static void Idle(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
ARMarkerInfo *marker_info; // Pointer to array holding the details of detected markers.
int marker_num; // Count of number of markers detected.
int i, j, k;
// Find out how long since Idle() last ran.
ms = glutGet(GLUT_ELAPSED_TIME);
s_elapsed = (float)(ms - ms_prev) * 0.001;
if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz.
ms_prev = ms;
// Update drawing.
arVrmlTimerUpdate();
// Grab a video frame.
if ((image = arVideoGetImage()) != NULL) {
gARTImage = image; // Save the fetched image.
gPatt_found = FALSE; // Invalidate any previous detected markers.
gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
// Detect the markers in the video frame.
if (arDetectMarker(gARTImage, gARTThreshhold, &marker_info, &marker_num) < 0) {
exit(-1);
}
// Check for object visibility.
for (i = 0; i < gObjectDataCount; i++) {
// Check through the marker_info array for highest confidence
// visible marker matching our object's pattern.
k = -1;
for (j = 0; j < marker_num; j++) {
if (marker_info[j].id == gObjectData[i].id) {
if( k == -1 ) k = j; // First marker detected.
else if (marker_info[k].cf < marker_info[j].cf) k = j; // Higher confidence marker detected.
}
}
if (k != -1) {
// Get the transformation between the marker and the real camera.
//fprintf(stderr, "Saw object %d.\n", i);
if (gObjectData[i].visible == 0) {
arGetTransMat(&marker_info[k],
gObjectData[i].marker_center, gObjectData[i].marker_width,
gObjectData[i].trans);
} else {
arGetTransMatCont(&marker_info[k], gObjectData[i].trans,
gObjectData[i].marker_center, gObjectData[i].marker_width,
gObjectData[i].trans);
}
gObjectData[i].visible = 1;
gPatt_found = TRUE;
} else {
gObjectData[i].visible = 0;
}
}
// Tell GLUT to update the display.
glutPostRedisplay();
}
}
static void mainLoop(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
ARdouble err;
int i, 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.
arVrmlTimerUpdate();
// 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 for object visibility.
for (i = 0; i < gObjectDataCount; i++) {
// Check through the marker_info array for highest confidence
// visible marker matching our object's pattern.
k = -1;
for (j = 0; j < gARHandle->marker_num; j++) {
if (gARHandle->markerInfo[j].id == gObjectData[i].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.
//ARLOGe("Saw object %d.\n", i);
if (gObjectData[i].visible && useContPoseEstimation) {
err = arGetTransMatSquareCont(gAR3DHandle, &(gARHandle->markerInfo[k]),
gObjectData[i].trans,
gObjectData[i].marker_width, gObjectData[i].trans);
} else {
err = arGetTransMatSquare(gAR3DHandle, &(gARHandle->markerInfo[k]),
gObjectData[i].marker_width, gObjectData[i].trans);
}
gObjectData[i].visible = 1;
} else {
gObjectData[i].visible = 0;
}
}
// Tell GLUT the display has changed.
glutPostRedisplay();
}
}
