bool ARMarkerMulti::updateWithDetectedMarkers(ARMarkerInfo* markerInfo, int markerNum, AR3DHandle *ar3DHandle)
{
if (!m_loaded || !config) return false; // Can't update without multimarker config
visiblePrev = visible;
if (markerInfo) {
ARdouble err;
if (robustFlag) {
err = arGetTransMatMultiSquareRobust(ar3DHandle, markerInfo, markerNum, config);
} else {
err = arGetTransMatMultiSquare(ar3DHandle, markerInfo, markerNum, config);
}
// Marker is visible if a match was found.
if (err >= 0) {
visible = true;
for (int j = 0; j < 3; j++) for (int k = 0; k < 4; k++) trans[j][k] = config->trans[j][k];
} else visible = false;
} else visible = false;
return (ARMarker::update()); // Parent class will finish update.
}
static void mainLoop(void)
{
int i;
static int imageNumber = 0;
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
// 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;
// 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);
}
// If marker config files were specified, evaluate detected patterns against them now.
for (i = 0; i < gMultiConfigCount; i++)
{
if (gRobustFlag)
gMultiErrs[i] = arGetTransMatMultiSquareRobust(gAR3DHandle, arGetMarker(gARHandle), arGetMarkerNum(gARHandle), gMultiConfigs[i]);
else
gMultiErrs[i] = arGetTransMatMultiSquare(gAR3DHandle, arGetMarker(gARHandle), arGetMarkerNum(gARHandle), gMultiConfigs[i]);
// if (gMultiConfigs[i]->prevF != 0) ARLOGe("Found multimarker set %d, err=%0.3f\n", i, gMultiErrs[i]);
}
// Tell GLUT the display has changed.
glutPostRedisplay();
}
}
