[CHECK_ID_MULTIMARKERS_MAX];
GLdouble MY[CHECK_ID_MULTIMARKERS_MAX];
int pattDetectMode;
AR_MATRIX_CODE_TYPE matrixCodeType;
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglPixelBufferDataUpload(gArglSettings, gARTImage);
arglDispImage(gArglSettings);
if (gMultiConfigCount)
{
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(p);
#else
glLoadMatrixd(p);
#endif
glMatrixMode(GL_MODELVIEW);
glEnable(GL_DEPTH_TEST);
// If we have multi-configs, show their origin onscreen.
for (k = 0; k < gMultiConfigCount; k++)
{
showMErr[k] = FALSE;
if (gMultiConfigs[k]->prevF != 0)
{
arglCameraViewRH((const ARdouble (*)[4])gMultiConfigs[k]->trans, m, 1.0);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(m);
#else
glLoadMatrixd(m);
#endif
drawAxes();
#ifdef ARDOUBLE_IS_FLOAT
for (i = 0; i < 16; i++)
m0[i] = (GLdouble)m[i];
for (i = 0; i < 16; i++)
p0[i] = (GLdouble)p[i];
if (gluProject(0, 0, 0, m0, p0, gViewport, &winX, &winY, &winZ) == GL_TRUE)
#else
if (gluProject(0, 0, 0, m, p, gViewport, &winX, &winY, &winZ) == GL_TRUE)
#endif
{
showMErr[k] = TRUE;
MX[k] = winX; MY[k] = winY;
}
}
} // for k
}
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
arGetPatternDetectionMode(gARHandle, &pattDetectMode);
arGetMatrixCodeType(gARHandle, &matrixCodeType);
// For all markers, draw onscreen position.
// Colour based on cutoffPhase.
glLoadIdentity();
glVertexPointer(2, GL_FLOAT, 0, vertices);
glEnableClientState(GL_VERTEX_ARRAY);
glLineWidth(2.0f);
for (j = 0; j < gARHandle->marker_num; j++)
{
glColor3ubv(cutoffPhaseColours[gARHandle->markerInfo[j].cutoffPhase].colour);
for (i = 0; i < 5; i++)
{
int dir = gARHandle->markerInfo[j].dir;
vertices[i][0] = (float)gARHandle->markerInfo[j].vertex[(i + 4 - dir) % 4][0] * (float)windowWidth / (float)gARHandle->xsize;
vertices[i][1] = ((float)gARHandle->ysize - (float)gARHandle->markerInfo[j].vertex[(i + 4 - dir) % 4][1]) * (float)windowHeight / (float)gARHandle->ysize;
}
vertices[i][0] = (float)gARHandle->markerInfo[j].pos[0] * (float)windowWidth / (float)gARHandle->xsize;
vertices[i][1] = ((float)gARHandle->ysize - (float)gARHandle->markerInfo[j].pos[1]) * (float)windowHeight / (float)gARHandle->ysize;
glDrawArrays(GL_LINE_STRIP, 0, 6);
// For markers that have been identified, draw the ID number.
if (gARHandle->markerInfo[j].id >= 0)
{
glColor3ub(255, 0, 0);
if (matrixCodeType == AR_MATRIX_CODE_GLOBAL_ID && (pattDetectMode == AR_MATRIX_CODE_DETECTION || pattDetectMode == AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX || pattDetectMode == AR_TEMPLATE_MATCHING_MONO_AND_MATRIX))
snprintf(text, sizeof(text), "%llu (err=%d)", gARHandle->markerInfo[j].globalID, gARHandle->markerInfo[j].errorCorrected);
else
snprintf(text, sizeof(text), "%d", gARHandle->markerInfo[j].id);
print(text, (float)gARHandle->markerInfo[j].pos[0] * (float)windowWidth / (float)gARHandle->xsize, ((float)gARHandle->ysize - (float)gARHandle->markerInfo[j].pos[1]) * (float)windowHeight / (float)gARHandle->ysize, 0, 0);
}
}
glDisableClientState(GL_VERTEX_ARRAY);
// For matrix mode, draw the pattern image of the largest marker.
if (pattDetectMode == AR_MATRIX_CODE_DETECTION || pattDetectMode == AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX || pattDetectMode == AR_TEMPLATE_MATCHING_MONO_AND_MATRIX)
{
int area = 0, biggestMarker = -1;
for (j = 0; j < gARHandle->marker_num; j++)
if (gARHandle->markerInfo[j].area > area)
{
area = gARHandle->markerInfo[j].area;
biggestMarker = j;
}
if (area >= AR_AREA_MIN)
{
int imageProcMode;
ARdouble pattRatio;
ARUint8 ext_patt[AR_PATT_SIZE2_MAX * AR_PATT_SIZE2_MAX * 3]; // Holds unwarped pattern extracted from image.
int size;
int zoom = 4;
ARdouble vertexUpright[4][2];
// Reorder vertices based on dir.
for (i = 0; i < 4; i++)
{
int dir = gARHandle->markerInfo[biggestMarker].dir;
vertexUpright[i][0] = gARHandle->markerInfo[biggestMarker].vertex[(i + 4 - dir) % 4][0];
vertexUpright[i][1] = gARHandle->markerInfo[biggestMarker].vertex[(i + 4 - dir) % 4][1];
}
arGetImageProcMode(gARHandle, &imageProcMode);
arGetPattRatio(gARHandle, &pattRatio);
if (matrixCodeType == AR_MATRIX_CODE_GLOBAL_ID)
{
size = 14;
arPattGetImage2(imageProcMode, AR_MATRIX_CODE_DETECTION, size, size * AR_PATT_SAMPLE_FACTOR2,
gARTImage, gARHandle->xsize, gARHandle->ysize, gARHandle->arPixelFormat, &gCparamLT->paramLTf, vertexUpright, (ARdouble)14 / (ARdouble)(14 + 2), ext_patt);
}
else
{
size = matrixCodeType & AR_MATRIX_CODE_TYPE_SIZE_MASK;
arPattGetImage2(imageProcMode, AR_MATRIX_CODE_DETECTION, size, size * AR_PATT_SAMPLE_FACTOR2,
gARTImage, gARHandle->xsize, gARHandle->ysize, gARHandle->arPixelFormat, &gCparamLT->paramLTf, vertexUpright, pattRatio, ext_patt);
}
glRasterPos2f((float)(windowWidth - size * zoom) - 4.0f, (float)(size * zoom) + 4.0f);
glPixelZoom((float)zoom, (float)-zoom);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glDrawPixels(size, size, GL_LUMINANCE, GL_UNSIGNED_BYTE, ext_patt);
glPixelZoom(1.0f, 1.0f);
}
}
// Draw error value for multimarker pose.
for (k = 0; k < gMultiConfigCount; k++)
{
if (showMErr[k])
{
snprintf(text, sizeof(text), "err=%0.3f", gMultiErrs[k]);
print(text, MX[k], MY[k], 0, 0);
}
}
//
// Draw help text and mode.
//
glLoadIdentity();
if (gShowMode)
{
printMode();
}
if (gShowHelp)
{
if (gShowHelp == 1)
{
printHelpKeys();
}
else if (gShowHelp == 2)
{
bw = 0.0f;
for (i = 0; i < AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT; i++)
{
w = (float)glutBitmapLength(GLUT_BITMAP_HELVETICA_10, (unsigned char*)arMarkerInfoCutoffPhaseDescriptions[cutoffPhaseColours[i].cutoffPhase]);
if (w > bw)
bw = w;
}
bw += 12.0f; // Space for color block.
bh = AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT * 10.0f /* character height */ + (AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT - 1) * 2.0f /* line spacing */;
drawBackground(bw, bh, 2.0f, 2.0f);
// Draw the colour block and text, line by line.
for (i = 0; i < AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT; i++)
{
for (j = 0; j < 300; j += 3)
{
pixels[j] = cutoffPhaseColours[i].colour[0];
pixels[j + 1] = cutoffPhaseColours[i].colour[1];
pixels[j + 2] = cutoffPhaseColours[i].colour[2];
}
glRasterPos2f(2.0f, (AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT - 1 - i) * 12.0f + 2.0f);
glPixelZoom(1.0f, 1.0f);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glDrawPixels(10, 10, GL_RGB, GL_UNSIGNED_BYTE, pixels);
print(arMarkerInfoCutoffPhaseDescriptions[cutoffPhaseColours[i].cutoffPhase], 14.0f, (AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT - 1 - i) * 12.0f + 2.0f, 0, 0);
}
}
}
glutSwapBuffers();
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
int i;
GLdouble p[16];
GLdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(gARTImage, &(gCparamLT->param), 1.0, gArglSettings); // zoom = 1.0.
gARTImage = NULL; // Invalidate image data.
// Projection transformation.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
glEnable(GL_DEPTH_TEST);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
for (i = 0; i < gObjectDataCount; i++) {
if ((gObjectData[i].visible != 0) && (gObjectData[i].vrml_id >= 0)) {
// Calculate the camera position for the object and draw it.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gObjectData[i].trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All lighting and geometry to be drawn relative to the marker goes here.
//ARLOGe("About to draw object %i\n", i);
arVrmlDraw(gObjectData[i].vrml_id);
}
}
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
//
// Draw help text and mode.
//
if (gShowMode) {
printMode();
}
if (gShowHelp) {
if (gShowHelp == 1) {
printHelpKeys();
}
}
glutSwapBuffers();
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
GLdouble p[16];
GLdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings); // zoom = 1.0.
arVideoCapNext();
gARTImage = NULL; // Image data is no longer valid after calling arVideoCapNext().
// Projection transformation.
arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
//Read leap dump
int koo = read_leap_dump();
float dx = px1 - px0;
float dy = py1 - py0;
float dz = pz1 - pz0;
printf("dx %f\n", dx);
px0 = px1;
py0 = py1;
pz0 = pz1;
float stepX = 100.0f / glutGet(GLUT_WINDOW_X);
float stepY = 100.0f/ glutGet(GLUT_WINDOW_Y);
PX = stepX*dx + PX;
PY = stepY*dy + PY;
PZ = stepX*dz + PZ;
if (snapToMarker && gPatt_found) {
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All lighting and geometry to be drawn relative to the marker goes here.
DrawItem();
} // gPatt_found
else {
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All lighting and geometry to be drawn relative to the marker goes here.
DrawItem();
}
// Any 2D overlays go here.
//none
glutSwapBuffers();
}
void BazARTracker::setProjection(const double n, const double f)
{
//GSUB_LITE - NEW ART STYLE
arglCameraFrustumRH(&(m_cparam->cparam), n, f, m_projectionMatrix);
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
ARdouble p[16];
ARdouble m[16];
double zoom;
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglPixelBufferDataUpload(gArglSettings, gARTImage);
arglDispImage(gArglSettings);
gARTImage = NULL; // Invalidate image data.
// Projection transformation.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(p);
#else
glLoadMatrixd(p);
#endif
glMatrixMode(GL_MODELVIEW);
glEnable(GL_DEPTH_TEST);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
if (gPatt_found) {
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(m);
#else
glLoadMatrixd(m);
#endif
// All lighting and geometry to be drawn relative to the marker goes here.
// Draw the movie frame.
if (gMovieImage) {
glPushMatrix();
glRotatef(90.0f, 1.0f, 0.0f, 0.0f); // Place movie in x-z plane instead of x-y plane.
glTranslated(-gPatt_width*0.5, 0.0f, 0.0f); // Movie origin is at lower-left of movie frame. Place this at the edge of the marker .
zoom = 1.0/gMovieCparam.xsize * gPatt_width; // Scale the movie frame so that it is the same width as the marker.
arglPixelBufferDataUpload(gMovieArglSettings, gMovieImage);
arglDispImageStateful(gMovieArglSettings); // Show the movie frame.
glPopMatrix();
}
} // gPatt_found
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
//
// Draw help text and mode.
//
if (gShowMode) {
printMode();
}
if (gShowHelp) {
if (gShowHelp == 1) {
printHelpKeys();
}
}
glutSwapBuffers();
}
int main(int argc, char** argv)
{
char glutGamemode[32] = "";
char *vconf = NULL;
char cparaDefault[] = "../share/artoolkit-examples/Data/camera_para.dat";
char *cpara = NULL;
int i;
int gotTwoPartOption;
const char markerConfigDataFilename[] = "../share/artoolkit-examples/Data/markers.dat";
const char objectDataFilename[] = "../share/artoolkit-examples/Data/objects.dat";
//
// Process command-line options.
//
glutInit(&argc, argv);
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc) {
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc) {
if (strcmp(argv[i], "--vconf") == 0) {
i++;
vconf = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--cpara") == 0) {
i++;
cpara = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--width") == 0) {
i++;
// Get width from second field.
if (sscanf(argv[i], "%d", &prefWidth) != 1) {
ARLOGe("Error: --width option must be followed by desired width.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--height") == 0) {
i++;
// Get height from second field.
if (sscanf(argv[i], "%d", &prefHeight) != 1) {
ARLOGe("Error: --height option must be followed by desired height.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--refresh") == 0) {
i++;
// Get refresh rate from second field.
if (sscanf(argv[i], "%d", &prefRefresh) != 1) {
ARLOGe("Error: --refresh option must be followed by desired refresh rate.\n");
}
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption) {
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0) {
usage(argv[0]);
} else if (strncmp(argv[i], "-cpara=", 7) == 0) {
cpara = &(argv[i][7]);
} else if (strcmp(argv[i], "--version") == 0 || strcmp(argv[i], "-version") == 0 || strcmp(argv[i], "-v") == 0) {
ARLOG("%s version %s\n", argv[0], AR_HEADER_VERSION_STRING);
exit(0);
} else if (strcmp(argv[i],"--windowed") == 0) {
prefWindowed = TRUE;
} else if (strcmp(argv[i],"--fullscreen") == 0) {
prefWindowed = FALSE;
} else {
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!setupCamera((cpara ? cpara : cparaDefault), vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
// Init AR.
gARPattHandle = arPattCreateHandle();
if (!gARPattHandle) {
ARLOGe("Error creating pattern handle.\n");
exit(-1);
}
gARHandle = arCreateHandle(gCparamLT);
if (!gARHandle) {
ARLOGe("Error creating AR handle.\n");
exit(-1);
}
arPattAttach(gARHandle, gARPattHandle);
if (arSetPixelFormat(gARHandle, arVideoGetPixelFormat()) < 0) {
ARLOGe("Error setting pixel format.\n");
exit(-1);
}
gAR3DHandle = ar3DCreateHandle(&gCparamLT->param);
if (!gAR3DHandle) {
ARLOGe("Error creating 3D handle.\n");
exit(-1);
}
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, gARPattHandle, &markersSquare, &markersSquareCount, &gARPattDetectionMode);
ARLOGi("Marker count = %d\n", markersSquareCount);
//
// Other ARToolKit setup.
//
arSetMarkerExtractionMode(gARHandle, AR_USE_TRACKING_HISTORY_V2);
//arSetMarkerExtractionMode(gARHandle, AR_NOUSE_TRACKING_HISTORY);
//arSetLabelingThreshMode(gARHandle, AR_LABELING_THRESH_MODE_MANUAL); // Uncomment to force manual thresholding.
// Set the pattern detection mode (template (pictorial) vs. matrix (barcode) based on
// the marker types as defined in the marker config. file.
arSetPatternDetectionMode(gARHandle, gARPattDetectionMode); // Default = AR_TEMPLATE_MATCHING_COLOR
// Other application-wide marker options. Once set, these apply to all markers in use in the application.
// If you are using standard ARToolKit picture (template) markers, leave commented to use the defaults.
// If you are usign a different marker design (see http://www.artoolworks.com/support/app/marker.php )
// then uncomment and edit as instructed by the marker design application.
//arSetLabelingMode(gARHandle, AR_LABELING_BLACK_REGION); // Default = AR_LABELING_BLACK_REGION
//arSetBorderSize(gARHandle, 0.25f); // Default = 0.25f
//arSetMatrixCodeType(gARHandle, AR_MATRIX_CODE_3x3); // Default = AR_MATRIX_CODE_3x3
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (prefWindowed) {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
else glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
} else {
if (glutGameModeGet(GLUT_GAME_MODE_POSSIBLE)) {
if (prefWidth && prefHeight) {
if (prefDepth) {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i", prefWidth, prefHeight, prefDepth);
} else {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i@%i", prefWidth, prefHeight, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
} else {
prefWidth = glutGameModeGet(GLUT_GAME_MODE_WIDTH);
prefHeight = glutGameModeGet(GLUT_GAME_MODE_HEIGHT);
snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
glutFullScreen();
}
}
// Create the OpenGL projection from the calibrated camera parameters.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, cameraLens);
cameraPoseValid = FALSE;
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
// Load objects (i.e. OSG models).
VirtualEnvironmentInit(objectDataFilename);
VirtualEnvironmentHandleARViewUpdatedCameraLens(cameraLens);
//
// Setup complete. Start tracking.
//
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
arUtilTimerReset();
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
ARdouble p[16];
ARdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(gARTImage, &(gCparamLT->param), 1.0, gArglSettings); // zoom = 1.0.
gARTImage = NULL; // Invalidate image data.
// Projection transformation.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(p);
#else
glLoadMatrixd(p);
#endif
glMatrixMode(GL_MODELVIEW);
glEnable(GL_DEPTH_TEST);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
if (gPatt_found) {
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(m);
#else
glLoadMatrixd(m);
#endif
// All lighting and geometry to be drawn relative to the marker goes here.
DrawCube();
} // gPatt_found
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
//
// Draw help text and mode.
//
if (gShowMode) {
printMode();
}
if (gShowHelp) {
if (gShowHelp == 1) {
printHelpKeys();
}
}
glutSwapBuffers();
}