static VALUE Drawable_initialize(int argc, VALUE *argv, VALUE vSelf) {
// Get C++ object pointer from vSelf
Drawable *pSelf;
Data_Get_Struct(vSelf, Drawable, pSelf);
if(argc == 0) {
// Nothing to initialize
} else if(argc >= 1 && argc <= 5 && (argc < 5 || IS(argv[4], g_cColor))) {
if(argc >= 1)
pSelf->SetLeft((float)NUM2DBL(argv[0]));
if(argc >= 2)
pSelf->SetTop((float)NUM2DBL(argv[1]));
if(argc >= 3) {
if(ISNUM(argv[2])) {
float f = (float)NUM2DBL(argv[2]);
pSelf->SetScale(f, f);
} else if(IS(argv[2], rb_cArray)) {
float x = (float)NUM2DBL(rb_ary_entry(argv[2], 0));
float y = (float)NUM2DBL(rb_ary_entry(argv[2], 1));
pSelf->SetScale(x, y);
}
}
if(argc >= 4)
pSelf->SetRotation((float)NUM2DBL(argv[3]));
if(argc >= 5)
pSelf->SetColor(*(Color *)DATA_PTR(argv[4]));
} else
rb_raise(rb_eTypeError, "wrong argument type(s)");
return vSelf;
}
static VALUE Drawable_set_scale(VALUE vSelf, VALUE vScale) {
// Get C++ object pointer from vSelf
Drawable *pSelf;
Data_Get_Struct(vSelf, Drawable, pSelf);
if(ISNUM(vScale)) {
float f = (float)NUM2DBL(vScale);
pSelf->SetScale(f, f);
} else if(IS(vScale, rb_cArray)) {
float x = (float)NUM2DBL(rb_ary_entry(vScale, 0));
float y = (float)NUM2DBL(rb_ary_entry(vScale, 1));
pSelf->SetScale(x, y);
} else
rb_raise(rb_eTypeError, "wrong argument type(s)");
return Qnil;
}
void videocallback(IplImage *image)
{
bool flip_image = (image->origin?true:false);
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
if (init) {
init = false;
cout << "Loading calibration: " << calibrationFilename.str();
if (fernEstimator.setCalibration(calibrationFilename.str(), image->width, image->height)) {
cout << " [Ok]" << endl;
} else {
fernEstimator.setResolution(image->width, image->height);
cout << " [Fail]" << endl;
}
double p[16];
fernEstimator.camera().GetOpenglProjectionMatrix(p, image->width, image->height);
GlutViewer::SetGlProjectionMatrix(p);
d.SetScale(10);
gray = cv::Mat(image);
}
if (image->nChannels == 3) {
cv::Mat img = cvarrToMat(image);
cv::cvtColor(img, gray, CV_RGB2GRAY);
}
else {
gray = image;
}
vector<CvPoint2D64f> ipts;
vector<CvPoint3D64f> mpts;
fernDetector.findFeatures(gray, true);
fernDetector.imagePoints(ipts);
fernDetector.modelPoints(mpts, true);
double test = fernDetector.inlierRatio();
if (test > 0.15 && mpts.size() > 4) {
fernEstimator.calculateFromPointCorrespondences(mpts, ipts);
}
GlutViewer::DrawableClear();
Pose pose = fernEstimator.pose();
pose.GetMatrixGL(d.gl_mat);
GlutViewer::DrawableAdd(&d);
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
}
