void
MultiTarget::update(ARMarkerInfo* targetInfo, int targetCount)
{
if (_active == false)
{
// If the target isn't active, then it can't be valid, and should not be updated either.
_valid = false;
return;
}
// Sanity check
if (!targetInfo)
{
_valid = false;
return;
}
_valid = (arMultiGetTransMat(targetInfo, targetCount, m_multi) >= 0);
if (_valid) {
double modelView[16];
arglCameraViewRH(m_multi->trans, modelView, 1.0f);
updateTransform(osg::Matrix(modelView));
}
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
ARdouble p[16];
ARdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglPixelBufferDataUpload(gArglSettings, gARTImage);
arglDispImage(gArglSettings);
gARTImage = NULL; // Invalidate image data.
// Projection transformation.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(p);
#else
glLoadMatrixd(p);
#endif
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
if (gPatt_found) {
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(m);
#else
glLoadMatrixd(m);
#endif
// Before drawing any geometry, mask out the area occupied by the cube marker itself.
// This makes for a nicer visual presentation, but obviously only applies for this particular
// shape of marker.
DrawCubeMarkerMask();
// All lighting and geometry to be drawn relative to the marker goes here.
DrawCube();
} // gPatt_found
// Any 2D overlays go here.
//none
glutSwapBuffers();
}
void ARTApp::display(ARUint8 *arImage, ARParamLT *arParam, ARGL_CONTEXT_SETTINGS_REF arSettings, GLMmodel *objModel, const ARdouble pattTrans[3][4])
{
ARdouble p[16];
ARdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(arImage, &(arParam->param), 1.0, arSettings); // zoom = 1.0.
// Projection transformation.
arglCameraFrustumRH(&(arParam->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
if (objModel)
{
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(pattTrans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All lighting and geometry to be drawn relative to the marker goes here.
glPushMatrix(); // Save world coordinate system.
glTranslatef(0.0f, 0.0f, pattWidth / 2.0); // Place base of object on marker surface.
glmDraw(objModel, GLM_SMOOTH | GLM_MATERIAL);
glPopMatrix(); // Restore world coordinate system.
}
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
glutSwapBuffers();
}
int ActuatorARTKSM::showActuatorItens(){
GLdouble m[16];
glPushMatrix();
glLoadIdentity();
arglCameraViewRH(this->markerTrans,m,VIEW_SCALEFACTOR_1);
glLoadMatrixd(m);
// DRAW MARKER COVER
if( cover != 0)
switch((*cover).modelType){
case 1: { // VRML
iVrml* model = static_cast<iVrml*>(cover);
(*model).draw();
break;}
case 2: { // Assimp
break;}
default: break;
};
// DRAW SYMBOLIC OBJECT
if( symbol != 0)
switch((*symbol).modelType){
case 1: { // VRML
iVrml* model = static_cast<iVrml*>(symbol);
(*model).draw();
break;}
case 2: { // Assimp
break;}
default: break;
};
// DRAW INTERACTION POINT OBJECT
glTranslated(this->ipTra[0],this->ipTra[1],this->ipTra[2]);
if( this->interactionPoint != 0)
switch((*interactionPoint).modelType){
case 1: { // VRML
iVrml* model = static_cast<iVrml*>(interactionPoint);
(*model).draw();
break;}
case 2: { // Assimp
break;}
default: break;
};
glPopMatrix();
return 1;
}
//========================
// モデルビュー行列の取得
//========================
void cARTK::getModelViewMat( double dMat[16] )
{
double dmatTemp[16];
arglCameraViewRH( m_dPattTransMat, dmatTemp, m_dViewScaleFactor );
for( int i = 0 ; i < 4 ; i++ )
{
int idx = i << 2;
dMat[idx + 0] = m_dmatRotX[idx] * dmatTemp[0] + m_dmatRotX[idx + 1] * dmatTemp[4] + m_dmatRotX[idx + 2] * dmatTemp[ 8] + m_dmatRotX[idx + 3] * dmatTemp[12];
dMat[idx + 1] = m_dmatRotX[idx] * dmatTemp[1] + m_dmatRotX[idx + 1] * dmatTemp[5] + m_dmatRotX[idx + 2] * dmatTemp[ 9] + m_dmatRotX[idx + 3] * dmatTemp[13];
dMat[idx + 2] = m_dmatRotX[idx] * dmatTemp[2] + m_dmatRotX[idx + 1] * dmatTemp[6] + m_dmatRotX[idx + 2] * dmatTemp[10] + m_dmatRotX[idx + 3] * dmatTemp[14];
dMat[idx + 3] = m_dmatRotX[idx] * dmatTemp[3] + m_dmatRotX[idx + 1] * dmatTemp[7] + m_dmatRotX[idx + 2] * dmatTemp[11] + m_dmatRotX[idx + 3] * dmatTemp[15];
}
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
int i;
GLdouble p[16];
GLdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings); // zoom = 1.0.
arVideoCapNext();
gARTImage = NULL; // Image data is no longer valid after calling arVideoCapNext().
if (gPatt_found) {
// Projection transformation.
arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
// All other lighting and geometry goes here.
// Calculate the camera position for each object and draw it.
for (i = 0; i < gObjectDataCount; i++) {
if ((gObjectData[i].visible != 0) && (gObjectData[i].vrml_id >= 0)) {
//fprintf(stderr, "About to draw object %i\n", i);
arglCameraViewRH(gObjectData[i].trans, m, VIEW_SCALEFACTOR_4);
glLoadMatrixd(m);
arVrmlDraw(gObjectData[i].vrml_id);
}
}
} // gPatt_found
// Any 2D overlays go here.
//none
glutSwapBuffers();
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
GLdouble p[16];
GLdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings); // zoom = 1.0.
arVideoCapNext();
gARTImage = NULL; // Image data is no longer valid after calling arVideoCapNext().
for(std::list<Piece*>::iterator it = pieces.begin(); it != pieces.end(); it++)
{
if ((*it)->patt_found) // gPatt_found
{
// Projection transformation.
arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
// ARToolKit supplied distance in millimetres, but I want OpenGL to work in my units.
arglCameraViewRH((*it)->patt_trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All other lighting and geometry goes here.
(*it)->Draw();
}
// Any 2D overlays go here.
//none
}
glutSwapBuffers();
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
GLdouble p[16];
GLdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
// arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings); // zoom = 1.0.
arVideoCapNext();
gARTImage = NULL; // Image data is no longer valid after calling arVideoCapNext().
// Projection transformation.
arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
if (gPatt_found) {
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All lighting and geometry to be drawn relative to the marker goes here.
DrawCube();
} // gPatt_found
// Any 2D overlays go here.
//none
glutSwapBuffers();
}
static int renderScene(AppState* state)
{
if (gPatt_found) {
GLdouble projectionMatrix[16];
GLdouble modelViewMatrix[16];
// Projection transformation.
arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, projectionMatrix);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(projectionMatrix);
glMatrixMode(GL_MODELVIEW);
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, modelViewMatrix, VIEW_SCALEFACTOR);
glLoadMatrixd(modelViewMatrix);
// All lighting and geometry to be drawn relative to the marker goes here.
// DrawCube();
} // gPatt_found
{
GLuint gle = glGetError();
if (gle) {
fprintf(stderr,"GL error 0x%x\n");
}
}
}
void SingleTarget::update(ARMarkerInfo* targetInfo, bool useHistory)
{
if (_active == false)
{
// If the target isn't active, then it can't be valid, and should not be updated either.
_valid = false;
return;
}
if (targetInfo == 0L)
{
// Invalid target info cannot be used for update
_valid = false;
return;
}
// Valid target info means the tracker detected and tracked the target
_valid = true;
// Use history-based arGetTransMatCont if flag is set and we have inital data from a call to arGetTransMat
if (useHistory && mInitialData)
{
arGetTransMatCont(targetInfo, patt_trans, patt_center, patt_width, patt_trans);
}
else
{
arGetTransMat(targetInfo, patt_center, patt_width, patt_trans);
mInitialData = true; // Need to get inital data before arGetTransMatCont can be used
}
_confidence = targetInfo->cf;
double modelView[16];
arglCameraViewRH(patt_trans, modelView, 1.0f);
updateTransform(osg::Matrix(modelView));
}
static void mainLoop(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
int i, j, k;
// Calculate time delta.
ms = glutGet(GLUT_ELAPSED_TIME);
s_elapsed = (float)(ms - ms_prev) * 0.001f;
ms_prev = ms;
// Grab a video frame.
if ((image = arVideoGetImage()) != NULL) {
gARTImage = image; // Save the fetched image.
// Calculate FPS every 30 frames.
if (gCallCountMarkerDetect % 30 == 0) {
gFPS = 30.0/arUtilTimer();
arUtilTimerReset();
gCallCountMarkerDetect = 0;
}
gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
// Run marker detection on frame
if (threadHandle) {
// Perform NFT tracking.
float err;
int ret;
int pageNo;
if( detectedPage == -2 ) {
trackingInitStart( threadHandle, gARTImage );
detectedPage = -1;
}
if( detectedPage == -1 ) {
ret = trackingInitGetResult( threadHandle, trackingTrans, &pageNo);
if( ret == 1 ) {
if (pageNo >= 0 && pageNo < surfaceSetCount) {
ARLOGd("Detected page %d.\n", pageNo);
detectedPage = pageNo;
ar2SetInitTrans(surfaceSet[detectedPage], trackingTrans);
} else {
ARLOGe("Detected bad page %d.\n", pageNo);
detectedPage = -2;
}
} else if( ret < 0 ) {
ARLOGd("No page detected.\n");
detectedPage = -2;
}
}
if( detectedPage >= 0 && detectedPage < surfaceSetCount) {
if( ar2Tracking(ar2Handle, surfaceSet[detectedPage], gARTImage, trackingTrans, &err) < 0 ) {
ARLOGd("Tracking lost.\n");
detectedPage = -2;
} else {
ARLOGd("Tracked page %d (max %d).\n", detectedPage, surfaceSetCount - 1);
}
}
} else {
ARLOGe("Error: threadHandle\n");
detectedPage = -2;
}
// Update markers.
for (i = 0; i < markersNFTCount; i++) {
markersNFT[i].validPrev = markersNFT[i].valid;
if (markersNFT[i].pageNo >= 0 && markersNFT[i].pageNo == detectedPage) {
markersNFT[i].valid = TRUE;
for (j = 0; j < 3; j++) for (k = 0; k < 4; k++) markersNFT[i].trans[j][k] = trackingTrans[j][k];
}
else markersNFT[i].valid = FALSE;
if (markersNFT[i].valid) {
// Filter the pose estimate.
if (markersNFT[i].ftmi) {
if (arFilterTransMat(markersNFT[i].ftmi, markersNFT[i].trans, !markersNFT[i].validPrev) < 0) {
ARLOGe("arFilterTransMat error with marker %d.\n", i);
}
}
if (!markersNFT[i].validPrev) {
// Marker has become visible, tell any dependent objects.
VirtualEnvironmentHandleARMarkerAppeared(i);
}
// We have a new pose, so set that.
arglCameraViewRH(markersNFT[i].trans, markersNFT[i].pose.T, VIEW_SCALEFACTOR);
// Tell any dependent objects about the update.
VirtualEnvironmentHandleARMarkerWasUpdated(i, markersNFT[i].pose);
} else {
if (markersNFT[i].validPrev) {
// Marker has ceased to be visible, tell any dependent objects.
VirtualEnvironmentHandleARMarkerDisappeared(i);
}
}
}
// Tell GLUT the display has changed.
glutPostRedisplay();
} else {
arUtilSleep(2);
}
}
static void mainLoop(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
// NFT results.
static int detectedPage = -2; // -2 Tracking not inited, -1 tracking inited OK, >= 0 tracking online on page.
static float trackingTrans[3][4];
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.
DrawCubeUpdate(s_elapsed);
// Grab a video frame.
if ((image = arVideoGetImage()) != NULL) {
gARTImage = image; // Save the fetched image.
gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
// Run marker detection on frame
if (threadHandle) {
// Perform NFT tracking.
float err;
int ret;
int pageNo;
if( detectedPage == -2 ) {
trackingInitStart( threadHandle, gARTImage );
detectedPage = -1;
}
if( detectedPage == -1 ) {
ret = trackingInitGetResult( threadHandle, trackingTrans, &pageNo);
if( ret == 1 ) {
if (pageNo >= 0 && pageNo < surfaceSetCount) {
ARLOGd("Detected page %d.\n", pageNo);
detectedPage = pageNo;
ar2SetInitTrans(surfaceSet[detectedPage], trackingTrans);
} else {
ARLOGe("Detected bad page %d.\n", pageNo);
detectedPage = -2;
}
} else if( ret < 0 ) {
ARLOGd("No page detected.\n");
detectedPage = -2;
}
}
if( detectedPage >= 0 && detectedPage < surfaceSetCount) {
if( ar2Tracking(ar2Handle, surfaceSet[detectedPage], gARTImage, trackingTrans, &err) < 0 ) {
ARLOGd("Tracking lost.\n");
detectedPage = -2;
} else {
ARLOGd("Tracked page %d (max %d).\n", detectedPage, surfaceSetCount - 1);
}
}
} else {
ARLOGe("Error: threadHandle\n");
detectedPage = -2;
}
// Update markers.
for (i = 0; i < markersNFTCount; i++) {
markersNFT[i].validPrev = markersNFT[i].valid;
if (markersNFT[i].pageNo >= 0 && markersNFT[i].pageNo == detectedPage) {
markersNFT[i].valid = TRUE;
for (j = 0; j < 3; j++) for (k = 0; k < 4; k++) markersNFT[i].trans[j][k] = trackingTrans[j][k];
}
else markersNFT[i].valid = FALSE;
if (markersNFT[i].valid) {
// Filter the pose estimate.
if (markersNFT[i].ftmi) {
if (arFilterTransMat(markersNFT[i].ftmi, markersNFT[i].trans, !markersNFT[i].validPrev) < 0) {
ARLOGe("arFilterTransMat error with marker %d.\n", i);
}
}
if (!markersNFT[i].validPrev) {
// Marker has become visible, tell any dependent objects.
// --->
}
// We have a new pose, so set that.
arglCameraViewRH(markersNFT[i].trans, markersNFT[i].pose.T, VIEW_SCALEFACTOR);
// Tell any dependent objects about the update.
// --->
} else {
if (markersNFT[i].validPrev) {
// Marker has ceased to be visible, tell any dependent objects.
// --->
}
}
}
// Tell GLUT the display has changed.
glutPostRedisplay();
}
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
ARdouble p[16];
ARdouble m[16];
double zoom;
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglPixelBufferDataUpload(gArglSettings, gARTImage);
arglDispImage(gArglSettings);
gARTImage = NULL; // Invalidate image data.
// Projection transformation.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(p);
#else
glLoadMatrixd(p);
#endif
glMatrixMode(GL_MODELVIEW);
glEnable(GL_DEPTH_TEST);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
if (gPatt_found) {
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(m);
#else
glLoadMatrixd(m);
#endif
// All lighting and geometry to be drawn relative to the marker goes here.
// Draw the movie frame.
if (gMovieImage) {
glPushMatrix();
glRotatef(90.0f, 1.0f, 0.0f, 0.0f); // Place movie in x-z plane instead of x-y plane.
glTranslated(-gPatt_width*0.5, 0.0f, 0.0f); // Movie origin is at lower-left of movie frame. Place this at the edge of the marker .
zoom = 1.0/gMovieCparam.xsize * gPatt_width; // Scale the movie frame so that it is the same width as the marker.
arglPixelBufferDataUpload(gMovieArglSettings, gMovieImage);
arglDispImageStateful(gMovieArglSettings); // Show the movie frame.
glPopMatrix();
}
} // gPatt_found
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
//
// Draw help text and mode.
//
if (gShowMode) {
printMode();
}
if (gShowHelp) {
if (gShowHelp == 1) {
printHelpKeys();
}
}
glutSwapBuffers();
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
int i;
GLdouble p[16];
GLdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(gARTImage, &(gCparamLT->param), 1.0, gArglSettings); // zoom = 1.0.
gARTImage = NULL; // Invalidate image data.
// Projection transformation.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
glEnable(GL_DEPTH_TEST);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
for (i = 0; i < gObjectDataCount; i++) {
if ((gObjectData[i].visible != 0) && (gObjectData[i].vrml_id >= 0)) {
// Calculate the camera position for the object and draw it.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gObjectData[i].trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All lighting and geometry to be drawn relative to the marker goes here.
//ARLOGe("About to draw object %i\n", i);
arVrmlDraw(gObjectData[i].vrml_id);
}
}
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
//
// Draw help text and mode.
//
if (gShowMode) {
printMode();
}
if (gShowHelp) {
if (gShowHelp == 1) {
printHelpKeys();
}
}
glutSwapBuffers();
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
GLdouble p[16];
GLdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings); // zoom = 1.0.
arVideoCapNext();
gARTImage = NULL; // Image data is no longer valid after calling arVideoCapNext().
// Projection transformation.
arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glMatrixMode(GL_MODELVIEW);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
//Read leap dump
int koo = read_leap_dump();
float dx = px1 - px0;
float dy = py1 - py0;
float dz = pz1 - pz0;
printf("dx %f\n", dx);
px0 = px1;
py0 = py1;
pz0 = pz1;
float stepX = 100.0f / glutGet(GLUT_WINDOW_X);
float stepY = 100.0f/ glutGet(GLUT_WINDOW_Y);
PX = stepX*dx + PX;
PY = stepY*dy + PY;
PZ = stepX*dz + PZ;
if (snapToMarker && gPatt_found) {
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All lighting and geometry to be drawn relative to the marker goes here.
DrawItem();
} // gPatt_found
else {
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
// All lighting and geometry to be drawn relative to the marker goes here.
DrawItem();
}
// Any 2D overlays go here.
//none
glutSwapBuffers();
}
void CWorld::SortByDepth(CDesktop* desktop)
{
int i, degree = objectList.GetDegree();
if(!degree) return;
CComponent3D* object;
double m[16];
double* depthList;
CVirtualWebCam* vWebCam;
depthList = new double[degree];
int* idList = new int[degree];
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
if(CARDeskTop::mode == CARDeskTop::kAR) {
arglCameraViewRH(desktop->trans, m, VIEW_SCALEFACTOR);
glLoadMatrixd(m);
glMultMatrixd(matrix);
} else if(CARDeskTop::mode == CARDeskTop::kVR) {
glLoadMatrixd(matrix);
vWebCam = (CVirtualWebCam*) CARDeskTop::arDeskTop->window->webCamList[0];
}
objectList.GoToFirst();
for(i = 0; i < degree; i++) {
object = (CComponent3D*) objectList.GetKey();
idList[i] = object->GetID();
glPushMatrix();
glMultMatrixd(object->matrix);
glGetDoublev(GL_MODELVIEW_MATRIX, m);
if(CARDeskTop::mode == CARDeskTop::kAR) {
depthList[i] = m[12] * m[12] + m[13] * m[13] + m[14] * m[14];
} else if(CARDeskTop::mode == CARDeskTop::kVR) {
depthList[i] = -(vWebCam->newPos[0] * m[12] + vWebCam->newPos[1] * m[13] + vWebCam->newPos[2] * m[14]);
// depthList[i] = -m[14];
}
glPopMatrix();
objectList.GoToNext();
}
glPopMatrix();
BubbleSortd(depthList, idList, degree);
CList list;
int j, degree2;
objectList.MoveAllLinkTo(&list);
for(i = 0; i < degree; i++) {
list.GoToFirst();
degree2 = list.GetDegree();
for(j = 0; j < degree2; j++) {
object = (CComponent3D*) list.GetKey();
if(idList[i] == object->GetID()) {
objectList.Push(list.Remove(object));
break;
}
list.GoToNext();
}
}
delete depthList;
delete idList;
}
static void DrawCube(void)
{
if (guss == 99){
}
else if (gCharacter[0].patt_found){
glPushMatrix();
//Applying // coordinate transformation matrix
arglCameraViewRH(gCharacter[0].trans, m, gViewScaleFactor);
glLoadMatrixd(m);
glPushMatrix();
glScalef(7.8, 4.8, 4.8);
//glTranslated(3, 0, -30);
//glRotated(90, 1, 0, 0);
//sky();
//glTranslated(-3, 0, 20);
//glScalef(xx, yy, z);
//drawElephant2();
if (wire){
OnDraw();
}
else
OnDraw1();
glPopMatrix();
glPopMatrix();
if (skyflag){
}
//FSOUND_Stream_Play(0, g_mp3_stream1);
//PlaySound(data1, NULL, SND_ASYNC | SND_NOSTOP );*/
}
else if (gCharacter[4].patt_found){
glPushMatrix();
//Applying // coordinate transformation matrix
arglCameraViewRH(gCharacter[4].trans, m, gViewScaleFactor);
glLoadMatrixd(m);
glPushMatrix();
//sky();
glTranslated(-3, 0, 20);
glScalef(xx, yy, z);
//drawElephant2();
FSOUND_Stream_Play(0, g_mp3_stream1);
//PlaySound(data1, NULL, SND_ASYNC | SND_NOSTOP );*/
}
else if(gCharacter[1].patt_found){
glPushMatrix();
arglCameraViewRH(gCharacter[1].trans, m, gViewScaleFactor);
glLoadMatrixd(m);
glPushMatrix();
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, LIGHT_MODEL_AMBIENT);
glEnable(GL_LIGHTING);
//gluPerspective(60.0, ASPECT_RATIO, 0.2, 100.0);
gluLookAt(LOOK_AT_POSITION[0] + ViewerDistance * sin(viewerZenith) * sin(viewerAzimuth),
LOOK_AT_POSITION[1] + ViewerDistance * cos(viewerZenith),
LOOK_AT_POSITION[2] + ViewerDistance * sin(viewerZenith) * cos(viewerAzimuth),
LOOK_AT_POSITION[0], LOOK_AT_POSITION[1], LOOK_AT_POSITION[2],
0.0, 1.0, 0.20);
glScalef(xx, yy, z);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
glEnable(GL_NORMALIZE);
glCullFace(GL_BACK);
glEnable(GL_CULL_FACE);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
FSOUND_Stream_Play(0, g_mp3_stream2);
glRotated(90, 1, 0, 0);
glScaled(2, 2, 2);
UpdateLight();
drawEarthAndMoon();
drawAllPlanets();
drawSaturnRing();
drawSun();
if (blendFlag){
glEnable(GL_BLEND);
glDepthMask(GL_FALSE);
glBlendFunc(GL_SRC_COLOR, GL_ONE);
}
if (particleFlag)
drawAllParticles();
glDepthMask(GL_TRUE);
glDisable(GL_BLEND);
glDisable(GL_LIGHTING);
//drawElephant();
//glTranslated(0, 0, -2);
glPopMatrix();
glPopMatrix();
//OnDraw2();
}
else if (gCharacter[3].patt_found)
{
glPushMatrix();
arglCameraViewRH(gCharacter[3].trans, m, gViewScaleFactor);
glLoadMatrixd(m);
glPushMatrix();
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, LIGHT_MODEL_AMBIENT);
glEnable(GL_LIGHTING);
//gluPerspective(60.0, ASPECT_RATIO, 0.2, 100.0);
gluLookAt(LOOK_AT_POSITION[0] + ViewerDistance * sin(viewerZenith) * sin(viewerAzimuth),
LOOK_AT_POSITION[1] + ViewerDistance * cos(viewerZenith),
LOOK_AT_POSITION[2] + ViewerDistance * sin(viewerZenith) * cos(viewerAzimuth),
LOOK_AT_POSITION[0], LOOK_AT_POSITION[1], LOOK_AT_POSITION[2],
0.0, 1.0, 0.020);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
glEnable(GL_NORMALIZE);
glCullFace(GL_BACK);
glEnable(GL_CULL_FACE);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTranslated(0, 0, 0);
glScalef(xx, yy, z);
UpdateLight();
glRotated(90, 1, 0, 0);
drawOne();
glDepthMask(GL_TRUE);
glDisable(GL_BLEND);
glDisable(GL_LIGHTING);
guss1 = 1;
glPopMatrix();
glPopMatrix();
}
/* if (gCharacter[4].patt_found){
glPushMatrix();
arglCameraViewRH(gCharacter[4].trans, m, gViewScaleFactor);
glLoadMatrixd(m);
glPushMatrix();
glScaled(xx, yy, z);
glColor3d(1, 1, 1);
glBegin(GL_QUADS);
glVertex2f(-3, 3);
glVertex2f(-3, -3);
glVertex2f(3, -3);
glVertex2f(3, 3);
glEnd();
glPopMatrix();
glPushMatrix();
glTranslated(0, 0, 2);
glScaled(25, 25, 25);
glBegin(GL_TRIANGLES);
glColor3f(0.0f, 0.0f, 0.0f);
glVertex3f(0.0f, 1.0f, 0.0f);
glVertex3f(-1.0f, -1.0f, 0.0f);
glVertex3f(1.0f, -1.0f, 0.0f);
glEnd();
glPopMatrix();
glPopMatrix();
//printf("found");
}
if (gCharacter[5].patt_found){
glPushMatrix();
arglCameraViewRH(gCharacter[5].trans, m, gViewScaleFactor);
glLoadMatrixd(m);
glPushMatrix();
glScaled(xx, yy, z);
glColor3d(1, 1, 1);
glBegin(GL_QUADS);
glVertex2f(-3, 3);
glVertex2f(-3, -3);
glVertex2f(3, -3);
glVertex2f(3, 3);
glEnd();
glPopMatrix();
glPushMatrix();
glTranslated(0, 0, 2);
glScaled(25, 25, 25);
glBegin(GL_TRIANGLES);
glColor3f(0.0f, 0.0f, 0.0f);
glVertex3f(0.0f, 1.0f, 0.0f);
glVertex3f(-1.0f, -1.0f, 0.0f);
glVertex3f(1.0f, -1.0f, 0.0f);
glEnd();
glPopMatrix();
glPopMatrix();
//printf("found");
}*/else
if (gCharacter[5].patt_found){
glPushMatrix();
arglCameraViewRH(gCharacter[6].trans, m, gViewScaleFactor);
glLoadMatrixd(m);
glPushMatrix();
glScalef(13, 13, 13);
glColor3f(1, 1, 1);
glTranslated(-10, 0, 0);
cube();
FSOUND_Stream_Play(0, g_mp3_stream16);
glPopMatrix();
glPopMatrix();
}
/* if (gCharacter[7].patt_found){
glPushMatrix();
arglCameraViewRH(gCharacter[7].trans, m, gViewScaleFactor);
glLoadMatrixd(m);
glPushMatrix();
glScaled(xx, yy, z);
glColor3d(1, 1, 1);
glBegin(GL_QUADS);
glVertex2f(-3, 3);
glVertex2f(-3, -3);
glVertex2f(3, -3);
glVertex2f(3, 3);
glEnd();
glPopMatrix();
if (pause){
glPushMatrix();
glTranslated(0, 0, 2);
glScaled(25, 25, 25);
glBegin(GL_TRIANGLES);
glColor3f(0.0f, 0.0f, 0.0f);
glVertex3f(0.0f, 1.0f, 0.0f);
glVertex3f(-1.0f, -1.0f, 0.0f);
glVertex3f(1.0f, -1.0f, 0.0f);
glEnd();
glPopMatrix();
}
else
if (!pause){
glPushMatrix();
glScaled(8, 8, 8);
glTranslated(0, -1
, 3);
glRotated(90, 0, 0, 1);
glColor3d(0, 1, 1);
glBegin(GL_QUADS);
glVertex2f(-0.6, 3);
glVertex2f(-0.6, -3);
glVertex2f(0.6, -3);
glVertex2f(0.6, 3);
glEnd();
glPopMatrix();
glPushMatrix();
glScaled(8, 8, 8);
glTranslated(0, 1
, 3);
glRotated(90, 0, 0, 1);
glColor3d(0, 1, 1);
glBegin(GL_QUADS);
glVertex2f(-0.6, 3);
glVertex2f(-0.6, -3);
glVertex2f(0.6, -3);
glVertex2f(0.6, 3);
glEnd();
glPopMatrix();
}
glPopMatrix();
}*/
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
ARdouble p[16];
ARdouble m[16];
#ifdef ARDOUBLE_IS_FLOAT
GLdouble p0[16];
GLdouble m0[16];
#endif
int i, j, k;
GLfloat w, bw, bh, vertices[6][2];
GLubyte pixels[300];
char text[256];
GLdouble winX, winY, winZ;
int showMErr[CHECK_ID_MULTIMARKERS_MAX];
GLdouble MX[CHECK_ID_MULTIMARKERS_MAX];
GLdouble MY[CHECK_ID_MULTIMARKERS_MAX];
int pattDetectMode;
AR_MATRIX_CODE_TYPE matrixCodeType;
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglPixelBufferDataUpload(gArglSettings, gARTImage);
arglDispImage(gArglSettings);
if (gMultiConfigCount)
{
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(p);
#else
glLoadMatrixd(p);
#endif
glMatrixMode(GL_MODELVIEW);
glEnable(GL_DEPTH_TEST);
// If we have multi-configs, show their origin onscreen.
for (k = 0; k < gMultiConfigCount; k++)
{
showMErr[k] = FALSE;
if (gMultiConfigs[k]->prevF != 0)
{
arglCameraViewRH((const ARdouble (*)[4])gMultiConfigs[k]->trans, m, 1.0);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(m);
#else
glLoadMatrixd(m);
#endif
drawAxes();
#ifdef ARDOUBLE_IS_FLOAT
for (i = 0; i < 16; i++)
m0[i] = (GLdouble)m[i];
for (i = 0; i < 16; i++)
p0[i] = (GLdouble)p[i];
if (gluProject(0, 0, 0, m0, p0, gViewport, &winX, &winY, &winZ) == GL_TRUE)
#else
if (gluProject(0, 0, 0, m, p, gViewport, &winX, &winY, &winZ) == GL_TRUE)
#endif
{
showMErr[k] = TRUE;
MX[k] = winX; MY[k] = winY;
}
}
} // for k
}
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
arGetPatternDetectionMode(gARHandle, &pattDetectMode);
arGetMatrixCodeType(gARHandle, &matrixCodeType);
// For all markers, draw onscreen position.
// Colour based on cutoffPhase.
glLoadIdentity();
glVertexPointer(2, GL_FLOAT, 0, vertices);
glEnableClientState(GL_VERTEX_ARRAY);
glLineWidth(2.0f);
for (j = 0; j < gARHandle->marker_num; j++)
{
glColor3ubv(cutoffPhaseColours[gARHandle->markerInfo[j].cutoffPhase].colour);
for (i = 0; i < 5; i++)
{
int dir = gARHandle->markerInfo[j].dir;
vertices[i][0] = (float)gARHandle->markerInfo[j].vertex[(i + 4 - dir) % 4][0] * (float)windowWidth / (float)gARHandle->xsize;
vertices[i][1] = ((float)gARHandle->ysize - (float)gARHandle->markerInfo[j].vertex[(i + 4 - dir) % 4][1]) * (float)windowHeight / (float)gARHandle->ysize;
}
vertices[i][0] = (float)gARHandle->markerInfo[j].pos[0] * (float)windowWidth / (float)gARHandle->xsize;
vertices[i][1] = ((float)gARHandle->ysize - (float)gARHandle->markerInfo[j].pos[1]) * (float)windowHeight / (float)gARHandle->ysize;
glDrawArrays(GL_LINE_STRIP, 0, 6);
// For markers that have been identified, draw the ID number.
if (gARHandle->markerInfo[j].id >= 0)
{
glColor3ub(255, 0, 0);
if (matrixCodeType == AR_MATRIX_CODE_GLOBAL_ID && (pattDetectMode == AR_MATRIX_CODE_DETECTION || pattDetectMode == AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX || pattDetectMode == AR_TEMPLATE_MATCHING_MONO_AND_MATRIX))
snprintf(text, sizeof(text), "%llu (err=%d)", gARHandle->markerInfo[j].globalID, gARHandle->markerInfo[j].errorCorrected);
else
snprintf(text, sizeof(text), "%d", gARHandle->markerInfo[j].id);
print(text, (float)gARHandle->markerInfo[j].pos[0] * (float)windowWidth / (float)gARHandle->xsize, ((float)gARHandle->ysize - (float)gARHandle->markerInfo[j].pos[1]) * (float)windowHeight / (float)gARHandle->ysize, 0, 0);
}
}
glDisableClientState(GL_VERTEX_ARRAY);
// For matrix mode, draw the pattern image of the largest marker.
if (pattDetectMode == AR_MATRIX_CODE_DETECTION || pattDetectMode == AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX || pattDetectMode == AR_TEMPLATE_MATCHING_MONO_AND_MATRIX)
{
int area = 0, biggestMarker = -1;
for (j = 0; j < gARHandle->marker_num; j++)
if (gARHandle->markerInfo[j].area > area)
{
area = gARHandle->markerInfo[j].area;
biggestMarker = j;
}
if (area >= AR_AREA_MIN)
{
int imageProcMode;
ARdouble pattRatio;
ARUint8 ext_patt[AR_PATT_SIZE2_MAX * AR_PATT_SIZE2_MAX * 3]; // Holds unwarped pattern extracted from image.
int size;
int zoom = 4;
ARdouble vertexUpright[4][2];
// Reorder vertices based on dir.
for (i = 0; i < 4; i++)
{
int dir = gARHandle->markerInfo[biggestMarker].dir;
vertexUpright[i][0] = gARHandle->markerInfo[biggestMarker].vertex[(i + 4 - dir) % 4][0];
vertexUpright[i][1] = gARHandle->markerInfo[biggestMarker].vertex[(i + 4 - dir) % 4][1];
}
arGetImageProcMode(gARHandle, &imageProcMode);
arGetPattRatio(gARHandle, &pattRatio);
if (matrixCodeType == AR_MATRIX_CODE_GLOBAL_ID)
{
size = 14;
arPattGetImage2(imageProcMode, AR_MATRIX_CODE_DETECTION, size, size * AR_PATT_SAMPLE_FACTOR2,
gARTImage, gARHandle->xsize, gARHandle->ysize, gARHandle->arPixelFormat, &gCparamLT->paramLTf, vertexUpright, (ARdouble)14 / (ARdouble)(14 + 2), ext_patt);
}
else
{
size = matrixCodeType & AR_MATRIX_CODE_TYPE_SIZE_MASK;
arPattGetImage2(imageProcMode, AR_MATRIX_CODE_DETECTION, size, size * AR_PATT_SAMPLE_FACTOR2,
gARTImage, gARHandle->xsize, gARHandle->ysize, gARHandle->arPixelFormat, &gCparamLT->paramLTf, vertexUpright, pattRatio, ext_patt);
}
glRasterPos2f((float)(windowWidth - size * zoom) - 4.0f, (float)(size * zoom) + 4.0f);
glPixelZoom((float)zoom, (float)-zoom);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glDrawPixels(size, size, GL_LUMINANCE, GL_UNSIGNED_BYTE, ext_patt);
glPixelZoom(1.0f, 1.0f);
}
}
// Draw error value for multimarker pose.
for (k = 0; k < gMultiConfigCount; k++)
{
if (showMErr[k])
{
snprintf(text, sizeof(text), "err=%0.3f", gMultiErrs[k]);
print(text, MX[k], MY[k], 0, 0);
}
}
//
// Draw help text and mode.
//
glLoadIdentity();
if (gShowMode)
{
printMode();
}
if (gShowHelp)
{
if (gShowHelp == 1)
{
printHelpKeys();
}
else if (gShowHelp == 2)
{
bw = 0.0f;
for (i = 0; i < AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT; i++)
{
w = (float)glutBitmapLength(GLUT_BITMAP_HELVETICA_10, (unsigned char*)arMarkerInfoCutoffPhaseDescriptions[cutoffPhaseColours[i].cutoffPhase]);
if (w > bw)
bw = w;
}
bw += 12.0f; // Space for color block.
bh = AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT * 10.0f /* character height */ + (AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT - 1) * 2.0f /* line spacing */;
drawBackground(bw, bh, 2.0f, 2.0f);
// Draw the colour block and text, line by line.
for (i = 0; i < AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT; i++)
{
for (j = 0; j < 300; j += 3)
{
pixels[j] = cutoffPhaseColours[i].colour[0];
pixels[j + 1] = cutoffPhaseColours[i].colour[1];
pixels[j + 2] = cutoffPhaseColours[i].colour[2];
}
glRasterPos2f(2.0f, (AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT - 1 - i) * 12.0f + 2.0f);
glPixelZoom(1.0f, 1.0f);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glDrawPixels(10, 10, GL_RGB, GL_UNSIGNED_BYTE, pixels);
print(arMarkerInfoCutoffPhaseDescriptions[cutoffPhaseColours[i].cutoffPhase], 14.0f, (AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT - 1 - i) * 12.0f + 2.0f, 0, 0);
}
}
}
glutSwapBuffers();
}
static void mainLoop(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
ARMarkerInfo* markerInfo;
int markerNum;
ARdouble err;
int i, j, k;
// Calculate time delta.
ms = glutGet(GLUT_ELAPSED_TIME);
s_elapsed = (float)(ms - ms_prev) * 0.001f;
ms_prev = ms;
// 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);
}
// Get detected markers
markerInfo = arGetMarker(gARHandle);
markerNum = arGetMarkerNum(gARHandle);
// Update markers.
for (i = 0; i < markersSquareCount; i++) {
markersSquare[i].validPrev = markersSquare[i].valid;
// Check through the marker_info array for highest confidence
// visible marker matching our preferred pattern.
k = -1;
if (markersSquare[i].patt_type == AR_PATTERN_TYPE_TEMPLATE) {
for (j = 0; j < markerNum; j++) {
if (markersSquare[i].patt_id == markerInfo[j].idPatt) {
if (k == -1) {
if (markerInfo[j].cfPatt >= markersSquare[i].matchingThreshold) k = j; // First marker detected.
} else if (markerInfo[j].cfPatt > markerInfo[k].cfPatt) k = j; // Higher confidence marker detected.
}
}
if (k != -1) {
markerInfo[k].id = markerInfo[k].idPatt;
markerInfo[k].cf = markerInfo[k].cfPatt;
markerInfo[k].dir = markerInfo[k].dirPatt;
}
} else {
for (j = 0; j < markerNum; j++) {
if (markersSquare[i].patt_id == markerInfo[j].idMatrix) {
if (k == -1) {
if (markerInfo[j].cfMatrix >= markersSquare[i].matchingThreshold) k = j; // First marker detected.
} else if (markerInfo[j].cfMatrix > markerInfo[k].cfMatrix) k = j; // Higher confidence marker detected.
}
}
if (k != -1) {
markerInfo[k].id = markerInfo[k].idMatrix;
markerInfo[k].cf = markerInfo[k].cfMatrix;
markerInfo[k].dir = markerInfo[k].dirMatrix;
}
}
if (k != -1) {
markersSquare[i].valid = TRUE;
ARLOGd("Marker %d matched pattern %d.\n", i, markerInfo[k].id);
// Get the transformation between the marker and the real camera into trans.
if (markersSquare[i].validPrev && useContPoseEstimation) {
err = arGetTransMatSquareCont(gAR3DHandle, &(markerInfo[k]), markersSquare[i].trans, markersSquare[i].marker_width, markersSquare[i].trans);
} else {
err = arGetTransMatSquare(gAR3DHandle, &(markerInfo[k]), markersSquare[i].marker_width, markersSquare[i].trans);
}
} else {
markersSquare[i].valid = FALSE;
}
if (markersSquare[i].valid) {
// Filter the pose estimate.
if (markersSquare[i].ftmi) {
if (arFilterTransMat(markersSquare[i].ftmi, markersSquare[i].trans, !markersSquare[i].validPrev) < 0) {
ARLOGe("arFilterTransMat error with marker %d.\n", i);
}
}
if (!markersSquare[i].validPrev) {
// Marker has become visible, tell any dependent objects.
VirtualEnvironmentHandleARMarkerAppeared(i);
}
// We have a new pose, so set that.
arglCameraViewRH((const ARdouble (*)[4])markersSquare[i].trans, markersSquare[i].pose.T, 1.0f /*VIEW_SCALEFACTOR*/);
// Tell any dependent objects about the update.
VirtualEnvironmentHandleARMarkerWasUpdated(i, markersSquare[i].pose);
} else {
if (markersSquare[i].validPrev) {
// Marker has ceased to be visible, tell any dependent objects.
VirtualEnvironmentHandleARMarkerDisappeared(i);
}
}
}
// Tell GLUT the display has changed.
glutPostRedisplay();
} else {
arUtilSleep(2);
}
}
//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
ARdouble p[16];
ARdouble m[16];
// Select correct buffer for this context.
glDrawBuffer(GL_BACK);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
arglDispImage(gARTImage, &(gCparamLT->param), 1.0, gArglSettings); // zoom = 1.0.
gARTImage = NULL; // Invalidate image data.
// Projection transformation.
arglCameraFrustumRH(&(gCparamLT->param), VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
glMatrixMode(GL_PROJECTION);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(p);
#else
glLoadMatrixd(p);
#endif
glMatrixMode(GL_MODELVIEW);
glEnable(GL_DEPTH_TEST);
// Viewing transformation.
glLoadIdentity();
// Lighting and geometry that moves with the camera should go here.
// (I.e. must be specified before viewing transformations.)
//none
if (gPatt_found) {
// Calculate the camera position relative to the marker.
// Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
arglCameraViewRH(gPatt_trans, m, VIEW_SCALEFACTOR);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(m);
#else
glLoadMatrixd(m);
#endif
// All lighting and geometry to be drawn relative to the marker goes here.
DrawCube();
} // gPatt_found
// Any 2D overlays go here.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, (GLdouble)windowWidth, 0, (GLdouble)windowHeight, -1.0, 1.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
//
// Draw help text and mode.
//
if (gShowMode) {
printMode();
}
if (gShowHelp) {
if (gShowHelp == 1) {
printHelpKeys();
}
}
glutSwapBuffers();
}
