/* main loop */
static void mainLoop(void)
{
int i, j, k;
if( count == 100 ) {
printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
count = 0;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0, 0 );
/* if the debug mode is on draw squares
around the detected squares in the video image */
if( arDebug ) {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 2, 1 );
else
argDispImage( arImage, 2, 1);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 3.0 );
for( i = 0; i < marker_num; i++ ) {
if( marker_info[i].id < 0 ) continue;
argDrawSquare( marker_info[i].vertex, 2, 1 );
}
glLineWidth( 1.0 );
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
if (dataPtr = GetNextImage()) {
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
printf("could'nt find any marker");
cleanup();
exit(0);
}
//else printf("i found the marker");
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) {
argSwapBuffers();
return;
}
/* get the transformation between the marker and the real camera */
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
if (geometry == 0) {
draw();
} else {
geometryout();
}
argSwapBuffers();
} else {
printf("Done - press any key \n");
getchar();
exit(0);
}
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
//additions from sheyne, trying to understand how it is working.
//from documentation on http://artoolkit.sourceforge.net/apidoc/structARMarkerInfo.html
//also look at: http://www.hitl.washington.edu/artoolkit/documentation/devframework.htm
printf("pos: %f,%f\n", marker_info->pos[0], marker_info->pos[1]);
for (j=0; j<4; j++) {
printf("\t vertex: %f, %f\n", marker_info->vertex[j][0],marker_info->vertex[j][1]);
}
arVideoCapNext();
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) {
argSwapBuffers();
return;
}
/* get the transformation between the marker and the real camera */
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
draw();
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
static int contF = 0;
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
arVideoCapNext();
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) {
contF = 0;
argSwapBuffers();
return;
}
/* get the transformation between the marker and the real camera */
if( mode == 0 || contF == 0 ) {
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
}
else {
arGetTransMatCont(&marker_info[k], patt_trans, patt_center, patt_width, patt_trans);
}
contF = 1;
draw( patt_trans );
argSwapBuffers();
}
static void mainLoop() {
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
//Get video frame
if ((dataPtr = (ARUint8 *)arVideoGetImage()) == NULL) {
arUtilSleep(2);
return;
}
if (count == 0) {
arUtilTimerReset();
}
count++;
//Display video stream
argDrawMode2D();
argDispImage(dataPtr, 0, 0);
/* detect the markers in the video frame */
if (arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0) {
cleanup();
exit(0);
}
//Get next video frame
arVideoCapNext();
/* check for object visibility */
k = -1;
for (j = 0; j < marker_num; j++) {
if (patt_id == marker_info[j].id) {
if (k == -1) k = j;
else if (marker_info[k].cf < marker_info[j].cf) k = j;
}
}
//Don't bother drawing or calculating orientations if no patterns are found
if (k == -1) {
argSwapBuffers();
return;
}
/* get the transformation between the marker and the real camera */
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
draw();
argSwapBuffers();
}
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int areamax;
int i;
if( (dataPtr = (unsigned char *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
img_copy( dataPtr, image, xsize*ysize*AR_PIX_SIZE );
arVideoCapNext();
if( arDetectMarker(image, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
areamax = 0;
target = NULL;
for( i = 0; i < marker_num; i++ ) {
if( marker_info[i].area > areamax ) {
areamax = marker_info[i].area;
target = &(marker_info[i]);
}
}
argDispImage( image, 0, 0 );
if( target != NULL ) {
glLineWidth( 2.0 );
glColor3d( 0.0, 1.0, 0.0 );
argLineSeg( target->vertex[0][0], target->vertex[0][1],
target->vertex[1][0], target->vertex[1][1], 0, 0 );
argLineSeg( target->vertex[3][0], target->vertex[3][1],
target->vertex[0][0], target->vertex[0][1], 0, 0 );
glColor3d( 1.0, 0.0, 0.0 );
argLineSeg( target->vertex[1][0], target->vertex[1][1],
target->vertex[2][0], target->vertex[2][1], 0, 0 );
argLineSeg( target->vertex[2][0], target->vertex[2][1],
target->vertex[3][0], target->vertex[3][1], 0, 0 );
}
argSwapBuffers();
return;
}
static void mainLoop(void)
{
//maincount++;
//if (maincount > 2) exit(0);
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
draw();
argSwapBuffers();
sleep(1);
return; // (0);
}
void MainLoop(void)
{
ARUint8 *image;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
if ((image = (ARUint8 *)arVideoGetImage()) == NULL) {
arUtilSleep(2);
return;
}
argDrawMode2D();
argDispImage(image, 0, 0);
if (arDetectMarker(image, thresh, &marker_info, &marker_num) < 0) {
Cleanup();
exit(0);
}
arVideoCapNext();
k = -1;
for (j = 0; j < marker_num; j++) {
if (patt_id == marker_info[j].id) {
if (k == -1) k = j;
else if (marker_info[k].cf < marker_info[j].cf) k = j;
}
}
if (k != -1) {
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
DrawObject();
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
float curPaddlePos[3];
int i;
double err;
/* grab a video frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 1.0 );
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
arVideoCapNext();
for( i = 0; i < marker_num; i++ ) marker_flag[i] = 0;
/* get the paddle position */
paddleGetTrans(paddleInfo, marker_info, marker_flag,
marker_num, &cparam);
/* draw the 3D models */
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
/* draw the paddle, base and menu */
if( paddleInfo->active ){
draw_paddle( paddleInfo);
}
/* get the translation from the multimarker pattern */
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
//printf("err = %f\n", err);
if(err > 100.0 ) {
argSwapBuffers();
return;
}
//draw a red ground grid
drawGroundGrid( config->trans, 20, 150.0f, 105.0f, 0.0f);
/* find the paddle position relative to the base */
findPaddlePosition(curPaddlePos, paddleInfo->trans, config->trans);
/* check for collisions with targets */
for(i=0;i<TARGET_NUM;i++){
myTarget[i].state = NOT_TOUCHED;
if(checkCollision(curPaddlePos, myTarget[i].pos, 20.0f))
{
myTarget[i].state = TOUCHED;
fprintf(stderr,"touched !!\n");
}
}
/* draw the targets */
for(i=0;i<TARGET_NUM;i++){
draw(myTarget[i],config->trans);
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
int i;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
arVideoCapNext();
/* check for object visibility */
for( i = 0; i < PTT_NUM; i++){
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( object[i].patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) { /* not find marker */
object[i].visible = 0;
isFirst[i] = 1;
}
else{
/* get the transformation between the marker and the real camera */
if( isFirst[i]){
arGetTransMat(&marker_info[k], object[i].patt_center, object[i].patt_width, object[i].patt_trans);
}else{
arGetTransMatCont(&marker_info[k], object[i].patt_trans, object[i].patt_center, object[i].patt_width, object[i].patt_trans);
}
object[i].visible = 1;
isFirst[i] = 0;
/* 追加 */
if(i == PTT2_MARK_ID){
arUtilMatInv( object[PTT2_MARK_ID].patt_trans, itrans2); // 逆行列の計算
}
}
}
//Initialize(); // fix me
draw();
argSwapBuffers();
}
void mainLoop()
{
ARMarkerInfo *marker_info;
ARUint8 *dataPtr;
int marker_num;
if(!calib)//special paycay florian
cvReleaseImage(&image);
if(!calib)
detectColision();
// Recuperation du flux video
if ( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL )
{
arUtilSleep(2);
return;
}
// Passage en mode 2D pour analyse de l'image capturee
argDrawMode2D();
// Récupération de l'image openCV puis conversion en ARImage
//IplImage* imgTest;
image = cvCreateImage(cvSize(xsize, ysize), IPL_DEPTH_8U, 4);
image->imageData = (char *)dataPtr;
//sinon l'image est à l'envers
cvFlip(image, image, 1);
//test si les couleurs ont déjà été calibrée
// si oui on teste si y a collision, sinon on calibre
interactionBoutton();
if(calib)
calibrage();
else
{
updateColor();
interactions();
}
// affichage image à l'ecran
argDispImage( (unsigned char *)image->imageData, 0,0 );
// Recuperation d'une autre image car on a fini avec la precedente
arVideoCapNext();
if (arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0)
{
printf("impossible de detecter le marqueur\n");
cleanup();
}
if(visible == false && !calib) //element IHM : procedure qui permet de savoir si on recherche ou pas + réinit mouvemment des objets précédement affiché
{
glEnable(GL_LIGHT0);
objet1_x =0;objet1_y =0;objet2_x =0;objet2_y =0;
if(scan.isVisible(0)==true)
scan.setVisible(false,0);
if(scan.isVisible(1)==false)
scan.setVisible(true,1);
glColor3ub(255,0,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Searching",cparam.xsize-100,cparam.ysize-30);
if(alterne1==0 && alterne2 > 20)
{
glColor3ub(255,0,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Searching .",cparam.xsize-100,cparam.ysize-30);
if(alterne2 > 30){alterne2=0;alterne1=(alterne1+1)%3;}
}
if(alterne1==1 && alterne2 > 20 )
{
glColor3ub(255,0,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Searching ..",cparam.xsize-100,cparam.ysize-30);
if(alterne2 > 30){alterne2=0;alterne1=(alterne1+1)%3;}
}
if(alterne1==2 && alterne2 > 20)
{
glColor3ub(255,0,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Searching ...",cparam.xsize-100,cparam.ysize-30);
if(alterne2 > 30){alterne2=0;alterne1=(alterne1+1)%3;}
}
alterne2+=1;
glDisable(GL_LIGHT0);
}
else if(calib)
{
if(couleur == 0)
{
glColor3ub(0,0,255);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Choose thumb's color",cparam.xsize-220,cparam.ysize-30);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"then press enter",cparam.xsize-220,cparam.ysize-(30+18));
}
else if(couleur == 1)
{
glColor3ub(0,255,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Choose forefinger's color",cparam.xsize-220,cparam.ysize-30);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"then press enter",cparam.xsize-220,cparam.ysize-(30+18));
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Press return for thumb",cparam.xsize-220,cparam.ysize-(30+18*2));
}
else
{
glColor3ub(255,0,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Choose middle's color",cparam.xsize-220,cparam.ysize-(30));
texte(GLUT_BITMAP_HELVETICA_18,(char*)"then press enter",cparam.xsize-220,cparam.ysize-(30+18));
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Press return for forefinger",cparam.xsize-220,cparam.ysize-(30+18*2));
}
}
else //passage mode 3d + init profondeur
{
argDrawMode3D();
argDraw3dCamera(0, 0);
glClearDepth(1.0);
glClear(GL_DEPTH_BUFFER_BIT);
}
/// Visibilite de l'objet
if(visible == false ) //si on a jms vu de patron ou qu'on a demandé une recapture des patrons faire
{
//recherche objet visible
for (int i=0; i<2; i++) //pour chaque patron initialisé faire
{
k = -1; //k renseigne sur la visibilité du marker et son id
for (int j=0; j<marker_num; j++) // pour chaque marqueur trouver avec arDetectMarker
{
if (object[i].patt_id == marker_info[j].id)
{
if (k == -1)
{
k = j;
}
else if (marker_info[k].cf < marker_info[j].cf)
{
k = j;
}
}
}
object[i].visible = k;
if (k >= 0)
{
visible = true;
arGetTransMat(&marker_info[k], object[i].center, object[i].width,object[i].trans);
printf("object[%d] center[%f, %f]\n", i, marker_info->pos[0], marker_info->pos[1]);
printf("object[%d] hg[%f, %f]\n", i, marker_info->vertex[0][0], marker_info->vertex[0][1]);
printf("object[%d] hd[%f, %f]\n", i, marker_info->vertex[1][0], marker_info->vertex[1][1]);
printf("object[%d] bg[%f, %f]\n", i, marker_info->vertex[2][0], marker_info->vertex[2][1]);
printf("object[%d] bd[%f, %f]\n", i, marker_info->vertex[3][0], marker_info->vertex[3][1]);
//changement etat boutton
if(scan.isVisible(0)==false)
scan.setVisible(true,0);
if(scan.isVisible(1)==true)
scan.setVisible(false,1);
//si on a vu un patron, on créé une nouvelle instance de l'objet créé par le patron, qu'on stocke dans les objets à l'écran.
onscreen_object.push_back(Object3D(mesh.at(object[i].model_id), object[i].center, object[i].trans, object[i].width));
}
}
}
//vu qu'on ne gère plus à partir de la variable "visible" d'un patron, on display, dans tout les cas, soit le vecteur est vide, soit
//on a un ou plusieurs objets à afficher
display(true);
if(menuShow==true)
menu.show();
if(!calib)
scan.show();
help.show();
quit.show();
argSwapBuffers(); /// Affichage de l'image sur l'interface graphique
}
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
glClearColor( 0.0, 0.0, 0.0, 0.0 );
glClearDepth( 1.0 );
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
argDrawMode2D();
if( disp_mode ) {
argDispImage( dataPtr, 0, 0 );
}
else {
argDispImage( dataPtr, 1, 1 );
}
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
arVideoCapNext();
/* if the debug mode is on draw squares
around the detected squares in the video image */
if( arDebug ) {
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 2, 1 );
else
argDispImage( arImage, 2, 1);
}
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( marker_info[j].id == target_id ) {
if( k == -1 ) k = j;
else {
if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
}
if( k != -1 ) {
glDisable(GL_DEPTH_TEST);
switch( outputMode ) {
case 0:
getResultRaw( &marker_info[k] );
break;
case 1:
getResultQuat( &marker_info[k] );
break;
}
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i, j, k;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
arVideoCapNext();
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
/* check for object visibility */
for( i = 0; i < 2; i++ ) {
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( object[i].patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
object[i].visible = k;
if( k >= 0 ) {
arGetTransMat(&marker_info[k],
object[i].center, object[i].width,
object[i].trans);
draw( object[i].model_id, object[i].trans );
}
}
argSwapBuffers();
if( object[0].visible >= 0
&& object[1].visible >= 0 ) {
double wmat1[3][4], wmat2[3][4];
arUtilMatInv(object[0].trans, wmat1);
arUtilMatMul(wmat1, object[1].trans, wmat2);
for( j = 0; j < 3; j++ ) {
for( i = 0; i < 4; i++ ) printf("%8.4f ", wmat2[j][i]);
printf("\n");
}
printf("\n\n");
}
}
static void argCalibMainFunc(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i, j;
double cfmax;
double err;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
target_visible = 0;
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh,
&marker_info, &marker_num) < 0 ) {
(*gCalibPostFunc)( NULL, NULL );
arFittingMode = arFittingModeBak;
#ifndef ANDROID
glutKeyboardFunc( gKeyFunc );
glutMouseFunc( gMouseFunc );
glutIdleFunc( gMainFunc );
glutDisplayFunc( gMainFunc );
#endif
return;
}
arVideoCapNext();
glClearColor( 0.0, 0.0, 0.0, 0.0 );
#ifndef ANDROID
glClear(GL_COLOR_BUFFER_BIT);
#endif
/* if the debug mode is on draw squares
around the detected squares in the video image */
if( arDebug && gMiniXnum >= 2 && gMiniYnum >= 1 ) {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 2, 1 );
else
argDispImage( arImage, 2, 1);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 3.0 );
for( i = 0; i < marker_num; i++ ) {
if( marker_info[i].id < 0 ) continue;
argDrawSquare( marker_info[i].vertex, 2, 1 );
}
glLineWidth( 1.0 );
}
if( left_right == 0 ) argDraw2dLeft();
else argDraw2dRight();
glLineWidth( 3.0 );
glColor3f( 1.0, 1.0, 1.0 );
argLineSegHMD( 0, calib_pos[co1][1], AR_HMD_XSIZE, calib_pos[co1][1] );
argLineSegHMD( calib_pos[co1][0], 0, calib_pos[co1][0], AR_HMD_YSIZE );
glLineWidth( 1.0 );
argDrawMode2D();
cfmax = 0.0;
j = -1;
for( i = 0; i < marker_num; i++ ) {
if( marker_info[i].id != target_id ) continue;
if( marker_info[i].cf > cfmax ) {
cfmax = marker_info[i].cf;
j = i;
}
}
if( j < 0 ) {
argSwapBuffers();
return;
}
err = arGetTransMat(&marker_info[j], target_center, target_width, target_trans);
if( err >= 0.0 ) {
target_visible = 1;
if( left_right == 0 ) argDraw2dLeft();
else argDraw2dRight();
argDrawAttention( calib_pos[co1], co2 );
argDrawMode2D();
if( arDebug && gMiniXnum >= 2 && gMiniYnum >= 1 ) {
glColor3f( 0.0, 1.0, 0.0 );
glLineWidth( 3.0 );
argDrawSquare( marker_info[j].vertex, 1, 1 );
glLineWidth( 1.0 );
}
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
static int contF = 0;
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
//update new data
g_MyKinect.Update();
#ifdef USE_USERDETECTOR
if(g_MyKinect.userStatus.isPlayerVisible())
{
XV3 tmp = g_MyKinect.userDetector->getSkeletonJointPosition(XN_SKEL_RIGHT_HAND);
printf("Right hand position: %.2f %.2f %.2f\n", tmp.X, tmp.Y, tmp.Z);
}
#endif
if(drawFromKinect)
{
//get image data to detect marker
if( (dataPtr = (ARUint8 *)g_MyKinect.GetBGRA32Image()) == NULL ) {
arUtilSleep(2);
return;
}
}
else
{
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
if(drawFromKinect)
{
//option . You can choose many display mode. image, Depth by Color, depth mixed image
if(displayMode == 2)
dataPtr = (ARUint8 *)g_MyKinect.GetDepthDrewByColor();
else
if(displayMode == 3)
dataPtr = (ARUint8 *)g_MyKinect.GetDepthMixedImage();
}
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
arVideoCapNext();
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) {
contF = 0;
argSwapBuffers();
return;
}
/* get the transformation between the marker and the real camera */
if( mode == 0 || contF == 0 ) {
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
}
else {
arGetTransMatCont(&marker_info[k], patt_trans, patt_center, patt_width, patt_trans);
}
contF = 1;
draw( patt_trans );
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
double err;
int i;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 1.0 );
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
arVideoCapNext();
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
printf("err = %f\n", err);
if(err > 100.0 ) {
argSwapBuffers();
return;
}
/*
for(i=0;i<3;i++) {
for(j=0;j<4;j++) printf("%10.5f ", config->trans[i][j]);
printf("\n");
}
printf("\n");
*/
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 ); glScalef(1.0,1.0,5.0);
glClear(GL_DEPTH_BUFFER_BIT);
//PRINT DOS PREDIOS FANTASMAS (COM E SEM MARCADORES)
if (mostraFantasmas == 1)
{
desenhaFantasmasSemTag();
//Desenha predios fantasmas com marcadores identificados
glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
for(i = (config->marker_num) - 3; i < config->marker_num; i++ ) {
if( config->marker[i].visible >= 0 )
{
glScalef(1.0,1.0,2.0);
draw( config->trans, config->marker[i].trans, 0 );
glScalef(1.0,1.0,0.5);
}else{
glScalef(1.0,1.0,2.0);
draw( config->trans, config->marker[i].trans, 1 );
glScalef(1.0,1.0,0.5);
}
}
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
}
desenhaCarros();
for (i = 0; i < (config->marker_num) - 3; i++ ) {
if( config->marker[i].visible >= 0 ) draw( config->trans, config->marker[i].trans, 0 );
else draw( config->trans, config->marker[i].trans, 1 );
}
argSwapBuffers();
}
void findMarkers(void)
{
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
/* grab a vide frame */
//if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
//if( count == 0 ) arUtilTimerReset();
//count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) {
argSwapBuffers();
//fprintf(stderr,"no visible objects\n");
#if 0
int i;
for (i = 0; i < 4; i ++) {
for (j = 0; j < 3; j++) {
fprintf("0,\t");
}
//fprintf("\n");
}
fprintf("\n");
#endif
//return;
int i;
for (i = 0; i < 12; i++) {
fprintf(stdout, "0,\t");
}
fprintf(stdout,"\n");
//
} else {
//fprintf("patt_trans\n");
/* get the transformation between the marker and the real camera */
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
/// what is patt_center, it seems to be zeros
//fprintf("%f,\t%f,\t", patt_center[0], patt_center[1]);
fprintf(stdout,"%g,\t%g,\n", marker_info[k].pos[0], marker_info[k].pos[1]);
int i;
for (j = 0; j < 3; j++) {
for (i = 0; i < 4; i++) {
fprintf(stdout, "%f,\t", patt_trans[j][i]);
}
printf("\t");
}
fprintf(stdout,"\n");
//draw();
}
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
float curPaddlePos[3];
int i;
double err;
double angle;
err=0.;
/* grab a video frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 1.0 );
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
arVideoCapNext();
for( i = 0; i < marker_num; i++ )
marker_flag[i] = 0;
/* get the paddle position */
paddleGetTrans(paddleInfo, marker_info, marker_flag,
marker_num, &cparam);
/* draw the 3D models */
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
/* get the translation from the multimarker pattern */
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
// printf("err = %f\n", err);
if(err > 100.0 ) {
argSwapBuffers();
return;
}
//draw a red ground grid
drawGroundGrid( config->trans, 15, 150.0, 110.0, 0.0);
/* find the paddle position relative to the base */
if (paddleInfo->active)
findPaddlePosition(curPaddlePos,paddleInfo->trans,config->trans);
/* checking for paddle gesture */
if( paddleInfo->active)
{
int findItem=-1;
if (myPaddleItem.item!=-1)
{
if( check_incline(paddleInfo->trans, config->trans, &angle) ) {
myPaddleItem.x += 2.0 * cos(angle);
myPaddleItem.y += 2.0 * sin(angle);
if( myPaddleItem.x*myPaddleItem.x +
myPaddleItem.y*myPaddleItem.y > 900.0 ) {
myPaddleItem.x -= 2.0 * cos(angle);
myPaddleItem.y -= 2.0 * sin(angle);
myListItem.item[myPaddleItem.item].onpaddle=0;
myListItem.item[myPaddleItem.item].pos[0]=curPaddlePos[0];
myListItem.item[myPaddleItem.item].pos[1]=curPaddlePos[1];
myPaddleItem.item = -1;
}
}
}
else
{
if ((findItem=check_pickup(paddleInfo->trans, config->trans,&myListItem, &angle))!=-1) {
myPaddleItem.item=findItem;
myPaddleItem.x =0.0;
myPaddleItem.y =0.0;
myPaddleItem.angle = 0.0;
myListItem.item[myPaddleItem.item].onpaddle=1;
}
}
}
/* draw the item */
drawItems(config->trans,&myListItem);
/* draw the paddle */
if( paddleInfo->active ){
draw_paddle(paddleInfo,&myPaddleItem);
}
argSwapBuffers();
}
void MainLoop()
{
//QueryPerformanceFrequency(&nFreq);
//QueryPerformanceCounter(&nBefore);
DWORD StartTime,EndTime,PassTime;
double l_StartTime,l_EndTime,l_PassTime;
#ifdef _WIN32
StartTime=timeGetTime();
#else
l_StartTime=gettimeofday_sec();
#endif
ARUint8 *image;
ARMarkerInfo *marker_info;
int marker_num;
int j,k;
if( (image = (ARUint8*)arVideoGetImage() )==NULL){
arUtilSleep(2);
return;
}
argDrawMode2D();
argDispImage(image, 0, 0);
if(arDetectMarker(image, thresh, &marker_info, &marker_num) < 0){
CleanUp();
exit(0);
}
arVideoCapNext();
k=-1;
for(j=0;j<marker_num;j++){
if(patt_id==marker_info[j].id){
k = (k==-1) ? j : k;
k = (marker_info[k].cf < marker_info[j].cf) ? j: k;
}
}
if(k!=-1) {
if(isFirst==true)
nyar_NyARTransMat_O2_transMat(nyobj,&marker_info[k],patt_center,patt_width,patt_trans);
else
nyar_NyARTransMat_O2_transMatCont(nyobj,&marker_info[k],patt_trans,patt_center,patt_width,patt_trans);
isFirst=false;
if(GameOver==false){
if(arUtilTimer()>1.0){
MovePiece(3,f,p);
score+=f.ShiftPiece(f.deletePiece());
arUtilTimerReset();
GameOver=GameOverCheck(f,p);
}
}
else{
if(arUtilTimer()>15.0)
InitGame();
}
DrawObject();
}
argSwapBuffers();
#ifdef _WIN32
EndTime=timeGetTime();
PassTime=EndTime-StartTime;
(1000/FPS>PassTime)?Wait(1000/FPS-PassTime):Wait(0);
FPSCount(&fps);
printf("FPS=%d\n",fps);
#else
l_EndTime=gettimeofday_sec();
l_PassTime=l_EndTime-l_StartTime;
((double)(1000/FPS)>l_PassTime)?Wait((double)1000/FPS-l_PassTime):Wait(0);
FPSCount(&fps);
printf("FPS=%d\n",fps);
#endif
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
double err;
int i;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 1.0 );
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
arVideoCapNext();
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
printf("err = %f\n", err);
if(err > 100.0 ) {
argSwapBuffers();
return;
}
/*
for(i=0;i<3;i++) {
for(j=0;j<4;j++) printf("%10.5f ", config->trans[i][j]);
printf("\n");
}
printf("\n");
*/
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
for( i = 0; i < config->marker_num; i++ ) {
if( config->marker[i].visible >= 0 ) draw( config->trans, config->marker[i].trans, 0 );
else draw( config->trans, config->marker[i].trans, 1 );
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
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 );
/* capture the next video frame */
arVideoCapNext();
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);
}
/* 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;
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;
}
/*check for object collisions between marker 0 and 1 */
if(object[0].visible && object[1].visible) {
if(checkCollisions(object[0],object[1],COLLIDE_DIST)) {
object[0].collide = 1;
object[1].collide = 1;
}
else {
object[0].collide = 0;
object[1].collide = 0;
}
}
/* draw the AR graphics */
draw( object, objectnum );
/*swap the graphics buffers*/
argSwapBuffers();
}
//=======================================================
// メインループ関数
//=======================================================
void MainLoop(void)
{
ARUint8 *image; // カメラキャプチャ画像
ARMarkerInfo *marker_info; // マーカ情報
int marker_num; // 検出されたマーカの数
int i, j, k;
// カメラ画像の取得
if( (image = (ARUint8 *)arVideoGetImage()) == NULL ){
arUtilSleep( 2 );
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
// カメラ画像の描画
argDrawMode2D();
argDispImage( image, 0, 0 );
// マーカの検出と認識
if( arDetectMarker( image, thresh, &marker_info, &marker_num ) < 0 ){
Cleanup();
exit(0);
}
// 次の画像のキャプチャ指示
arVideoCapNext();
// 3Dオブジェクトを描画するための準備
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth(1.0); // デプスバッファの消去値
glClear( GL_DEPTH_BUFFER_BIT ); // デプスバッファの初期化
if(movex[0]!=0 && movex[3]!=0 && movex[7]!=0){
rmove++;
if(rmove!=0){
Drawnashi( marker[3].mark_id, marker[3].patt_trans);
}
if(rmove>40.0){
rmove=0.0;
for(int i=0;i<MARK_NUM;i++){
movex[i]=0;
}
}
}else{
// マーカの一致度の比較
for( i=0; i<MARK_NUM; i++ ){
k = -1;
for( j=0; j<marker_num; j++ ){
if( marker[i].patt_id == marker_info[j].id ){
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
// マーカーが見つからなかったとき
if( k == -1 ){
if(marker[i].visible != 0){
midi_out(i+1);
midi_stop(i+1);
movex[i]=1;
marker[i].visible = 0;
}else if(movex[i]!=0){
DrawObject( marker[i].mark_id, marker[i].patt_trans,i );
}
}else{
// 座標変換行列を取得
if( marker[i].visible == 0 ) {
// 1フレームを使ってマーカの位置・姿勢（座標変換行列）の計算
arGetTransMat( &marker_info[k], marker[i].patt_center, marker[i].patt_width, marker[i].patt_trans ); //初回の認識ではarGetTransMatを2回目以降ではarGetTransMatContを使うと安定するらしい
marker[i].visible = 1;
} else {
// 前のフレームを使ってマーカの位置・姿勢（座標変換行列）の計算
arGetTransMatCont( &marker_info[k], marker[i].patt_trans, marker[i].patt_center, marker[i].patt_width, marker[i].patt_trans );
}
// 3Dオブジェクトの描画
if(movex[i]!=0){
DrawObject( marker[i].mark_id, marker[i].patt_trans,i );
}
}
if(movex[i]>=40.0) movex[i]=0;
if(movex[i]!=0) movex[i]++;
}
}
// バッファの内容を画面に表示
argSwapBuffers();
}