void main()
{
std::vector<IplImage*> inputImage;
std::vector<windage::ReconstructionPoint> reconstructionPoints;
std::vector<std::string> filenameList;
std::vector<IplImage*> imageList;
std::vector<windage::Calibration*> calibrationList;
int selectedCamera = -1;
// load data
std::cout << "load reconstruction datas" << std::endl;
std::cout << std::endl;
windage::Reconstruction::Loader* loader = new windage::Reconstruction::Loader();
loader->AttatchCalibration(&calibrationList);
loader->AttatchFilename(&filenameList);
loader->AttatchReconstructionPoints(&reconstructionPoints);
loader->DoLoad(FILE_NAME);
for(unsigned int i=0; i<filenameList.size(); i++)
{
imageList.push_back(cvLoadImage(filenameList[i].c_str()));
}
std::cout << std::endl;
std::cout << "complete load reconstruction datas" << std::endl;
std::cout << "reconstruction data count : " << reconstructionPoints.size() << std::endl;
std::cout << std::endl;
// for rendering
KeyEventReceiver receiver;
irr::IrrlichtDevice* device = irr::createDevice( irr::video::EDT_DIRECT3D9, irr::core::dimension2d<irr::u32>(640, 480), 16, false, false, false, &receiver);
if (!device) return;
device->setWindowCaption(L"windage : Spatial Reconstruction");
irr::video::IVideoDriver* driver = device->getVideoDriver();
irr::scene::ISceneManager* smgr = device->getSceneManager();
irr::scene::ICameraSceneNode* arCamera = smgr->addCameraSceneNode();
irr::scene::ICameraSceneNode* mayaCamera = smgr->addCameraSceneNodeMaya();
SceneNode *renderingSceneNode = new SceneNode(smgr->getRootSceneNode(), smgr, 666);
renderingSceneNode->SetCalibrationList(&calibrationList);
renderingSceneNode->SetReconstructionPoints(&reconstructionPoints);
renderingSceneNode->SetFileNameList(&filenameList);
renderingSceneNode->Initialize();
while(device->run())
if (device->isWindowActive())
{
driver->beginScene(true, true, irr::video::SColor(0,100,100,100));
smgr->drawAll();
driver->endScene();
if(receiver.IsKeyDown(irr::KEY_KEY_Q))
{
selectedCamera = -1;
smgr->setActiveCamera(mayaCamera);
renderingSceneNode->setSelectedCamera();
renderingSceneNode->resetTransparent();
}
else if(receiver.IsKeyDown(irr::KEY_KEY_A))
{
selectedCamera++;
if(selectedCamera >= (int)calibrationList.size())
selectedCamera = 0;
windage::Coordinator::ARForOSG coordinator;
coordinator.Initialize(RENDERING_WIDTH, RENDERING_HEIGHT);
coordinator.AttatchCameraParameter(calibrationList[selectedCamera]);
coordinator.SetProjectionMatrix();
coordinator.SetModelViewMatrix();
windage::Matrix4 projection = coordinator.GetProjectionMatrix();
windage::Matrix4 modelview = coordinator.GetModelViewMatrix();
irr::core::matrix4 irrProj;
irr::core::matrix4 irrModel;
for(int i=0; i<16; i++)
{
irrProj[i] = projection.m1[i];
irrModel[i] = modelview.m1[i];
}
smgr->setActiveCamera(arCamera);
smgr->getActiveCamera()->setProjectionMatrix(irrProj);
smgr->getActiveCamera()->setViewMatrixAffector(irrModel);
renderingSceneNode->setSelectedCamera(selectedCamera);
renderingSceneNode->setTransparent();
}
else if(receiver.IsKeyDown(irr::KEY_KEY_Z))
{
selectedCamera--;
if(0 > selectedCamera)
selectedCamera = (int)calibrationList.size() - 1;
windage::Coordinator::ARForOSG coordinator;
coordinator.Initialize(RENDERING_WIDTH, RENDERING_HEIGHT);
coordinator.AttatchCameraParameter(calibrationList[selectedCamera]);
coordinator.SetProjectionMatrix();
coordinator.SetModelViewMatrix();
windage::Matrix4 projection = coordinator.GetProjectionMatrix();
windage::Matrix4 modelview = coordinator.GetModelViewMatrix();
irr::core::matrix4 irrProj;
irr::core::matrix4 irrModel;
for(int i=0; i<16; i++)
{
irrProj[i] = projection.m1[i];
irrModel[i] = modelview.m1[i];
}
smgr->setActiveCamera(arCamera);
smgr->getActiveCamera()->setProjectionMatrix(irrProj);
smgr->getActiveCamera()->setViewMatrixAffector(irrModel);
renderingSceneNode->setSelectedCamera(selectedCamera);
renderingSceneNode->setTransparent();
}
}
device->drop();
}
