int main( int argc, char *argv[] )
{
glutInit(&argc, argv);
init(argc, argv);
argSetDispFunc( mainLoop, 1 );
argSetKeyFunc( keyEvent );
ar2VideoCapStart(vidL);
ar2VideoCapStart(vidR);
argMainLoop();
return 0;
}
int CWebCam::SetupWebCam(const char *cparam_names, char *vconfs)
{
int xsize, ysize;
ARParam wparam;
if((ARTVideo = ar2VideoOpen(vconfs)) == 0) return(0);
if(ar2VideoInqSize(ARTVideo, &xsize, &ysize) < 0) return(0);
if(arParamLoad(cparam_names, 1, &wparam) < 0) return(0);
arParamChangeSize(&wparam, xsize, ysize, &ARTCparam);
arInitCparam(&ARTCparam);
arParamDisp(&ARTCparam);
ARTThreshhold = 100;
arglCameraFrustumRH(&ARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, projectionMat);
if(ar2VideoCapStart(ARTVideo) != 0) return(0);
ar2VideoCapNext(ARTVideo);
return(1);
}
static void mainLoop(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
AR2VideoBufferT *movieBuffer;
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;
// Grab a movie frame (if available).
if ((movieBuffer = ar2VideoGetImage(gMovieVideo)) != NULL) {
if (movieBuffer->buff && movieBuffer->fillFlag)
gMovieImage = movieBuffer->buff;
}
// Grab a video frame.
if ((image = arVideoGetImage()) != NULL) {
gARTImage = image; // Save the fetched image.
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.
if (gPatt_found && useContPoseEstimation) {
err = arGetTransMatSquareCont(gAR3DHandle, &(gARHandle->markerInfo[k]), gPatt_trans, gPatt_width, gPatt_trans);
} else {
err = arGetTransMatSquare(gAR3DHandle, &(gARHandle->markerInfo[k]), gPatt_width, gPatt_trans);
// Marker has appeared, so un-pause movie.
ar2VideoCapStart(gMovieVideo);
}
gPatt_found = TRUE;
} else {
if (gPatt_found) {
// Marker has disappeared, so pause movie.
ar2VideoCapStop(gMovieVideo);
}
gPatt_found = FALSE;
}
// Tell GLUT the display has changed.
glutPostRedisplay();
}
}
bool ARToolKitVideoSource::open() {
ARController::logv(AR_LOG_LEVEL_DEBUG, "ARWrap::ARToolKitVideoSource::open(): called, opening ARToolKit video");
if (deviceState != DEVICE_CLOSED) {
ARController::logv(AR_LOG_LEVEL_ERROR, "ARWrap::ARToolKitVideoSource::open(): error: device is already open, exiting returning false");
return false;
}
// Open the video path
gVid = ar2VideoOpen(videoConfiguration);
if (!gVid) {
ARController::logv(AR_LOG_LEVEL_ERROR, "ARWrap::ARToolKitVideoSource::open(): arVideoOpen unable to open connection to camera using configuration '%s', exiting returning false", videoConfiguration);
return false;
}
ARController::logv(AR_LOG_LEVEL_DEBUG, "ARWrap::ARToolKitVideoSource::open(): Opened connection to camera using configuration '%s'", videoConfiguration);
deviceState = DEVICE_OPEN;
// Find the size of the video
if (ar2VideoGetSize(gVid, &videoWidth, &videoHeight) < 0) {
ARController::logv(AR_LOG_LEVEL_ERROR, "ARWrap::ARToolKitVideoSource::open(): Error: unable to get video size, calling close(), exiting returning false");
this->close();
return false;
}
// Get the format in which the camera is returning pixels
pixelFormat = ar2VideoGetPixelFormat(gVid);
if (pixelFormat < 0 ) {
ARController::logv(AR_LOG_LEVEL_ERROR, "ARWrap::ARToolKitVideoSource::open(): Error: unable to get pixel format, calling close(), exiting returning false");
this->close();
return false;
}
ARController::logv(AR_LOG_LEVEL_DEBUG, "ARWrap::ARToolKitVideoSource::open(): Video %dx%d@%dBpp (%s)", videoWidth, videoHeight, arUtilGetPixelSize(pixelFormat), arUtilGetPixelFormatName(pixelFormat));
#ifndef _WINRT
// Translate pixel format into OpenGL texture intformat, format, and type.
switch (pixelFormat) {
case AR_PIXEL_FORMAT_RGBA:
glPixIntFormat = GL_RGBA;
glPixFormat = GL_RGBA;
glPixType = GL_UNSIGNED_BYTE;
break;
case AR_PIXEL_FORMAT_RGB:
glPixIntFormat = GL_RGB;
glPixFormat = GL_RGB;
glPixType = GL_UNSIGNED_BYTE;
break;
case AR_PIXEL_FORMAT_BGRA:
glPixIntFormat = GL_RGBA;
glPixFormat = GL_BGRA;
glPixType = GL_UNSIGNED_BYTE;
break;
case AR_PIXEL_FORMAT_ABGR:
glPixIntFormat = GL_RGBA;
glPixFormat = GL_ABGR_EXT;
glPixType = GL_UNSIGNED_BYTE;
break;
case AR_PIXEL_FORMAT_ARGB:
glPixIntFormat = GL_RGBA;
glPixFormat = GL_BGRA;
#ifdef AR_BIG_ENDIAN
glPixType = GL_UNSIGNED_INT_8_8_8_8_REV;
#else
glPixType = GL_UNSIGNED_INT_8_8_8_8;
#endif
break;
case AR_PIXEL_FORMAT_BGR:
glPixIntFormat = GL_RGB;
glPixFormat = GL_BGR;
glPixType = GL_UNSIGNED_BYTE;
break;
case AR_PIXEL_FORMAT_MONO:
case AR_PIXEL_FORMAT_420v:
case AR_PIXEL_FORMAT_420f:
case AR_PIXEL_FORMAT_NV21:
glPixIntFormat = GL_LUMINANCE;
glPixFormat = GL_LUMINANCE;
glPixType = GL_UNSIGNED_BYTE;
break;
case AR_PIXEL_FORMAT_RGB_565:
glPixIntFormat = GL_RGB;
glPixFormat = GL_RGB;
glPixType = GL_UNSIGNED_SHORT_5_6_5;
break;
case AR_PIXEL_FORMAT_RGBA_5551:
glPixIntFormat = GL_RGBA;
glPixFormat = GL_RGBA;
glPixType = GL_UNSIGNED_SHORT_5_5_5_1;
break;
case AR_PIXEL_FORMAT_RGBA_4444:
glPixIntFormat = GL_RGBA;
glPixFormat = GL_RGBA;
glPixType = GL_UNSIGNED_SHORT_4_4_4_4;
break;
default:
ARController::logv("Error: Unsupported pixel format.\n");
this->close();
return false;
break;
}
#endif // !_WINRT
#if TARGET_PLATFORM_IOS
// Tell arVideo what the typical focal distance will be. Note that this does NOT
// change the actual focus, but on devices with non-fixed focus, it lets arVideo
// choose a better set of camera parameters.
ar2VideoSetParami(gVid, AR_VIDEO_PARAM_IOS_FOCUS, AR_VIDEO_IOS_FOCUS_0_3M); // Default is 0.3 metres. See <AR/sys/videoiPhone.h> for allowable values.
#endif
// Load the camera parameters, resize for the window and init.
ARParam cparam;
// Prefer internal camera parameters.
if (ar2VideoGetCParam(gVid, &cparam) == 0) {
ARController::logv(AR_LOG_LEVEL_DEBUG, "ARWrap::ARToolKitVideoSource::open(): Using internal camera parameters.");
} else {
const char cparam_name_default[] = "camera_para.dat"; // Default name for the camera parameters.
if (cameraParamBuffer) {
if (arParamLoadFromBuffer(cameraParamBuffer, cameraParamBufferLen, &cparam) < 0) {
ARController::logv(AR_LOG_LEVEL_ERROR, "ARWrap::ARToolKitVideoSource::open(): error-failed to load camera parameters from buffer, calling close(), exiting returning false");
this->close();
return false;
} else {
ARController::logv(AR_LOG_LEVEL_DEBUG, "ARWrap::ARToolKitVideoSource::open(): Camera parameters loaded from buffer");
}
} else {
if (arParamLoad((cameraParam ? cameraParam : cparam_name_default), 1, &cparam) < 0) {
ARController::logv(AR_LOG_LEVEL_ERROR, "ARWrap::ARToolKitVideoSource::open(): error-failed to load camera parameters %s, calling close(), exiting returning false",
(cameraParam ? cameraParam : cparam_name_default));
this->close();
return false;
} else {
ARController::logv(AR_LOG_LEVEL_DEBUG, "ARWrap::ARToolKitVideoSource::open():Camera parameters loaded from %s", (cameraParam ? cameraParam : cparam_name_default));
}
}
}
if (cparam.xsize != videoWidth || cparam.ysize != videoHeight) {
#ifdef DEBUG
ARController::logv(AR_LOG_LEVEL_ERROR, "*** Camera Parameter resized from %d, %d. ***\n", cparam.xsize, cparam.ysize);
#endif
arParamChangeSize(&cparam, videoWidth, videoHeight, &cparam);
}
if (!(cparamLT = arParamLTCreate(&cparam, AR_PARAM_LT_DEFAULT_OFFSET))) {
ARController::logv(AR_LOG_LEVEL_ERROR, "ARWrap::ARToolKitVideoSource::open(): error-failed to create camera parameters lookup table, calling close(), exiting returning false");
this->close();
return false;
}
int err = ar2VideoCapStart(gVid);
if (err != 0) {
if (err == -2) {
ARController::logv(AR_LOG_LEVEL_ERROR, "ARWrap::ARToolKitVideoSource::open(): error starting video-device unavailable \"%d,\" setting ARW_ERROR_DEVICE_UNAVAILABLE error state", err);
setError(ARW_ERROR_DEVICE_UNAVAILABLE);
} else {
ARController::logv(AR_LOG_LEVEL_ERROR, "ARWrap::ARToolKitVideoSource::open(): error \"%d\" starting video capture", err);
}
ARController::logv(AR_LOG_LEVEL_ERROR, "ARWrap::ARToolKitVideoSource::open(): calling close(), exiting returning false");
this->close();
return false;
}
deviceState = DEVICE_RUNNING;
ARController::logv(AR_LOG_LEVEL_DEBUG, "ARWrap::ARToolKitVideoSource::open(): exiting returning true, deviceState = DEVICE_RUNNING, video capture started");
return true;
}
int arVideoCapStart( void )
{
if( vid == NULL ) return -1;
return ar2VideoCapStart( vid );
}
/* CHECKED
* PsychARVideoCaptureRate() - Start- and stop video capture.
*
* capturehandle = Grabber to start-/stop.
* playbackrate = zero == Stop capture, non-zero == Capture
* dropframes = 0 - Always deliver oldest frame in DMA ringbuffer. 1 - Always deliver newest frame.
* --> 1 == drop frames in ringbuffer if behind -- low-latency capture.
* startattime = Deadline (in system time) for which to wait before real start of capture.
* Returns Number of dropped frames during capture.
*/
int PsychARVideoCaptureRate(int capturehandle, double capturerate, int dropframes, double* startattime)
{
int dropped = 0;
float framerate = 0;
// Retrieve device record for handle:
PsychVidcapRecordType* capdev = PsychGetARVidcapRecord(capturehandle);
// Start- or stop capture?
if (capturerate > 0) {
// Start capture:
if (capdev->grabber_active) PsychErrorExitMsg(PsychError_user, "You tried to start video capture, but capture is already started!");
// Reset statistics:
capdev->last_pts = -1.0;
capdev->nr_droppedframes = 0;
capdev->frame_ready = 0;
// Framedropping is not supported by libARVideo, so we implement it ourselves.
// Store the 'dropframes' flag in our capdev struct, so the PsychARGetTextureFromCapture()
// knows how to handle this:
capdev->dropframes = (dropframes > 0) ? 1 : 0;
// Ready to go! Now we just need to tell the camera to start its capture cycle:
// Wait until start deadline reached:
if (*startattime != 0) PsychWaitUntilSeconds(*startattime);
// Start DMA driven isochronous data transfer:
if(PsychPrefStateGet_Verbosity()>5) printf("PTB-DEBUG: Starting capture...\n"); fflush(NULL);
// Start the video capture for this camera.
if (ar2VideoCapStart(capdev->camera) !=DC1394_SUCCESS) {
// Failed!
PsychErrorExitMsg(PsychError_user, "Unable to start capture on camera via ar2VideoCapStart() - Start of video capture failed!");
}
// Record real start time:
PsychGetAdjustedPrecisionTimerSeconds(startattime);
if(PsychPrefStateGet_Verbosity()>5) printf("PTB-DEBUG: Capture engine fully running...\n"); fflush(NULL);
// Query framerate and convert to floating point value and assign it:
#if PSYCH_SYSTEM == PSYCH_WINDOWS
ar2VideoInqFreq(capdev->camera, &framerate);
#else
// TODO: Implement for non-Win32:
framerate = (float) capturerate;
#endif
capdev->fps = (double) framerate;
// Ok, capture is now started:
capdev->grabber_active = 1;
// Allocate conversion buffer if needed for YUV->RGB conversions.
if (capdev->pixeldepth == -1) {
// Not used at the moment!!
// Software conversion of YUV -> RGB needed. Allocate a proper scratch-buffer:
capdev->scratchbuffer = malloc(capdev->width * capdev->height * 3);
}
if(PsychPrefStateGet_Verbosity()>1) {
printf("PTB-INFO: Capture started on device %i - Width x Height = %i x %i - Framerate: %f fps.\n", capturehandle, capdev->width, capdev->height, capdev->fps);
}
}
else {
// Stop capture:
if (capdev->grabber_active) {
// Stop isochronous data transfer from camera:
if (ar2VideoCapStop(capdev->camera) !=DC1394_SUCCESS) {
PsychErrorExitMsg(PsychError_user, "Unable to stop video transfer on camera! (ar2VideoCapStop() failed)!");
}
// Ok, capture is now stopped.
capdev->frame_ready = 0;
capdev->grabber_active = 0;
if (capdev->scratchbuffer) {
// Release scratch-buffer:
free(capdev->scratchbuffer);
capdev->scratchbuffer = NULL;
}
if(PsychPrefStateGet_Verbosity()>1){
// Output count of dropped frames:
if ((dropped=capdev->nr_droppedframes) > 0) {
printf("PTB-INFO: Video capture dropped %i frames on device %i to keep capture running in sync with realtime.\n", dropped, capturehandle);
}
if (capdev->nrframes>0) capdev->avg_decompresstime/= (double) capdev->nrframes;
printf("PTB-INFO: Average time spent in video decompressor (waiting/polling for new frames) was %f milliseconds.\n", (float) capdev->avg_decompresstime * 1000.0f);
if (capdev->nrgfxframes>0) capdev->avg_gfxtime/= (double) capdev->nrgfxframes;
printf("PTB-INFO: Average time spent in GetCapturedImage (intensity calculation Video->OpenGL texture conversion) was %f milliseconds.\n", (float) capdev->avg_gfxtime * 1000.0f);
}
}
}
fflush(NULL);
// Reset framecounters and statistics:
capdev->nrframes = 0;
capdev->avg_decompresstime = 0;
capdev->nrgfxframes = 0;
capdev->avg_gfxtime = 0;
// Return either the real capture framerate (at start of capture) or count of dropped frames - at end of capture.
return((capturerate!=0) ? (int) (capdev->fps + 0.5) : dropped);
}
