static void dispFunc( void )
{
int x, y;
int i, j;
char str[32];
glClear( GL_COLOR_BUFFER_BIT );
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
argViewportSetPixFormat( vp[page/AR2_BLUR_IMAGE_MAX], AR_PIXEL_FORMAT_MONO );
argDrawMode2D( vp[page/AR2_BLUR_IMAGE_MAX] );
argDrawImage( imageSet->scale[page/AR2_BLUR_IMAGE_MAX]->imgBWBlur[page%AR2_BLUR_IMAGE_MAX] );
#else
argViewportSetPixFormat( vp[page], AR_PIXEL_FORMAT_MONO );
argDrawMode2D( vp[page] );
argDrawImage( imageSet->scale[page]->imgBW );
#endif
if (display_fset) {
for( i = 0; i < featureSet->list[page].num; i++ ) {
x = featureSet->list[page].coord[i].x;
y = featureSet->list[page].coord[i].y;
drawFeatureRect( x, y, AR2_DEFAULT_TS1, AR2_DEFAULT_TS2 );
sprintf(str, "%d", i);
glColor3f( 0.0f, 0.0f, 1.0f );
argDrawStringsByObservedPos(str, x, y);
}
ARLOG("fset: Num of feature points: %d\n", featureSet->list[page].num);
}
if (display_fset2) {
for( i = j = 0; i < refDataSet->num; i++ ) {
if( refDataSet->refPoint[i].refImageNo != page ) continue;
x = refDataSet->refPoint[i].coord2D.x;
y = refDataSet->refPoint[i].coord2D.y;
glColor3f( 0.0f, 1.0f, 0.0f );
argDrawLineByObservedPos(x-5, y-5, x+5, y+5);
argDrawLineByObservedPos(x+5, y-5, x-5, y+5);
j++;
}
ARLOG("fset2: Num of feature points: %d\n", j);
#if 0
for (i = 0; i < refDataSet->pageNum; i++) {
for (j = 0; j < refDataSet->pageInfo[i].imageNum; j++) {
if (refDataSet->pageInfo[i].imageInfo[j].imageNo == page) {
ARLOG("fset2: Image size: %dx%d\n", refDataSet->pageInfo[i].imageInfo[j].width, refDataSet->pageInfo[i].imageInfo[j].height);
}
}
}
#endif
}
argSwapBuffers();
}
static void dispFunc(void)
{
glClear(GL_COLOR_BUFFER_BIT);
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
argViewportSetPixFormat(vp[page / AR2_BLUR_IMAGE_MAX], AR_PIXEL_FORMAT_MONO);
argDrawMode2D(vp[page / AR2_BLUR_IMAGE_MAX]);
argDrawImage(imageSet->scale[page / AR2_BLUR_IMAGE_MAX]->imgBWBlur[page % AR2_BLUR_IMAGE_MAX]);
#else
argViewportSetPixFormat(vp[page], AR_PIXEL_FORMAT_MONO);
argDrawMode2D(vp[page]);
argDrawImage(imageSet->scale[page]->imgBW);
#endif
argSwapBuffers();
}
static void dispImage(void)
{
AR2VideoBufferT *buff;
double x, y;
int ssx, eex, ssy, eey;
int i;
if( status == 0 ) {
while (!(buff = arVideoGetImage()) || !buff->fillFlag) arUtilSleep(2);
argDrawMode2D( vp );
argDrawImage(buff->buff);
}
else if( status == 1 ) {
argDrawMode2D( vp );
argDrawImage( patt.savedImage[patt.loop_num-1] );
for( i = 0; i < point_num; i++ ) {
x = patt.point[patt.loop_num-1][i].x_coord;
y = patt.point[patt.loop_num-1][i].y_coord;
glColor3f( 1.0f, 0.0f, 0.0f );
argDrawLineByObservedPos( x-10, y, x+10, y );
argDrawLineByObservedPos( x, y-10, x, y+10 );
}
if( sx != -1 && sy != -1 ) {
if( sx < ex ) { ssx = sx; eex = ex; }
else { ssx = ex; eex = sx; }
if( sy < ey ) { ssy = sy; eey = ey; }
else { ssy = ey; eey = sy; }
dispClipImage( ssx, ssy, eex-ssx+1, eey-ssy+1, clipImage );
}
}
else if( status == 2 ) {
argDrawMode2D( vp );
argDrawImage( patt.savedImage[check_num] );
for( i = 0; i < patt.h_num*patt.v_num; i++ ) {
x = patt.point[check_num][i].x_coord;
y = patt.point[check_num][i].y_coord;
glColor3f( 1.0f, 0.0f, 0.0f );
argDrawLineByObservedPos( x-10, y, x+10, y );
argDrawLineByObservedPos( x, y-10, x, y+10 );
}
draw_line();
}
argSwapBuffers();
}
static void init( void )
{
ARParam wparam;
char name1[256], name2[256];
printf("Enter camera parameter filename");
printf("(Data/camera_para.dat): ");
if( fgets(name1, 256, stdin) == NULL ) exit(0);
if( sscanf(name1, "%s", name2) != 1 ) {
strcpy( name2, "Data/camera_para.dat");
}
if( arParamLoad(name2, 1, &wparam) < 0 ) {
printf("Parameter load error !!\n");
exit(0);
}
if( arVideoOpen(vconf) < 0 ) exit(0);
if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
arMalloc( image, ARUint8, xsize*ysize*AR_PIX_SIZE );
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
arParamChangeSize( &wparam, xsize, ysize, ¶m );
arParamDisp( ¶m );
arInitCparam( ¶m );
argInit( ¶m, 1.0, 0, 0, 0, 0 );
argDrawMode2D();
}
/* 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;
/* 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)
{
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)
{
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();
}
/* draw the user object */
static int draw_object(int obj_id, double gl_para[16])
{
GLfloat mat_ambient[] = { 0.0, 0.0, 1.0, 1.0 };
GLfloat mat_ambient_collide[] = { 1.0, 0.0, 0.0, 1.0 };
GLfloat mat_flash[] = { 0.0, 0.0, 1.0, 1.0 };
GLfloat mat_flash_collide[] = { 1.0, 0.0, 0.0, 1.0 };
GLfloat mat_flash_shiny[] = { 50.0 };
GLfloat light_position[] = { 100.0, -200.0, 200.0, 0.0 };
GLfloat ambi[] = { 0.1, 0.1, 0.1, 0.1 };
GLfloat lightZeroColor[] = { 0.9, 0.9, 0.9, 0.1 };
argDrawMode3D();
argDraw3dCamera(0, 0);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd(gl_para);
/* set the material */
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
switch (obj_id){
case 0:
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glColor3f(1.0, 2.0, 0.0);
//glTranslated(10.0, 20.0, -100.0);
draw_scene();
//glTranslated(-10.0, -20.0, 100.0);
break;
case 1:
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glColor3f(1.0, 0.0, 0.0);
//draw piano left
break;
case 2:
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glColor3f(1.0, 2.0, 0.0);
draw_controller(distX/4, distY/4);
break;
}
argDrawMode2D();
return 0;
}
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();
}
/* draw the targets */
static void draw( targetInfo myTarget, double BaseTrans[3][4])
{
double gl_para[16];
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
GLfloat mat_ambient2[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_ambient[] = {1.0, 0.0, 0.0, 1.0};
GLfloat mat_flash2[] = {0.0, 1.0, 1.0, 1.0};
GLfloat mat_flash_shiny2[]= {50.0};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
glMatrixMode(GL_MODELVIEW);
argConvGlpara(BaseTrans, gl_para);
glLoadMatrixd( gl_para );
/* set the lighting and the materials */
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash2);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny2);
if(myTarget.state == TOUCHED)
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
else
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient2);
glMatrixMode(GL_MODELVIEW);
glTranslatef( myTarget.pos[0], myTarget.pos[1], myTarget.pos[2] );
glutSolidCube(40.0);
if(myTarget.state == TOUCHED){
glColor3f(1.0,1.0,1.0);
glLineWidth(6.0);
glutWireCube(60.0);
glLineWidth(1.0);
}
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
argDrawMode2D();
}
static void mainLoop(void)
{
//maincount++;
//if (maincount > 2) exit(0);
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
draw();
argSwapBuffers();
sleep(1);
return; // (0);
}
/* draw the items on the ground */
void drawItems(double trans[3][4], ItemList* itlist)
{
int i;
double gl_para[16];
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
GLfloat mat_ambient[] = {0.0, 1.0, 0.0, 1.0};
GLfloat mat_flash2[] = {0.0, 1.0, 1.0, 1.0};
GLfloat mat_flash_shiny2[]= {50.0};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash2);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny2);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
/* load the camera transformation matrix */
glMatrixMode(GL_MODELVIEW);
argConvGlpara(trans, gl_para);
glLoadMatrixd( gl_para );
for(i = 0; i < itlist->itemnum; i ++ )
{
if (!itlist->item[i].onpaddle)
{
glPushMatrix();
glTranslatef(itlist->item[i].pos[0],itlist->item[i].pos[1], 10.0 );
glColor3f(0.0,1.0,0.0);
glutSolidSphere(10,10,10);
glPopMatrix();
}
}
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
argDrawMode2D();
}
static void mainLoop(void)
{
ARUint8 *dataPtr;
int cornerCount;
char buf[256];
int i;
if ((dataPtr = arVideoGetImage()) == NULL)
{
arUtilSleep(2);
return;
}
glClear(GL_COLOR_BUFFER_BIT);
argDrawMode2D(vp);
argDrawImage(dataPtr);
// Convert to grayscale, results will go to arIPI->image, which also provides the backing for calibImage.
arImageProcLuma(arIPI, dataPtr);
cornerFlag = cvFindChessboardCorners(calibImage, cvSize(chessboardCornerNumY, chessboardCornerNumX),
corners, &cornerCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
if (cornerFlag)
glColor4ub(255, 0, 0, 255);
else
glColor4ub(0, 255, 0, 255);
glLineWidth(2.0f);
// ARLOG("Detected corners = %d\n", cornerCount);
for (i = 0; i < cornerCount; i++)
{
argDrawLineByObservedPos(corners[i].x - 5, corners[i].y - 5, corners[i].x + 5, corners[i].y + 5);
argDrawLineByObservedPos(corners[i].x - 5, corners[i].y + 5, corners[i].x + 5, corners[i].y - 5);
// ARLOG(" %f, %f\n", corners[i].x, corners[i].y);
sprintf(buf, "%d\n", i);
argDrawStringsByObservedPos(buf, corners[i].x, corners[i].y + 20);
}
sprintf(buf, "Captured Image: %2d/%2d\n", capturedImageNum, calibImageNum);
argDrawStringsByObservedPos(buf, 10, 30);
argSwapBuffers();
}
/* draw the user object */
static int draw_object( int obj_id, double gl_para[16], int collide_flag )
{
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_ambient_collide[] = {1.0, 0.0, 0.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash_collide[] = {1.0, 0.0, 0.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
/* set the material */
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
if(collide_flag) {
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash_collide);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient_collide);
/* draw a cube */
glTranslatef( 0.0, 0.0, 30.0 );
glutSolidSphere(30,12,6);
}
else {
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
/* draw a cube */
glTranslatef( 0.0, 0.0, 30.0 );
glutSolidCube(60);
}
argDrawMode2D();
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();
}
/*
// Draw Module
*/
static int draw_scene()
{
draw_grid(distX , distY );
/* glBegin(GL_QUADS);
glVertex2d(distX, 0.0);
glVertex2d(distX, -distY);
glVertex2d(0.0, -distY);
glVertex2d(0.0, 0.0);
glEnd();
*/
glTranslated((distX/2)-250, -distY/2, 0.0);
draw_signal();
glTranslated(-(distX / 2)-250, +distY/2 , 0.0);
//glEnd();
/////
argDrawMode2D();
return 0;
}
/* 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();
}
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();
}
/* 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();
}
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();
}
/* draw the paddle */
int draw_paddle( ARPaddleInfo *paddleInfo )
{
double gl_para[16];
int i;
argDrawMode3D();
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
argDraw3dCamera( 0, 0 );
argConvGlpara(paddleInfo->trans, gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth(4.0);
glBegin(GL_LINE_LOOP);
glVertex2f( -25.0, -25.0 );
glVertex2f( 25.0, -25.0 );
glVertex2f( 25.0, 25.0 );
glVertex2f( -25.0, 25.0 );
glEnd();
glColor3f( 0.0, 0.0, 1.0);
glBegin(GL_LINE_LOOP);
for( i = 0; i < 16; i++ ) {
double x, y;
x = PADDLE_RADIUS * cos(i*3.141592*2/16);
y = PADDLE_RADIUS * sin(i*3.141592*2/16);
glVertex2d( x, y );
}
glEnd();
glBegin(GL_LINE_LOOP);
glVertex2f( -7.5, 0.0 );
glVertex2f( 7.5, 0.0 );
glVertex2f( 7.5, -105.0 );
glVertex2f( -7.5, -105.0 );
glEnd();
glEnable(GL_BLEND);
glBlendFunc(GL_ZERO,GL_ONE);
glColor4f(1,1,1,0);
glBegin(GL_POLYGON);
for( i = 0; i < 16; i++ ) {
double x, y;
x = 40.0 * cos(i*3.141592*2/16);
y = 40.0 * sin(i*3.141592*2/16);
glVertex2d( x, y );
}
glEnd();
glBegin(GL_POLYGON);
glVertex2f( -7.5, 0.0 );
glVertex2f( 7.5, 0.0 );
glVertex2f( 7.5, -105.0 );
glVertex2f( -7.5, -105.0 );
glEnd();
glDisable(GL_BLEND);
glDisable(GL_DEPTH_TEST);
argDrawMode2D();
return 0;
}
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();
}
/* 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");
}
}
/*************************************************************************************
**
** drawGroundGrid - draws a ground plane
**
***************************************************************************************/
int drawGroundGrid( double trans[3][4], int divisions, float x, float y, float height)
{
double gl_para[16];
int i;
float x0,x1,y0,y1;
float deltaX, deltaY;
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
glMatrixMode(GL_MODELVIEW);
argConvGlpara(trans, gl_para);
glLoadMatrixd( gl_para );
glTranslatef(x/2.,-y/2.,0.);
//draw the grid
glColor3f(1,0,0);
glLineWidth(6.0);
glBegin(GL_LINE_LOOP);
glVertex3f( -x, y, height );
glVertex3f( x, y, height );
glVertex3f( x, -y, height );
glVertex3f( -x, -y, height );
glEnd();
glLineWidth(3.0);
//draw a grid of lines
//X direction
x0 = -x; x1 = -x;
y0 = -y; y1 = y;
deltaX = (2*x)/divisions;
for(i=0;i<divisions;i++){
x0 = x0 + deltaX;
glBegin(GL_LINES);
glVertex3f(x0,y0,height);
glVertex3f(x0,y1,height);
glEnd();
}
x0 = -x; x1 = x;
deltaY = (2*y)/divisions;
for(i=0;i<divisions;i++){
y0 = y0 + deltaY;
glBegin(GL_LINES);
glVertex3f(x0,y0,height);
glVertex3f(x1,y0,height);
glEnd();
}
glLineWidth(1.0);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
argDrawMode2D();
return 0;
}
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)
{
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();
}
static void mainLoop( void )
{
AR2VideoBufferT *videoBuffL;
AR2VideoBufferT *videoBuffR;
ARUint8 *dataPtrL;
ARUint8 *dataPtrR;
int cornerFlagL;
int cornerFlagR;
int cornerCountL;
int cornerCountR;
char buf[256];
int i;
if ((videoBuffL = ar2VideoGetImage(vidL))) {
gVideoBuffL = videoBuffL;
}
if ((videoBuffR = ar2VideoGetImage(vidR))) {
gVideoBuffR = videoBuffR;
}
if (gVideoBuffL && gVideoBuffR) {
// Warn about significant time differences.
i = ((int)gVideoBuffR->time_sec - (int)gVideoBuffL->time_sec) * 1000
+ ((int)gVideoBuffR->time_usec - (int)gVideoBuffL->time_usec) / 1000;
if( i > 20 ) {
ARLOG("Time diff = %d[msec]\n", i);
} else if( i < -20 ) {
ARLOG("Time diff = %d[msec]\n", i);
}
dataPtrL = gVideoBuffL->buff;
dataPtrR = gVideoBuffR->buff;
glClear(GL_COLOR_BUFFER_BIT);
argDrawMode2D( vpL );
argDrawImage( dataPtrL );
argDrawMode2D( vpR );
argDrawImage( dataPtrR );
copyImage( dataPtrL, (ARUint8 *)calibImageL->imageData, xsizeL*ysizeL, pixFormatL );
cornerFlagL = cvFindChessboardCorners(calibImageL, cvSize(chessboardCornerNumY,chessboardCornerNumX),
cornersL, &cornerCountL, CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS );
copyImage( dataPtrR, (ARUint8 *)calibImageR->imageData, xsizeR*ysizeR, pixFormatR );
cornerFlagR = cvFindChessboardCorners(calibImageR, cvSize(chessboardCornerNumY,chessboardCornerNumX),
cornersR, &cornerCountR, CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS );
argDrawMode2D( vpL );
if(cornerFlagL) glColor3f(1.0f, 0.0f, 0.0f);
else glColor3f(0.0f, 1.0f, 0.0f);
glLineWidth(2.0f);
//ARLOG("Detected corners = %d\n", cornerCount);
for( i = 0; i < cornerCountL; i++ ) {
argDrawLineByObservedPos(cornersL[i].x-5, cornersL[i].y-5, cornersL[i].x+5, cornersL[i].y+5);
argDrawLineByObservedPos(cornersL[i].x-5, cornersL[i].y+5, cornersL[i].x+5, cornersL[i].y-5);
//ARLOG(" %f, %f\n", cornersL[i].x, cornersL[i].y);
sprintf(buf, "%d\n", i);
argDrawStringsByObservedPos(buf, cornersL[i].x, cornersL[i].y+20);
}
argDrawMode2D( vpR );
if(cornerFlagR) glColor3f(1.0f, 0.0f, 0.0f);
else glColor3f(0.0f, 1.0f, 0.0f);
glLineWidth(2.0f);
//ARLOG("Detected corners = %d\n", cornerCount);
for( i = 0; i < cornerCountR; i++ ) {
argDrawLineByObservedPos(cornersR[i].x-5, cornersR[i].y-5, cornersR[i].x+5, cornersR[i].y+5);
argDrawLineByObservedPos(cornersR[i].x-5, cornersR[i].y+5, cornersR[i].x+5, cornersR[i].y-5);
//ARLOG(" %f, %f\n", cornersR[i].x, cornersR[i].y);
sprintf(buf, "%d\n", i);
argDrawStringsByObservedPos(buf, cornersR[i].x, cornersR[i].y+20);
}
if( cornerFlagL && cornerFlagR ) {
cornerFlag = 1;
glColor3f(1.0f, 0.0f, 0.0f);
}
else {
cornerFlag = 0;
glColor3f(0.0f, 1.0f, 0.0f);
}
argDrawMode2D( vpL );
sprintf(buf, "Captured Image: %2d/%2d\n", capturedImageNum, calibImageNum);
argDrawStringsByIdealPos(buf, 10, 30);
argSwapBuffers();
gVideoBuffL = gVideoBuffR = NULL;
} else arUtilSleep(2);
}
static void mainLoop(void)
{
static AR2VideoBufferT buff = {0};
static int oldImageMode = -1;
static int oldDispMode = -1;
static int oldDistMode = -1;
ARdouble patt_trans[3][4];
int i, j;
if (!buff.buff) {
arMalloc(buff.buff, ARUint8, xsize*ysize*PIXEL_SIZE);
}
if( oldImageMode != 0 && imageMode == 0 ) {
for( i = 0; i < xsize*ysize; i++ ) {
buff.buff[i*PIXEL_SIZE+0] = 200;
buff.buff[i*PIXEL_SIZE+1] = 200;
buff.buff[i*PIXEL_SIZE+2] = 200;
}
for( j = 190; j < 291; j++ ) {
for( i = 280; i < 381; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 20;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 20;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 20;
}
}
i = 0;
for( j = 0; j < ysize; j++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
i = 639;
for( j = 0; j < ysize; j++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
j = 0;
for( i = 0; i < xsize; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
j = 479;
for( i = 0; i < xsize; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
oldImageMode = 0;
}
if( oldImageMode != 1 && imageMode == 1 ) {
for( j = 0; j < 480; j += 2 ) {
for( i = 0; i < 640; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
}
for( j = 1; j < 480; j += 2 ) {
for( i = 0; i < 640; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 255;
}
}
oldImageMode = 1;
}
if( oldImageMode != 2 && imageMode == 2 ) {
for( i = 0; i < 640; i += 2 ) {
for( j = 0; j < 480; j++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 255;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 0;
}
}
for( i = 1; i < 640; i += 2 ) {
for( j = 0; j < 480; j++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 0;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 255;
}
}
oldImageMode = 2;
}
if( oldImageMode != 3 && imageMode == 3 ) {
for( i = 0; i < xsize*ysize; i++ ) {
buff.buff[i*PIXEL_SIZE+0] = 200;
buff.buff[i*PIXEL_SIZE+1] = 200;
buff.buff[i*PIXEL_SIZE+2] = 200;
}
for( j = 190; j < 291; j++ ) {
for( i = 280; i < 381; i++ ) {
buff.buff[(j*xsize+i)*PIXEL_SIZE+0] = 20;
buff.buff[(j*xsize+i)*PIXEL_SIZE+1] = 20;
buff.buff[(j*xsize+i)*PIXEL_SIZE+2] = 20;
}
}
oldImageMode = 3;
}
/* detect the markers in the video frame */
if (arDetectMarker(arHandle, &buff) < 0) {
cleanup();
exit(0);
}
glClearColor( 0.0f, 0.0f, 0.0f, 0.0f );
glClearDepth( 1.0f );
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
if( oldDispMode != 0 && dispMode == 0 ) {
argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_GL_DRAW_PIXELS );
oldDispMode = 0;
debugReportMode(vp);
}
else if( oldDispMode != 1 && dispMode == 1 ) {
argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FRAME );
oldDispMode = 1;
debugReportMode(vp);
}
else if( oldDispMode != 2 && dispMode == 2 ) {
argViewportSetDispMethod( vp, AR_GL_DISP_METHOD_TEXTURE_MAPPING_FIELD );
oldDispMode = 2;
debugReportMode(vp);
}
if( oldDistMode != 0 && distMode == 0 ) {
argViewportSetDistortionMode( vp, AR_GL_DISTORTION_COMPENSATE_DISABLE );
oldDistMode = 0;
}
if( oldDistMode != 1 && distMode == 1 ) {
argViewportSetDistortionMode( vp, AR_GL_DISTORTION_COMPENSATE_ENABLE );
oldDistMode = 1;
}
argDrawMode2D(vp);
argDrawImage(buff.buff);
if( imageMode == 3 ) {
glLineWidth( 1.0f );
glColor3f( 0.0f, 1.0f, 0.0f );
argDrawSquareByIdealPos( arHandle->markerInfo[0].vertex );
glColor3f( 1.0f, 0.0f, 0.0f );
argDrawLineByIdealPos( 0.0, 0.0, 640.0, 0.0 );
argDrawLineByIdealPos( 0.0, 479.0, 640.0, 479.0 );
argDrawLineByIdealPos( 0.0, -1.0, 0.0, 479.0 );
argDrawLineByIdealPos( 639.0, -1.0, 639.0, 479.0 );
argDrawLineByIdealPos( 0.0, 188.0, 639.0, 188.0 );
argDrawLineByIdealPos( 0.0, 292.0, 639.0, 292.0 );
argDrawLineByIdealPos( 278.0, 0.0, 278.0, 479.0 );
argDrawLineByIdealPos( 382.0, 0.0, 382.0, 479.0 );
}
if( arHandle->marker_num == 0 ) {
argSwapBuffers();
return;
}
arGetTransMatSquare(ar3DHandle, &(arHandle->markerInfo[0]), SQUARE_WIDTH, patt_trans);
draw(patt_trans);
argSwapBuffers();
}