void vDrawScene()
{
if (TheResizedImage.rows==0) //prevent from going on until the image is initialized
return;
///clear
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
///draw image in the buffer
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, TheGlWindowSize.width, 0, TheGlWindowSize.height, -1.0, 1.0);
glViewport(0, 0, TheGlWindowSize.width , TheGlWindowSize.height);
glDisable(GL_TEXTURE_2D);
glPixelZoom( 1, -1);
glRasterPos3f( 0, TheGlWindowSize.height - 0.5, -1.0 );
glDrawPixels ( TheGlWindowSize.width , TheGlWindowSize.height , GL_RGB , GL_UNSIGNED_BYTE , TheResizedImage.ptr(0) );
///Set the appropriate projection matrix so that rendering is done in a enrvironment
//like the real camera (without distorsion)
glMatrixMode(GL_PROJECTION);
double proj_matrix[16];
TheCameraParams.glGetProjectionMatrix(TheInputImage.size(),TheGlWindowSize,proj_matrix,0.05,10);
glLoadIdentity();
glLoadMatrixd(proj_matrix);
glLineWidth(2);
//now, for each marker,
double modelview_matrix[16];
/* for (unsigned int m=0;m<TheMarkers.size();m++)
{
TheMarkers[m].glGetModelViewMatrix(modelview_matrix);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glLoadMatrixd(modelview_matrix);
// axis(TheMarkerSize);
glColor3f(1,0.4,0.4);
glTranslatef(0, TheMarkerSize/2,0);
glPushMatrix();
glutWireCube( TheMarkerSize );
glPopMatrix();
}*/
//If the board is detected with enough probability
if (TheBoardDetected.second>0.3) {
TheBoardDetected.first.glGetModelViewMatrix(modelview_matrix);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glLoadMatrixd(modelview_matrix);
glColor3f(0,1,0);
glTranslatef(0, TheMarkerSize/2,0);
glPushMatrix();
glutWireCube( TheMarkerSize );
axis(TheMarkerSize);
glPopMatrix();
}
glutSwapBuffers();
}
/*!
*
*/
static void vDrawScene()
{
if (resImg.rows==0) //prevent from going on until the image is initialized
return;
///clear
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
///draw image in the buffer
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, glSize.width, 0, glSize.height, -1.0, 1.0);
glViewport(0, 0, glSize.width , glSize.height);
glDisable(GL_TEXTURE_2D);
glPixelZoom( 1, -1);
glRasterPos3f( 0, glSize.height - 0.5, -1.0 );
glDrawPixels (glSize.width , glSize.height , GL_BGR_EXT , GL_UNSIGNED_BYTE , resImg.ptr(0) );
///Set the appropriate projection matrix so that rendering is done in a enrvironment
//like the real camera (without distorsion)
glMatrixMode(GL_PROJECTION);
double proj_matrix[16];
camParams.glGetProjectionMatrix(inImg.size(),glSize,proj_matrix,0.05,10);
glLoadIdentity();
glLoadMatrixd(proj_matrix);
//now, for each marker,
double modelview_matrix[16];
for (unsigned int m=0; m<markers.size(); m++)
{
markers[m].glGetModelViewMatrix(modelview_matrix);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glLoadMatrixd(modelview_matrix);
axis(msiz->dval[0]);
glColor3f(1,0.4,0.4);
glTranslatef(0, msiz->dval[0]/2,0);
glPushMatrix();
glutWireCube( msiz->dval[0] );
glPopMatrix();
}
glutSwapBuffers();
}
void MarkerDetector::glGetProjectionMatrix ( CameraParameters & CamMatrix,cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert ) throw ( cv::Exception )
{
cerr<<"MarkerDetector::glGetProjectionMatrix . This a deprecated function. Use CameraParameters::glGetProjectionMatrix instead. "<<__FILE__<<" "<<__LINE__<<endl;
CamMatrix.glGetProjectionMatrix ( orgImgSize,size,proj_matrix,gnear,gfar,invert );
}
void vDrawScene()
{
if (TheResizedImage.rows==0)// prevent from going on until the image is initialized
return;
///clear
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
//glColor3f(1.0f,0.0f,0.0f);
// draw image in the buffer
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, TheGlWindowSize.width, 0, TheGlWindowSize.height, -1.0, 1.0);
glViewport(0, 0, TheGlWindowSize.width , TheGlWindowSize.height);
glDisable(GL_TEXTURE_2D);
glPixelZoom( 1, -1);
glRasterPos3f( 0, TheGlWindowSize.height - 0.5, -1.0 );
glDrawPixels ( TheGlWindowSize.width , TheGlWindowSize.height , GL_RGB , GL_UNSIGNED_BYTE , TheResizedImage.ptr(0) );
///Set the appropriate projection matrix so that rendering is done in a enrvironment
//like the real camera (without distorsion)
glMatrixMode(GL_PROJECTION);
double proj_matrix[16];
TheCameraParams.glGetProjectionMatrix(TheInputImage.size(),TheGlWindowSize,proj_matrix,0.05,10);
glLoadIdentity();
glLoadMatrixd(proj_matrix);
//now, for each marker,
double modelview_matrix[16];
glMatrixMode(GL_MODELVIEW);
//Deepak Comment here
glPushMatrix();
vector<cv::Point2f> centers;
for (unsigned int m=0;m<TheMarkers.size();m++)
{
centers.push_back(TheMarkers[m].getCenter());
// TheMarkers[m].glGetModelViewMatrix(modelview_matrix);
// glLoadIdentity();
// glLoadMatrixd(modelview_matrix);
// axis(TheMarkerSize);
// glColor3f(1,0.4,0.4);
// glTranslatef(0, TheMarkerSize/2,0);
// glPushMatrix();
// glutWireCube( TheMarkerSize );
// glPopMatrix();
}
char textString[100] = "Free Mode";
char unitString[100] = "Metric Units";
if ( mode == Free){
freeMode(centers);
int a = sprintf(textString,"%s","Free Mode");
} else if (mode == Triangle){
triangleMode(centers);
int a = sprintf(textString,"%s","Triangle Exploration Mode");
} else if (mode == Grid){
int a = sprintf(textString,"%s","Grid Mode");
gridMode(centers);
} else if (mode == Line){
int a = sprintf(textString,"%s","Line Mode");
lineMode(centers);
} else if (mode == Line2){
int a = sprintf(textString,"%s","Line Mode2");
lineMode2(centers);
}
int m =sprintf(unitString,"%s",imperialUnitFlag?"Imperial Units":"Metric Units");
if (centers.size() > 0){
cv::Mat t0 = TheMarkers[0].Tvec;
float xTranslate = -0.1f;
float yTranslate = -0.1f;
glPushMatrix();
glLoadIdentity();
glColor4f(1.0f,0.0f,0.0f,0.5f);
glTranslatef(t0.at<float>(0,0) + xTranslate,t0.at<float>(1,0)+yTranslate,-t0.at<float>(2,0));
glRasterPos3f( 0.0f,0.0f,0.0f );
char buffer[100];
int n = sprintf(buffer,"%s \n%s",textString,unitString);
drawString(buffer);
glPopMatrix();
}
glutSwapBuffers();
}
