static void mouseEvent(int button, int state, int x, int y)
{
unsigned char *p, *p1;
int ssx, ssy, eex, eey;
int i, j, k;
if( button == GLUT_RIGHT_BUTTON && state == GLUT_UP ) {
if( status == 0 ) {
arVideoCapStop();
arVideoClose();
if( patt.loop_num > 0 ) {
calc_distortion( &patt, xsize, ysize, dist_factor );
printf("--------------\n");
printf("Center X: %f\n", dist_factor[0]);
printf(" Y: %f\n", dist_factor[1]);
printf("Dist Factor: %f\n", dist_factor[2]);
printf("Size Adjust: %f\n", dist_factor[3]);
printf("--------------\n");
status = 2;
check_num = 0;
print_comment(5);
}
else {
glutDestroyWindow( win );
exit(0);
}
}
else if( status == 1 ) {
if( patt.loop_num == 0 ) {printf("error!!\n"); exit(0);}
patt.loop_num--;
free( patt.point[patt.loop_num] );
free( patt.savedImage[patt.loop_num] );
status = 0;
point_num = 0;
arVideoCapStart();
if( patt.loop_num == 0 ) print_comment(0);
else print_comment(4);
}
}
if( button == GLUT_LEFT_BUTTON && state == GLUT_DOWN ) {
if( status == 1 && point_num < patt.h_num*patt.v_num ) {
sx = ex = x;
sy = ey = y;
p = &(patt.savedImage[patt.loop_num-1][(y*xsize+x)*AR_PIX_SIZE]);
p1 = &(clipImage[0]);
#ifdef AR_PIX_FORMAT_BGRA
k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
if( k < thresh ) k = 0;
else k = 255;
*(p1+0) = *(p1+1) = *(p1+2) = k;
#endif
#ifdef AR_PIX_FORMAT_ABGR
k = (255*3 - (*(p+1) + *(p+2) + *(p+3))) / 3;
if( k < thresh ) k = 0;
else k = 255;
*(p1+1) = *(p1+2) = *(p1+3) = k;
#endif
#ifdef AR_PIX_FORMAT_BGR
k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
if( k < thresh ) k = 0;
else k = 255;
*(p1+0) = *(p1+1) = *(p1+2) = k;
#endif
#ifdef AR_PIX_FORMAT_RGBA
k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
if( k < thresh ) k = 0;
else k = 255;
*(p1+0) = *(p1+1) = *(p1+2) = k;
#endif
#ifdef AR_PIX_FORMAT_RGB
k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
if( k < thresh ) k = 0;
else k = 255;
*(p1+0) = *(p1+1) = *(p1+2) = k;
#endif
}
}
if( button == GLUT_LEFT_BUTTON && state == GLUT_UP ) {
if( status == 0 && patt.loop_num < LOOP_MAX ) {
while( (p = (unsigned char *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
}
#ifdef USE_TEXMAP
patt.savedImage[patt.loop_num] = (unsigned char *)malloc( xsize*tex1Ysize*AR_PIX_SIZE );
#else
patt.savedImage[patt.loop_num] = (unsigned char *)malloc( xsize*ysize*AR_PIX_SIZE );
#endif
if( patt.savedImage[patt.loop_num] == NULL ) exit(0);
p1 = patt.savedImage[patt.loop_num];
for(i=0;i<xsize*ysize*AR_PIX_SIZE;i++) *(p1++) = *(p++);
arVideoCapStop();
patt.point[patt.loop_num] = (CALIB_COORD_T *)malloc( sizeof(CALIB_COORD_T)*patt.h_num*patt.v_num );
if( patt.point[patt.loop_num] == NULL ) exit(0);
patt.loop_num++;
status = 1;
sx = sy = ex= ey = -1;
print_comment(1);
}
else if( status == 1 && point_num == patt.h_num*patt.v_num ) {
status = 0;
point_num = 0;
arVideoCapStart();
printf("### No.%d ###\n", patt.loop_num);
for( j = 0; j < patt.v_num; j++ ) {
for( i = 0; i < patt.h_num; i++ ) {
printf("%2d, %2d: %6.2f, %6.2f\n", i+1, j+1,
patt.point[patt.loop_num-1][j*patt.h_num+i].x_coord,
patt.point[patt.loop_num-1][j*patt.h_num+i].y_coord);
}
}
printf("\n\n");
if( patt.loop_num < LOOP_MAX ) print_comment(4);
else print_comment(6);
}
else if( status == 1 ) {
if( sx < ex ) { ssx = sx; eex = ex; }
else { ssx = ex; eex = sx; }
if( sy < ey ) { ssy = sy; eey = ey; }
else { ssy = ey; eey = sy; }
patt.point[patt.loop_num-1][point_num].x_coord = 0.0;
patt.point[patt.loop_num-1][point_num].y_coord = 0.0;
p = clipImage;
k = 0;
for( j = 0; j < (eey-ssy+1); j++ ) {
for( i = 0; i < (eex-ssx+1); i++ ) {
patt.point[patt.loop_num-1][point_num].x_coord += i * *(p+1);
patt.point[patt.loop_num-1][point_num].y_coord += j * *(p+1);
k += *(p+1);
p += AR_PIX_SIZE;
}
}
if( k != 0 ) {
patt.point[patt.loop_num-1][point_num].x_coord /= k;
patt.point[patt.loop_num-1][point_num].y_coord /= k;
patt.point[patt.loop_num-1][point_num].x_coord += ssx;
patt.point[patt.loop_num-1][point_num].y_coord += ssy;
point_num++;
}
sx = sy = ex= ey = -1;
printf(" # %d/%d\n", point_num, patt.h_num*patt.v_num);
if( point_num == patt.h_num*patt.v_num ) print_comment(2);
}
else if( status == 2 ) {
check_num++;
if( check_num == patt.loop_num ) {
if(patt.loop_num >= 2) {
if( calc_inp(&patt, dist_factor, xsize, ysize, mat) < 0 ) {
printf("Calibration failed.\n");
exit(0);
}
save_param();
}
glutDestroyWindow( win );
exit(0);
}
if( check_num+1 == patt.loop_num ) {
printf("\nLeft Mouse Button: Next Step.\n");
}
else {
printf(" %d/%d.\n", check_num+1, patt.loop_num);
}
}
}
}
static void mouseEvent(int button, int state, int x, int y)
{
AR2VideoBufferT *buff;
unsigned char *p, *p1;
int ssx, ssy, eex, eey;
int i, j, k;
char line[256];
if( x < 0 ) x = 0;
if( x >= xsize ) x = xsize-1;
if( y < 0 ) y = 0;
if( y >= ysize ) y = ysize-1;
x *= SCALE;
y *= SCALE;
if( button == GLUT_RIGHT_BUTTON && state == GLUT_UP ) {
if( status == 0 ) {
arVideoCapStop();
arVideoClose();
if( patt.loop_num > 0 ) {
calc_distortion( &patt, xsize, ysize, aspect_ratio, dist_factor, dist_function_version );
ARLOG("--------------\n");
if (dist_function_version == 3) {
ARLOG("Center X: %f\n", dist_factor[0]);
ARLOG(" Y: %f\n", dist_factor[1]);
ARLOG("Size Adjust: %f\n", dist_factor[2]);
ARLOG("Aspect Ratio: %f\n", dist_factor[3]);
ARLOG("Dist Factor1: %f\n", dist_factor[4]);
ARLOG("Dist Factor2: %f\n", dist_factor[5]);
} else if (dist_function_version == 2) {
ARLOG("Center X: %f\n", dist_factor[0]);
ARLOG(" Y: %f\n", dist_factor[1]);
ARLOG("Size Adjust: %f\n", dist_factor[2]);
ARLOG("Dist Factor1: %f\n", dist_factor[3]);
ARLOG("Dist Factor2: %f\n", dist_factor[4]);
} else if (dist_function_version == 1) {
ARLOG("Center X: %f\n", dist_factor[0]);
ARLOG(" Y: %f\n", dist_factor[1]);
ARLOG("Size Adjust: %f\n", dist_factor[2]);
ARLOG("Dist Factor: %f\n", dist_factor[3]);
}
ARLOG("--------------\n");
status = 2;
check_num = 0;
print_comment(5);
}
else {
exit(0);
}
}
else if( status == 1 ) {
if( patt.loop_num == 0 ) {ARLOGe("error!!\n"); exit(0);}
patt.loop_num--;
free( patt.point[patt.loop_num] );
free( patt.savedImage[patt.loop_num] );
status = 0;
point_num = 0;
arVideoCapStart();
if( patt.loop_num == 0 ) print_comment(0);
else print_comment(4);
}
}
if( button == GLUT_LEFT_BUTTON && state == GLUT_DOWN ) {
if( status == 1 && point_num < patt.h_num*patt.v_num ) {
sx = ex = x;
sy = ey = y;
p = &(patt.savedImage[patt.loop_num-1][(y*xsize+x)*pixelSize]);
p1 = &(clipImage[0]);
if (pixelFormat == AR_PIXEL_FORMAT_BGRA || pixelFormat == AR_PIXEL_FORMAT_RGBA) {
k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
if( k < thresh ) k = 0;
else k = 255;
*(p1+0) = *(p1+1) = *(p1+2) = k;
}
else if (pixelFormat == AR_PIXEL_FORMAT_ARGB || pixelFormat == AR_PIXEL_FORMAT_ABGR) {
k = (255*3 - (*(p+1) + *(p+2) + *(p+3))) / 3;
if( k < thresh ) k = 0;
else k = 255;
*(p1+1) = *(p1+2) = *(p1+3) = k;
}
else if (pixelFormat == AR_PIXEL_FORMAT_BGR || pixelFormat == AR_PIXEL_FORMAT_RGB) {
k = (255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3;
if( k < thresh ) k = 0;
else k = 255;
*(p1+0) = *(p1+1) = *(p1+2) = k;
}
else if (pixelFormat == AR_PIXEL_FORMAT_MONO || pixelFormat == AR_PIXEL_FORMAT_420v || pixelFormat == AR_PIXEL_FORMAT_420f) {
k = 255 - *p;
if( k < thresh ) k = 0;
else k = 255;
*p1 = k;
}
else if (pixelFormat == AR_PIXEL_FORMAT_2vuy) {
k = 255 - *(p+1);
if( k < thresh ) k = 0;
else k = 255;
*(p1+1) = k;
}
else if (pixelFormat == AR_PIXEL_FORMAT_yuvs) {
k = 255 - *p;
if( k < thresh ) k = 0;
else k = 255;
*p1 = k;
}
}
}
if( button == GLUT_LEFT_BUTTON && state == GLUT_UP ) {
if( status == 0 && patt.loop_num < LOOP_MAX ) {
while (!(buff = arVideoGetImage()) || !buff->fillFlag) arUtilSleep(2);
p = buff->buff;
patt.savedImage[patt.loop_num] = (unsigned char *)malloc( xsize*ysize*pixelSize );
if( patt.savedImage[patt.loop_num] == NULL ) exit(0);
p1 = patt.savedImage[patt.loop_num];
for(i=0;i<xsize*ysize*pixelSize;i++) *(p1++) = *(p++);
arVideoCapStop();
patt.point[patt.loop_num] = (CALIB_COORD_T *)malloc( sizeof(CALIB_COORD_T)*patt.h_num*patt.v_num );
if( patt.point[patt.loop_num] == NULL ) exit(0);
patt.loop_num++;
status = 1;
sx = sy = ex= ey = -1;
print_comment(1);
}
else if( status == 1 && point_num == patt.h_num*patt.v_num ) {
status = 0;
point_num = 0;
arVideoCapStart();
ARLOG("### No.%d ###\n", patt.loop_num);
for( j = 0; j < patt.v_num; j++ ) {
for( i = 0; i < patt.h_num; i++ ) {
ARLOG("%2d, %2d: %6.2f, %6.2f\n", i+1, j+1,
patt.point[patt.loop_num-1][j*patt.h_num+i].x_coord,
patt.point[patt.loop_num-1][j*patt.h_num+i].y_coord);
}
}
ARLOG("\n\n");
if( patt.loop_num < LOOP_MAX ) print_comment(4);
else print_comment(6);
}
else if( status == 1 ) {
if( sx < ex ) { ssx = sx; eex = ex; }
else { ssx = ex; eex = sx; }
if( sy < ey ) { ssy = sy; eey = ey; }
else { ssy = ey; eey = sy; }
patt.point[patt.loop_num-1][point_num].x_coord = 0.0;
patt.point[patt.loop_num-1][point_num].y_coord = 0.0;
p = clipImage;
k = 0;
for( j = 0; j < (eey-ssy+1); j++ ) {
for( i = 0; i < (eex-ssx+1); i++ ) {
if( pixelSize == 1 ) {
patt.point[patt.loop_num-1][point_num].x_coord += i * *p;
patt.point[patt.loop_num-1][point_num].y_coord += j * *p;
k += *p;
}
else {
patt.point[patt.loop_num-1][point_num].x_coord += i * *(p+1);
patt.point[patt.loop_num-1][point_num].y_coord += j * *(p+1);
k += *(p+1);
}
p += pixelSize;
}
}
if( k != 0 ) {
patt.point[patt.loop_num-1][point_num].x_coord /= k;
patt.point[patt.loop_num-1][point_num].y_coord /= k;
patt.point[patt.loop_num-1][point_num].x_coord += ssx;
patt.point[patt.loop_num-1][point_num].y_coord += ssy;
point_num++;
}
sx = sy = ex= ey = -1;
ARLOG(" # %d/%d\n", point_num, patt.h_num*patt.v_num);
if( point_num == patt.h_num*patt.v_num ) print_comment(2);
}
else if( status == 2 ) {
check_num++;
if( check_num == patt.loop_num ) {
if(patt.loop_num >= 2) {
if( calc_inp(&patt, dist_factor, xsize, ysize, mat, dist_function_version) < 0 ) {
ARLOGe("Calibration failed.\n");
exit(0);
}
save_param();
if (dist_function_version == 3) {
printf("Do you want to repeat again?");
scanf("%s", line);
if( line[0] == 'y' ) {
aspect_ratio *= mat[0][0] / mat[1][1];
ARLOG("New aspect ratio = %f\n", aspect_ratio);
calc_distortion( &patt, xsize, ysize, aspect_ratio, dist_factor, dist_function_version );
ARLOG("--------------\n");
ARLOG("Center X: %f\n", dist_factor[0]);
ARLOG(" Y: %f\n", dist_factor[1]);
ARLOG("Size Adjust: %f\n", dist_factor[2]);
ARLOG("Aspect Ratio: %f\n", dist_factor[3]);
ARLOG("Dist Factor1: %f\n", dist_factor[4]);
ARLOG("Dist Factor2: %f\n", dist_factor[5]);
ARLOG("--------------\n");
status = 2;
check_num = 0;
print_comment(5);
return;
}
}
}
exit(0);
}
if( check_num+1 == patt.loop_num ) {
ARLOG("\nLeft Mouse Button: Next Step.\n");
}
else {
ARLOG(" %d/%d.\n", check_num+1, patt.loop_num);
}
}
}
return;
}