JNIEXPORT void JNICALL JNIFUNCTION_NATIVE(nativeDrawFrame(JNIEnv* env, jobject obj))
{
float width, height;
float viewProjection[16];
if (!videoInited) {
#ifdef DEBUG
LOGI("nativeDrawFrame !VIDEO\n");
#endif
return; // No point in trying to draw until video is inited.
}
#ifdef DEBUG
LOGI("nativeDrawFrame\n");
#endif
if (!gARViewInited) {
if (!initARView()) return;
}
if (gARViewLayoutRequired) layoutARView();
// Upload new video frame if required.
if (videoFrameNeedsPixelBufferDataUpload) {
arglPixelBufferDataUploadBiPlanar(gArglSettings, gVideoFrame, gVideoFrame + videoWidth*videoHeight);
videoFrameNeedsPixelBufferDataUpload = false;
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
// Display the current frame
arglDispImage(gArglSettings);
if (!program) {
GLuint vertShader = 0, fragShader = 0;
// A simple shader pair which accepts just a vertex position and colour, no lighting.
const char vertShaderString[] =
"attribute vec4 position;\n"
"attribute vec4 colour;\n"
"uniform mat4 modelViewProjectionMatrix;\n"
"varying vec4 colourVarying;\n"
"void main()\n"
"{\n"
"gl_Position = modelViewProjectionMatrix * position;\n"
"colourVarying = colour;\n"
"}\n";
const char fragShaderString[] =
"#ifdef GL_ES\n"
"precision mediump float;\n"
"#endif\n"
"varying vec4 colourVarying;\n"
"void main()\n"
"{\n"
"gl_FragColor = colourVarying;\n"
"}\n";
if (program) arglGLDestroyShaders(0, 0, program);
program = glCreateProgram();
if (!program) {
ARLOGe("drawCube: Error creating shader program.\n");
arglGLDestroyShaders(vertShader, fragShader, program);
return;
}
if (!arglGLCompileShaderFromString(&vertShader, GL_VERTEX_SHADER, vertShaderString)) {
ARLOGe("drawCube: Error compiling vertex shader.\n");
arglGLDestroyShaders(vertShader, fragShader, program);
return;
}
if (!arglGLCompileShaderFromString(&fragShader, GL_FRAGMENT_SHADER, fragShaderString)) {
ARLOGe("drawCube: Error compiling fragment shader.\n");
arglGLDestroyShaders(vertShader, fragShader, program);
return;
}
glAttachShader(program, vertShader);
glAttachShader(program, fragShader);
glBindAttribLocation(program, ATTRIBUTE_VERTEX, "position");
glBindAttribLocation(program, ATTRIBUTE_COLOUR, "colour");
if (!arglGLLinkProgram(program)) {
ARLOGe("drawCube: Error linking shader program.\n");
arglGLDestroyShaders(vertShader, fragShader, program);
return;
}
arglGLDestroyShaders(vertShader, fragShader, 0); // After linking, shader objects can be deleted.
// Retrieve linked uniform locations.
uniforms[UNIFORM_MODELVIEW_PROJECTION_MATRIX] = glGetUniformLocation(program, "modelViewProjectionMatrix");
}
glUseProgram(program);
// Set up 3D mode.
mtxLoadIdentityf(viewProjection);
mtxMultMatrixf(viewProjection, cameraLens);
glStateCacheEnableDepthTest();
// Set any initial per-frame GL state you require here.
// --->
// Lighting and geometry that moves with the camera should be added here.
// (I.e. should be specified before camera pose transform.)
// --->
// Draw an object on all valid markers.
for (int i = 0; i < markersSquareCount; i++) {
if (markersSquare[i].valid) {
float viewProjection2[16];
mtxLoadMatrixf(viewProjection2, viewProjection);
mtxMultMatrixf(viewProjection2, markersSquare[i].pose.T);
drawCube(viewProjection2, 40.0f, 0.0f, 0.0f, 20.0f);
}
}
if (cameraPoseValid) {
mtxMultMatrixf(viewProjection, cameraPose);
// All lighting and geometry to be drawn in world coordinates goes here.
// --->
}
// If you added external OpenGL code above, and that code doesn't use the glStateCache routines,
// then uncomment the line below.
//glStateCacheFlush();
// Set up 2D mode.
mtxLoadIdentityf(viewProjection);
width = (float)viewPort[viewPortIndexWidth];
height = (float)viewPort[viewPortIndexHeight];
mtxOrthof(viewProjection, 0.0f, width, 0.0f, height, -1.0f, 1.0f);
glStateCacheDisableDepthTest();
// Add your own 2D overlays here.
// --->
// If you added external OpenGL code above, and that code doesn't use the glStateCache routines,
// then uncomment the line below.
//glStateCacheFlush();
#ifdef DEBUG
// Example of 2D drawing. It just draws a white border line. Change the 0 to 1 to enable.
const GLfloat square_vertices [4][3] = { {0.5f, 0.5f, 0.0f}, {0.5f, height - 0.5f, 0.0f}, {width - 0.5f, height - 0.5f, 0.0f}, {width - 0.5f, 0.5f, 0.0f} };
const GLubyte square_vertex_colors_white [4][4] = {
{255, 255, 255, 255}, {255, 255, 255, 255}, {255, 255, 255, 255}, {255, 255, 255, 255}};
glUniformMatrix4fv(uniforms[UNIFORM_MODELVIEW_PROJECTION_MATRIX], 1, GL_FALSE, viewProjection);
glVertexAttribPointer(ATTRIBUTE_VERTEX, 3, GL_FLOAT, GL_FALSE, 0, square_vertices);
glEnableVertexAttribArray(ATTRIBUTE_VERTEX);
glVertexAttribPointer(ATTRIBUTE_COLOUR, 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, square_vertex_colors_white);
glEnableVertexAttribArray(ATTRIBUTE_COLOUR);
if (!arglGLValidateProgram(program)) {
ARLOGe("Error: shader program %d validation failed.\n", program);
return;
}
glDrawArrays(GL_LINE_LOOP, 0, 4);
#endif
#ifdef DEBUG
CHECK_GL_ERROR();
#endif
}
int main(int argc, char** argv)
{
char glutGamemode[32] = "";
char *vconf = NULL;
char cparaDefault[] = "Data/camera_para.dat";
char *cpara = NULL;
int i;
int gotTwoPartOption;
const char markerConfigDataFilename[] = "Data/markers.dat";
const char objectDataFilename[] = "Data/objects.dat";
char optical_param_name[] = "Data/optical_param.dat";
//
// Process command-line options.
//
glutInit(&argc, argv);
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc) {
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc) {
if (strcmp(argv[i], "--vconf") == 0) {
i++;
vconf = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i], "--cpara") == 0) {
i++;
cpara = argv[i];
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--width") == 0) {
i++;
// Get width from second field.
if (sscanf(argv[i], "%d", &prefWidth) != 1) {
ARLOGe("Error: --width option must be followed by desired width.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--height") == 0) {
i++;
// Get height from second field.
if (sscanf(argv[i], "%d", &prefHeight) != 1) {
ARLOGe("Error: --height option must be followed by desired height.\n");
}
gotTwoPartOption = TRUE;
} else if (strcmp(argv[i],"--refresh") == 0) {
i++;
// Get refresh rate from second field.
if (sscanf(argv[i], "%d", &prefRefresh) != 1) {
ARLOGe("Error: --refresh option must be followed by desired refresh rate.\n");
}
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption) {
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0) {
usage(argv[0]);
} else if (strncmp(argv[i], "-cpara=", 7) == 0) {
cpara = &(argv[i][7]);
} else if (strcmp(argv[i], "--version") == 0 || strcmp(argv[i], "-version") == 0 || strcmp(argv[i], "-v") == 0) {
ARLOG("%s version %s\n", argv[0], AR_HEADER_VERSION_STRING);
exit(0);
} else if (strcmp(argv[i],"--windowed") == 0) {
prefWindowed = TRUE;
} else if (strcmp(argv[i],"--fullscreen") == 0) {
prefWindowed = FALSE;
} else {
ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!setupCamera((cpara ? cpara : cparaDefault), vconf, &gCparamLT)) {
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
// Init AR.
gARPattHandle = arPattCreateHandle();
if (!gARPattHandle) {
ARLOGe("Error creating pattern handle.\n");
exit(-1);
}
gARHandle = arCreateHandle(gCparamLT);
if (!gARHandle) {
ARLOGe("Error creating AR handle.\n");
exit(-1);
}
arPattAttach(gARHandle, gARPattHandle);
if (arSetPixelFormat(gARHandle, arVideoGetPixelFormat()) < 0) {
ARLOGe("Error setting pixel format.\n");
exit(-1);
}
gAR3DHandle = ar3DCreateHandle(&gCparamLT->param);
if (!gAR3DHandle) {
ARLOGe("Error creating 3D handle.\n");
exit(-1);
}
if (!setupOptical(optical_param_name, &(eye.fovy), &(eye.aspect), eye.m, VIEW_SCALEFACTOR)) {
ARLOGe("main(): Unable to set up optical.\n");
cleanup();
exit(-1);
}
//
// Markers setup.
//
// Load marker(s).
newMarkers(markerConfigDataFilename, gARPattHandle, &markersSquare, &markersSquareCount, &gARPattDetectionMode);
ARLOGi("Marker count = %d\n", markersSquareCount);
//
// Other ARToolKit setup.
//
arSetMarkerExtractionMode(gARHandle, AR_USE_TRACKING_HISTORY_V2);
//arSetMarkerExtractionMode(gARHandle, AR_NOUSE_TRACKING_HISTORY);
//arSetLabelingThreshMode(gARHandle, AR_LABELING_THRESH_MODE_MANUAL); // Uncomment to force manual thresholding.
// Set the pattern detection mode (template (pictorial) vs. matrix (barcode) based on
// the marker types as defined in the marker config. file.
arSetPatternDetectionMode(gARHandle, gARPattDetectionMode); // Default = AR_TEMPLATE_MATCHING_COLOR
// Other application-wide marker options. Once set, these apply to all markers in use in the application.
// If you are using standard ARToolKit picture (template) markers, leave commented to use the defaults.
// If you are usign a different marker design (see http://www.artoolworks.com/support/app/marker.php )
// then uncomment and edit as instructed by the marker design application.
//arSetLabelingMode(gARHandle, AR_LABELING_BLACK_REGION); // Default = AR_LABELING_BLACK_REGION
//arSetBorderSize(gARHandle, 0.25f); // Default = 0.25f
//arSetMatrixCodeType(gARHandle, AR_MATRIX_CODE_3x3); // Default = AR_MATRIX_CODE_3x3
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (prefWindowed) {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
else glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
} else {
if (glutGameModeGet(GLUT_GAME_MODE_POSSIBLE)) {
if (prefWidth && prefHeight) {
if (prefDepth) {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i:%i", prefWidth, prefHeight, prefDepth);
} else {
if (prefRefresh) snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i@%i", prefWidth, prefHeight, prefRefresh);
else snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
} else {
prefWidth = glutGameModeGet(GLUT_GAME_MODE_WIDTH);
prefHeight = glutGameModeGet(GLUT_GAME_MODE_HEIGHT);
snprintf(glutGamemode, sizeof(glutGamemode), "%ix%i", prefWidth, prefHeight);
}
glutGameModeString(glutGamemode);
glutEnterGameMode();
} else {
if (prefWidth > 0 && prefHeight > 0) glutInitWindowSize(prefWidth, prefHeight);
glutCreateWindow(argv[0]);
glutFullScreen();
}
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL) {
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
// Create the OpenGL projection from the optical parameters.
// We are using an optical see-through display, so
// perspective is determined by its field of view and aspect ratio only.
// This is the same calculation as performed by:
// gluPerspective(opticalEye->fovy, opticalEye->aspect, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX);
#ifdef ARDOUBLE_IS_FLOAT
mtxLoadIdentityf(cameraLens);
mtxPerspectivef(cameraLens, eye.fovy, eye.aspect, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX);
#else
mtxLoadIdentityd(cameraLens);
mtxPerspectived(cameraLens, eye.fovy, eye.aspect, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX);
#endif
cameraPoseValid = FALSE;
// Load objects (i.e. OSG models).
VirtualEnvironmentInit(objectDataFilename);
VirtualEnvironmentHandleARViewUpdatedCameraLens(cameraLens);
//
// Setup complete. Start tracking.
//
// Start the video.
if (arVideoCapStart() != 0) {
ARLOGe("setupCamera(): Unable to begin camera data capture.\n");
return (FALSE);
}
arUtilTimerReset();
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}