/*
Process each captured video frame.
*/
void Process()
{
reset = true;
while (true)
{
frame = capture->captureImage();
if (frame == 0)
continue; // TODO: For some reason CvCam gives NULL sometimes?
if(frame->origin==1)
{
cvFlip(frame);
frame->origin=0;
}
if (frame->nChannels == 1)
{
gray->imageData = frame->imageData;
cvCvtColor(frame, rgb, CV_BayerGB2RGB); // TODO: Now this assumes Bayer
}
else
{
rgb->imageData = frame->imageData;
cvCvtColor(frame, gray, CV_RGB2GRAY);
}
gray->origin = frame->origin;
if (reset)
{
reset = false;
}
alvar::Pose pose;
double error = GetMultiMarkerPose(frame, &cam, pose);
bool track_ok = (error>=0.0 && error<5.0);
if (track_ok)
{
// Draw cameras, points & features
double gl_mat[16];
pose.GetMatrixGL(gl_mat);
model_transform->setMatrix(osg::Matrix(gl_mat));
model_switch->setAllChildrenOn();
}
else
{
model_switch->setAllChildrenOff();
// std::cout << "\rTrack Failed ";
}
viewBG->DrawImage(rgb);
if (viewer->done())
break;
viewer->frame();
if (stop_running)
break;
}
}
// main
int main(int argc, char** argv)
{
osg::ArgumentParser arguments(&argc, argv);
// Let's use the convenience system from ALVAR for capturing.
// We initialize Highgui through the CaptureFactory (see manual for other options like AVI)
alvar::CaptureFactory *factory = alvar::CaptureFactory::instance();
alvar::CaptureFactory::CaptureDeviceVector devices = factory->enumerateDevices("highgui");
// Check to ensure that a device was found
if (devices.size() > 0) {
capture = factory->createCapture(devices.front());
}
// Capture is central feature, so if we fail, we get out of here.
if (capture && capture->start()) {
// Let's capture one frame to get video resolution
IplImage *tempImg = capture->captureImage();
videoXRes = tempImg->width;
videoYRes = tempImg->height;
// Calibration. See manual and ALVAR internal samples how to calibrate your camera
// Calibration will make the marker detecting and marker pose calculation more accurate.
if (! camera.SetCalib("calib.xml", videoXRes, videoYRes)) {
camera.SetRes(videoXRes, videoYRes);
}
//Create the osg::Image for the video
videoImage = new osg::Image;
//Create the osg::Image for the texture (marker hiding)
texImage = new osg::Image;
//IplImage for the texture generation.
markerHiderImage=cvCreateImage(cvSize(64, 64), 8, 4);
// construct the viewer
viewer = new osgViewer::Viewer(arguments);
// Let's use window size of the video (approximate).
viewer->setUpViewInWindow (200, 200, videoXRes, videoYRes);
// Viewport is the same
viewer->getCamera()->setViewport(0,0,videoXRes,videoYRes);
viewer->setLightingMode(osg::View::HEADLIGHT);
// Attach our own event handler to the system so we can catch the resizing events
viewer->addEventHandler(new CSimpleWndSizeHandler(videoXRes,videoYRes ));
// Set projection matrix as ALVAR recommends (based on the camera calibration)
double p[16];
camera.GetOpenglProjectionMatrix(p,videoXRes,videoYRes);
viewer->getCamera()->setProjectionMatrix(osg::Matrix(p));
// Create main root for everything
arRoot = new osg::Group;
arRoot->setName("ALVAR stuff (c) VTT");
// Init the video background class and add it to the graph
videoBG.Init(videoXRes,videoYRes,(tempImg->origin?true:false));
arRoot->addChild(videoBG.GetOSGGroup());
// Create model switch and add it the to graph
modelSwitch = new osg::Switch;
arRoot->addChild(modelSwitch.get());
// Create model transformation for the markers and add them under the switch
mtForMarkerFive = new osg::MatrixTransform;
mtForMarkerTen = new osg::MatrixTransform;
modelSwitch->addChild(mtForMarkerFive.get());
modelSwitch->addChild(mtForMarkerTen.get());
// add the texture under the marker transformation node
mtForMarkerFive->addChild(texOnMarker.GetDrawable());
// All models off
modelSwitch->setAllChildrenOff();
// load the data (models).
modelForMarkerFive = osgDB::readNodeFile("grid.osg");
modelForMarkerTen = osgDB::readNodeFile("axes.osg");
// If loading ok, add models under the matrixtransformation nodes.
if(modelForMarkerFive)
mtForMarkerFive->addChild(modelForMarkerFive.get());
if(modelForMarkerTen)
mtForMarkerTen->addChild(modelForMarkerTen.get());
// Tell the ALVAR the markers' size (same to all)
// You can also specify different size for each individual markers
markerDetector.SetMarkerSize(MARKER_SIZE);
// Set scene data
viewer->setSceneData(arRoot.get());
// And start the main loop
while(!viewer->done()){
//Call the rendering function over and over again.
renderer();
}
}
// Time to close the system
if(capture){
capture->stop();
delete capture;
}
if(markerHiderImage)
cvReleaseImage(&markerHiderImage);
return 0; // bye bye. Happy coding!
}
