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(); } }
static void mainLoop(void) { static int imageNumber = 0; static int ms_prev; int ms; float s_elapsed; ARUint8 *image; ARdouble err; int j, k; // 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; // Update drawing. DrawCubeUpdate(s_elapsed); // 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); } // Check through the marker_info array for highest confidence // visible marker matching our preferred pattern. k = -1; for (j = 0; j < gARHandle->marker_num; j++) { if (gARHandle->markerInfo[j].id == gPatt_id) { if (k == -1) k = j; // First marker detected. else if (gARHandle->markerInfo[j].cf > gARHandle->markerInfo[k].cf) k = j; // Higher confidence marker detected. } } if (k != -1) { // Get the transformation between the marker and the real camera into gPatt_trans. err = arGetTransMatSquare(gAR3DHandle, &(gARHandle->markerInfo[k]), gPatt_width, gPatt_trans); gPatt_found = TRUE; } else { gPatt_found = FALSE; } // Tell GLUT the display has changed. glutPostRedisplay(); } }