static void mdlOutputs(SimStruct * S, int_T tid) {
int_T id = ssGetIWorkValue(S, 0);
int_T noBytes = ssGetIWorkValue(S, 1);
int_T count;
uint8_T *buffer = (uint8_T *)ssGetPWorkValue(S, 0);
count = udpReceive(id, buffer, noBytes);
*(ssGetOutputPortRealSignal(S, 1)) = !count;
if (count == 0)
memcpy((void *) ssGetOutputPortSignal(S, 0),
(void *) (uint8_T *) buffer, noBytes);
}
/* main loop */
static void mainLoop(void)
{
udpReceive();
if (recv_len != -1){
processMessage();
}
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i, j, k;
/* grab a video frame */
if ((dataPtr = (ARUint8 *)arVideoGetImage()) == NULL) {
arUtilSleep(2);
return;
}
if (count == 0) arUtilTimerReset();
count++;
/*draw the video*/
argDrawMode2D();
argDispImage(dataPtr, 0, 0);
glColor3f(1.0, 0.0, 0.0);
glLineWidth(6.0);
/* detect the markers in the video frame */
if (arDetectMarker(dataPtr, thresh,
&marker_info, &marker_num) < 0) {
cleanup();
exit(0);
}
for (i = 0; i < marker_num; i++) {
argDrawSquare(marker_info[i].vertex, 0, 0);
}
for (i = 0; i < marker_num; i++) {
}
/* check for known patterns */
for (i = 0; i < objectnum; i++) {
k = -1;
for (j = 0; j < marker_num; j++) {
if (object[i].id == marker_info[j].id) {
/* you've found a pattern */
//printf("Found pattern: %d ",patt_id);
glColor3f(0.0, 1.0, 0.0);
argDrawSquare(marker_info[j].vertex, 0, 0);
if (k == -1) k = j;
else /* make sure you have the best pattern (highest confidence factor) */
if (marker_info[k].cf < marker_info[j].cf) k = j;
}
}
if (k == -1) {
object[i].visible = 0;
//printf("object id = %d visibility - %d \n", object[i].id, object[i].visible);
continue;
}
/* calculate the transform for each marker */
if (object[i].visible == 0) {
arGetTransMat(&marker_info[k],
object[i].marker_center, object[i].marker_width,
object[i].trans);
}
else {
arGetTransMatCont(&marker_info[k], object[i].trans,
object[i].marker_center, object[i].marker_width,
object[i].trans);
}
object[i].visible = 1;
}
///code here
arVideoCapNext();
/* draw the AR graphics */
draw(object, objectnum);
/*swap the graphics buffers*/
argSwapBuffers();
}
