void CUIDesignerView::OnInitialUpdate()
{
__super::OnInitialUpdate();
// TODO: 在此添加专用代码和/或调用基类
CUIDesignerDoc* pDoc=GetDocument();
m_LayoutManager.Init(this->GetSafeHwnd(),pDoc->GetPathName());
CFormUI* pForm=m_LayoutManager.GetForm();
g_pClassView->InsertUITreeItem(pForm,pDoc->GetTitle());
if(pForm->GetRowCount()>0)
{
InitUI(pForm->GetItemAt(0), 1);
m_LayoutManager.GetManager()->InitControls(pForm->GetItemAt(0));
}
g_pClassView->SelectUITreeItem(pForm);
m_bInit=true;
m_MultiTracker.SetHandleSize(TRACKER_HANDLE_SIZE);
m_MultiTracker.SetStyle(dottedLine|resizeOutside);
m_MultiTracker.SetFormSize(pForm->GetInitSize());
m_MultiTracker.Add(CreateTracker(pForm));
SetScrollSizes(MM_TEXT,CSize(FORM_INIT_WIDTH+80,FORM_INIT_HEIGHT+80));
}
void CUIDesignerView::RedoUI(CControlUI* pControl, CControlUI* pParent)
{
ASSERT(pControl && pParent);
if(!pControl || !pParent)
return;
CContainerUI* pContainer = static_cast<CContainerUI*>(pParent->GetInterface(_T("Container")));
ExtendedAttributes* pExtended = (ExtendedAttributes*)pContainer->GetTag();
pContainer->Add(pControl);
m_MultiTracker.Add(CreateTracker(pControl));
InitUI(pControl, pExtended->nDepth + 1, TRUE);
pContainer->SetPos(pContainer->GetPos());
}
void main()
{
// connect camera
capture = cvCaptureFromCAM(CV_CAP_ANY);
if(!capture)
{
std::cout << "can not connect any camera" << std::endl;
exit(0);
}
cvNamedWindow("tracking information window");
resizeImage = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 3);
grayImage = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 1);
resultImage = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 3);
logging = new windage::Logger(&std::cout);
logging->updateTickCount();
// create tracker
tracker = CreateTracker();
#if USE_TEMPLATE_IMAEG
IplImage* sampleImage = cvLoadImage(TEMPLATE_IMAGE, 0);
double threahold = tracker->GetDetector()->GetThreshold();
tracker->GetDetector()->SetThreshold(30.0);
tracker->AttatchReferenceImage(sampleImage);
tracker->TrainingReference(SCALE_FACTOR, SCALE_STEP);
tracker->GetDetector()->SetThreshold(threahold);
#endif
// initialize rendering engine using GLUT
renderer = new OpenGLRenderer();
renderer->Initialize(RENDERING_WIDTH, RENDERING_HEIGHT, "windage Camera Tracjectory");
renderer->SetCameraSize(WIDTH, HEIGHT);
glutDisplayFunc(display);
glutIdleFunc(idle);
glutKeyboardFunc(keyboard);
glutMouseFunc(mouseClick);
glutMotionFunc(mouseMove);
glutMainLoop();
cvReleaseCapture(&capture);
cvDestroyAllWindows();
}
void CUIDesignerView::SelectUI(CControlUI* pControl)
{
if(pControl==NULL||pControl==m_MultiTracker.GetFocused())
return;
CControlUI* pParent=pControl;
CControlUI* pForm=pControl;
while(pParent=pParent->GetParent())
pForm=pParent;
if(pForm!=m_LayoutManager.GetForm())
return;
m_MultiTracker.RemoveAll();
if(pControl->IsVisible())
m_MultiTracker.Add(CreateTracker(pControl));
g_pPropertiesWnd->ShowProperty(pControl);
this->Invalidate(FALSE);
}
void CUIDesignerView::PasteUI(LPCTSTR xml)
{
CDialogBuilder builder;
CControlUI* pRoot=builder.Create(xml, (UINT)0, NULL, m_LayoutManager.GetManager());
if(pRoot)
{
CControlUI* pParent = m_MultiTracker.GetFocused();
if(pParent->GetInterface(_T("Container")) == NULL)
pParent = pParent->GetParent();
if(pParent == NULL)
pParent = m_LayoutManager.GetForm();
m_MultiTracker.RemoveAll();
CContainerUI* pContainer = static_cast<CContainerUI*>(pParent->GetInterface(_T("Container")));
CContainerUI* pRootContainer = static_cast<CContainerUI*>(pRoot->GetInterface(_T("Container")));
ExtendedAttributes* pExtended = (ExtendedAttributes*)pContainer->GetTag();
for(int i=0; i<pRootContainer->GetCount(); i++)
{
CControlUI* pControl = pRootContainer->GetItemAt(i);
if(pControl->IsFloat())
{
SIZE sz = pControl->GetFixedXY();
sz.cx += COPY_OFFSET_XY;
sz.cy += COPY_OFFSET_XY;
pControl->SetFixedXY(sz);
}
pContainer->Add(pControl);
m_MultiTracker.Add(CreateTracker(pControl));
InitUI(pControl, pExtended->nDepth + 1);
}
CArray<CControlUI*,CControlUI*> arrSelected;
m_MultiTracker.GetSelected(arrSelected);
m_UICommandHistory.Begin(arrSelected, actionAdd);
m_UICommandHistory.End();
pContainer->SetPos(pContainer->GetPos());
pRootContainer->SetAutoDestroy(false);
delete pRootContainer;
this->GetDocument()->SetModifiedFlag();
}
}
void main()
{
windage::Logger* log = new windage::Logger(&std::cout);
char message[100];
IplImage* inputImage1 = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 3);
IplImage* undistImage1 = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 3);
IplImage* grayImage1 = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 1);
IplImage* inputImage2 = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 3);
IplImage* undistImage2 = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 3);
IplImage* grayImage2 = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 1);
// Multipel tracker Initialize
IplImage* trainingImage = cvLoadImage("reference1_320.png", 0);
IplImage* referenceImage = cvLoadImage("reference1.png");
windage::ModifiedSURFTracker* tracker1 = CreateTracker(trainingImage, 0);
windage::ModifiedSURFTracker* tracker2 = CreateTracker(trainingImage, 5);
// for undistortion and calculate coordinate
windage::Calibration* calibration = new windage::Calibration();
calibration->Initialize(intrinsicValues[0], intrinsicValues[1], intrinsicValues[2], intrinsicValues[3], intrinsicValues[4], intrinsicValues[5], intrinsicValues[6], intrinsicValues[7]);
calibration->InitUndistortionMap(WIDTH, HEIGHT);
windage::Matrix3 rotation12;
windage::Matrix3 rotation21;
windage::Vector3 translation12;
windage::Vector3 translation21;
// adaptive threshold
int fastThreshold = 30;
const int MAX_FAST_THRESHOLD = 80;
const int MIN_FAST_THRESHOLD = 40;
const int ADAPTIVE_THRESHOLD_VALUE = 500;
const int THRESHOLD_STEP = 1;
bool updating = true;
bool processing = true;
cvNamedWindow("result1");
cvNamedWindow("result2");
while(processing)
{
// camera frame grabbing and convert to gray color
log->updateTickCount();
// load image -> undistImage
undistImage1 = cvLoadImage("picture 8.jpg");
undistImage2 = cvLoadImage("picture 9.jpg");
calibration->Undistortion(undistImage1, inputImage1);
calibration->Undistortion(undistImage2, inputImage2);
cvCvtColor(inputImage1, grayImage1, CV_BGRA2GRAY);
cvCvtColor(inputImage2, grayImage2, CV_BGRA2GRAY);
log->log("capture", log->calculateProcessTime());
// call tracking algorithm
log->updateTickCount();
tracker1->SetFeatureExtractThreshold(fastThreshold);
tracker2->SetFeatureExtractThreshold(fastThreshold);
tracker1->UpdateCameraPose(grayImage1);
tracker2->UpdateCameraPose(grayImage2);
double trackingTime = log->calculateProcessTime();
log->log("tracking", trackingTime);
log->logNewLine();
// update fast threshold for Adaptive threshold
int featureCount1 = tracker1->GetFeatureCount();
int featureCount2 = tracker2->GetFeatureCount();
#ifdef ADAPTIVE_THRESHOLD
int featureCount = (featureCount1 + featureCount2) / 2.0;
if(featureCount > ADAPTIVE_THRESHOLD_VALUE ) fastThreshold = MIN(MAX_FAST_THRESHOLD, fastThreshold+THRESHOLD_STEP);
else fastThreshold = MAX(MIN_FAST_THRESHOLD, fastThreshold-THRESHOLD_STEP);
#endif
// draw tracking result
int matchedCount1 = tracker1->GetMatchedCount();
if(matchedCount1 > FIND_FEATURE_COUNT)
{
tracker1->DrawOutLine(inputImage1, true);
tracker1->DrawInfomation(inputImage1, 100.0);
tracker1->DrawDebugInfo(inputImage1);
}
int matchedCount2 = tracker2->GetMatchedCount();
if(matchedCount2 > FIND_FEATURE_COUNT)
{
tracker2->DrawOutLine(inputImage2, true);
tracker2->DrawInfomation(inputImage2, 100.0);
tracker2->DrawDebugInfo(inputImage2);
}
std::cout << std::endl;
CvScalar pos1 = tracker1->GetCameraParameter()->GetCameraPosition();
std::cout << pos1.val[0] << ", " << pos1.val[1] << ", " << pos1.val[2] << std::endl;
CvScalar pos2 = tracker2->GetCameraParameter()->GetCameraPosition();
std::cout << pos2.val[0] << ", " << pos2.val[1] << ", " << pos2.val[2] << std::endl;
std::cout << std::endl;
/*
// update
if(matchedCount1 > FIND_FEATURE_COUNT && matchedCount2 > FIND_FEATURE_COUNT && updating)
{
rotation12 = windage::MultiCameraCoordinate::GetRotation(tracker1->GetCameraParameter(), tracker2->GetCameraParameter());
translation12 = windage::MultiCameraCoordinate::GetTranslation(tracker1->GetCameraParameter(), tracker2->GetCameraParameter());
rotation21 = windage::MultiCameraCoordinate::GetRotation(tracker2->GetCameraParameter(), tracker1->GetCameraParameter());
translation21 = windage::MultiCameraCoordinate::GetTranslation(tracker2->GetCameraParameter(), tracker1->GetCameraParameter());
updating = false;
}
double tempValue;
tempValue = cvGetReal2D(tracker1->GetCameraParameter()->GetExtrinsicMatrix(), 1, 3);
cvSetReal2D(tracker1->GetCameraParameter()->GetExtrinsicMatrix(), 1, 3, tempValue+50);
tempValue = cvGetReal2D(tracker2->GetCameraParameter()->GetExtrinsicMatrix(), 1, 3);
cvSetReal2D(tracker2->GetCameraParameter()->GetExtrinsicMatrix(), 1, 3, tempValue+50);
if(matchedCount1 > FIND_FEATURE_COUNT)
{
windage::Matrix4 extrinsic = windage::MultiCameraCoordinate::CalculateExtrinsic(tracker1->GetCameraParameter(), rotation12.Transpose(), translation12);
calibration->SetExtrinsicMatrix(extrinsic.m1);
windage::Vector3 temp = windage::Vector3(0.0, 0.0, 0.0);
CvPoint center = calibration->ConvertWorld2Image(temp.x, temp.y, temp.z);
CvPoint centerX = calibration->ConvertWorld2Image(temp.x + 50.0, temp.y, temp.z);
CvPoint centerY = calibration->ConvertWorld2Image(temp.x, temp.y + 50.0, temp.z);
CvPoint centerZ = calibration->ConvertWorld2Image(temp.x, temp.y, temp.z + 50.0);
// draw outline
CvScalar color = CV_RGB(255, 255, 0);
cvLine(inputImage2, calibration->ConvertWorld2Image(-REAL_WIDTH/4.0, -REAL_HEIGHT/4.0, 0.0),
calibration->ConvertWorld2Image(+REAL_WIDTH/4.0, -REAL_HEIGHT/4.0, 0.0), color, 5);
cvLine(inputImage2, calibration->ConvertWorld2Image(+REAL_WIDTH/4.0, -REAL_HEIGHT/4.0, 0.0),
calibration->ConvertWorld2Image(+REAL_WIDTH/4.0, +REAL_HEIGHT/4.0, 0.0), color, 5);
cvLine(inputImage2, calibration->ConvertWorld2Image(+REAL_WIDTH/4.0, +REAL_HEIGHT/4.0, 0.0),
calibration->ConvertWorld2Image(-REAL_WIDTH/4.0, +REAL_HEIGHT/4.0, 0.0), color, 5);
cvLine(inputImage2, calibration->ConvertWorld2Image(-REAL_WIDTH/4.0, +REAL_HEIGHT/4.0, 0.0),
calibration->ConvertWorld2Image(-REAL_WIDTH/4.0, -REAL_HEIGHT/4.0, 0.0), color, 5);
cvLine(inputImage2, center, centerX, CV_RGB(255, 0, 0), 10);
cvLine(inputImage2, center, centerY, CV_RGB(0, 255, 0), 10);
cvLine(inputImage2, center, centerZ, CV_RGB(0, 0, 255), 10);
}
if(matchedCount2 > FIND_FEATURE_COUNT)
{
windage::Matrix4 extrinsic = windage::MultiCameraCoordinate::CalculateExtrinsic(tracker2->GetCameraParameter(), rotation21.Transpose(), translation21);
calibration->SetExtrinsicMatrix(extrinsic.m1);
windage::Vector3 temp = windage::Vector3(0.0, 0.0, 0.0);
CvPoint center = calibration->ConvertWorld2Image(temp.x, temp.y, temp.z);
CvPoint centerX = calibration->ConvertWorld2Image(temp.x + 50.0, temp.y, temp.z);
CvPoint centerY = calibration->ConvertWorld2Image(temp.x, temp.y + 50.0, temp.z);
CvPoint centerZ = calibration->ConvertWorld2Image(temp.x, temp.y, temp.z + 50.0);
// draw outline
CvScalar color = CV_RGB(255, 255, 0);
cvLine(inputImage1, calibration->ConvertWorld2Image(-REAL_WIDTH/4.0, -REAL_HEIGHT/4.0, 0.0),
calibration->ConvertWorld2Image(+REAL_WIDTH/4.0, -REAL_HEIGHT/4.0, 0.0), color, 5);
cvLine(inputImage1, calibration->ConvertWorld2Image(+REAL_WIDTH/4.0, -REAL_HEIGHT/4.0, 0.0),
calibration->ConvertWorld2Image(+REAL_WIDTH/4.0, +REAL_HEIGHT/4.0, 0.0), color, 5);
cvLine(inputImage1, calibration->ConvertWorld2Image(+REAL_WIDTH/4.0, +REAL_HEIGHT/4.0, 0.0),
calibration->ConvertWorld2Image(-REAL_WIDTH/4.0, +REAL_HEIGHT/4.0, 0.0), color, 5);
cvLine(inputImage1, calibration->ConvertWorld2Image(-REAL_WIDTH/4.0, +REAL_HEIGHT/4.0, 0.0),
calibration->ConvertWorld2Image(-REAL_WIDTH/4.0, -REAL_HEIGHT/4.0, 0.0), color, 5);
cvLine(inputImage1, center, centerX, CV_RGB(255, 0, 0), 10);
cvLine(inputImage1, center, centerY, CV_RGB(0, 255, 0), 10);
cvLine(inputImage1, center, centerZ, CV_RGB(0, 0, 255), 10);
}
//*/
sprintf(message, "Tracking Time : %.2f(ms)", trackingTime);
windage::Utils::DrawTextToImage(inputImage1, cvPoint(20, 30), message);
windage::Utils::DrawTextToImage(inputImage2, cvPoint(20, 30), message);
sprintf(message, "FAST feature count : %d, threashold : %d", featureCount1, fastThreshold);
windage::Utils::DrawTextToImage(inputImage1, cvPoint(20, 50), message);
sprintf(message, "FAST feature count : %d, threashold : %d", featureCount2, fastThreshold);
windage::Utils::DrawTextToImage(inputImage2, cvPoint(20, 50), message);
sprintf(message, "Match count : %d", matchedCount1);
windage::Utils::DrawTextToImage(inputImage1, cvPoint(20, 70), message);
sprintf(message, "Match count : %d", matchedCount2);
windage::Utils::DrawTextToImage(inputImage2, cvPoint(20, 70), message);
cvShowImage("result1", inputImage1);
cvShowImage("result2", inputImage2);
char ch = cvWaitKey();
switch(ch)
{
case 'u':
case 'U':
updating = true;
break;
case 'q':
case 'Q':
processing = false;
break;
}
}
cvDestroyAllWindows();
}
void CUIDesignerView::OnLButtonDown(UINT nFlags, CPoint point)
{
// TODO: 在此添加消息处理程序代码和/或调用默认值
CClientDC dc(this);
OnPrepareDC(&dc);//Device coordinates to Logical coordinates
dc.SetWindowOrg(-FORM_OFFSET_X,-FORM_OFFSET_Y);//Logical coordinates to Form coordinates
CPoint ptLogical=point-m_ptDPtoLP;//Device coordinates to Logical coordinates
ptLogical.Offset(-FORM_OFFSET_X,-FORM_OFFSET_Y);//Logical coordinates to Form coordinates
CControlUI* pControl=m_LayoutManager.FindControl(ptLogical);
CTrackerElement* pTracker=NULL;
if(pControl==NULL)
pControl=m_LayoutManager.GetForm();
int nHit=m_MultiTracker.HitTest(ptLogical);
int nType=GetControlType(pControl);
if((nFlags&MK_CONTROL)==0&&nHit==hitNothing)
m_MultiTracker.RemoveAll();
if(nHit==hitNothing)
m_MultiTracker.Add(CreateTracker(pControl));
else
m_MultiTracker.SetFocus(ptLogical);
if(nHit>=0||nType==typeControl)
{
m_MultiTracker.Track(this, ptLogical, FALSE,&dc);
}
else
{
CUITracker tracker;
int nClass=g_pToolBoxWnd->GetCurSel()->GetClass();
CRect rect;
if (tracker.TrackRubberBand(this, point, TRUE))
{
rect=tracker.GetRect();
rect.NormalizeRect();
rect.OffsetRect(-FORM_OFFSET_X,-FORM_OFFSET_Y);
if(rect.Width()<10&&rect.Height()<10)
rect.SetRect(ptLogical.x,ptLogical.y,ptLogical.x+UI_DEFAULT_WIDTH,ptLogical.y+UI_DEFAULT_HEIGHT);
}
else
{
rect.SetRect(ptLogical.x,ptLogical.y,ptLogical.x+UI_DEFAULT_WIDTH,ptLogical.y+UI_DEFAULT_HEIGHT);
}
if(nClass>classPointer)
{
CControlUI* pNewControl=m_LayoutManager.NewUI(nClass,rect,pControl);
CArray<CControlUI*,CControlUI*> arrSelected;
arrSelected.Add(pNewControl);
m_UICommandHistory.Begin(arrSelected, actionAdd);
m_UICommandHistory.End();
g_pClassView->InsertUITreeItem(pNewControl);
CContainerUI *pContainer = (CContainerUI *)pNewControl->GetInterface(_T("Container"));
if (pContainer != NULL)
{
for (int it = 0; it < pContainer->GetRowCount(); it++)
{
g_pClassView->InsertUITreeItem(pContainer->GetItemAt(it));
}
}
g_pToolBoxWnd->SetCurSel(classPointer);
m_MultiTracker.RemoveAll();
m_MultiTracker.Add(CreateTracker(pNewControl));
}
}
g_pClassView->SelectUITreeItem(m_MultiTracker.GetFocused());
if(m_MultiTracker.GetSize()==1)
g_pPropertiesWnd->ShowProperty(m_MultiTracker.GetFocused());
else
g_pPropertiesWnd->HideAllProperties(TRUE,TRUE);
this->Invalidate(FALSE);
// __super::OnLButtonDown(nFlags, point);
}
int main(int argc, char ** argv )
{
osg::ArgumentParser arguments(&argc, argv);
osg::ref_ptr<osg::Group> root = new osg::Group();
osg::ref_ptr<osg::Projection> projectionMatrix;
osg::ref_ptr<osg::MatrixTransform> modelViewMatrix;
osg::ref_ptr<osg::Group> sceneGroup = new osg::Group();
osg::ref_ptr<osg::Group> foregroundGroup = new osg::Group();
osg::ref_ptr<CNVideoLayer> videoBackground;
osg::ref_ptr<osg::Image> cameraImage = new osg::Image();
// for checking FPS
logging = new windage::Logger(&std::cout);
logging->updateTickCount();
// initialize tracker
capture = cvCaptureFromCAM(CV_CAP_ANY);
input = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 3);
gray = cvCreateImage(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 1);
tracker = CreateTracker();
tracker->GetDetector()->SetThreshold(15.0);
localCoordinators.resize(TEMPLATE_IMAGE_COUNT);
for(int i=0; i<TEMPLATE_IMAGE_COUNT; i++)
{
char filename[100];
sprintf_s(filename, TEMPLATE_IMAGE, i);
IplImage* gray = cvLoadImage(filename, 0);
tracker->AttatchReferenceImage(gray);
tracker->TrainingReference(1.0, 1);
localCoordinators[i] = new osg::MatrixTransform();
}
// initialize ar tool
arTool = new windage::Coordinator::ARForOSG();
arTool->Initialize(WIDTH, HEIGHT);
arTool->AttatchCameraParameter(tracker->GetCameraParameter(0));
// initialize OSG
// create projection matrix
arTool->SetProjectionMatrix();
osg::Matrixd _proj = windageARTool::ForOSG::ConvertOSGMatrix(arTool->GetProjectionMatrix());
projectionMatrix = new osg::Projection(_proj);
modelViewMatrix = new osg::MatrixTransform();
// setup scene graph
root->addChild(projectionMatrix.get());
projectionMatrix->addChild(modelViewMatrix.get());
modelViewMatrix->addChild(sceneGroup.get());
// create background scene
cameraImage->setImage(WIDTH, HEIGHT, 1, GL_BGRA, GL_BGR, GL_UNSIGNED_BYTE, (unsigned char*)input->imageData, osg::Image::NO_DELETE);
videoBackground = new CNVideoLayer(cameraImage.get(), 1);
videoBackground->init();
sceneGroup->addChild(videoBackground.get());
// create foregruond scene
foregroundGroup->getOrCreateStateSet()->setRenderBinDetails(100, "RenderBin");
foregroundGroup->getOrCreateStateSet()->setMode(GL_NORMALIZE, osg::StateAttribute::ON);
sceneGroup->addChild(foregroundGroup.get());
// tracker transform
osg::ref_ptr<osg::MatrixTransform> localCoordinates;
localCoordinates = new osg::MatrixTransform();
foregroundGroup->addChild(localCoordinates.get());
// create viewer
// for OSG
osgViewer::Viewer* viewer;
viewer = new osgViewer::Viewer();
viewer->addEventHandler(new osgViewer::StatsHandler);
viewer->setUpViewInWindow(10, 40, 640, 480 );
viewer->addEventHandler(new PickHandler());
viewer->setSceneData(root.get());
viewer->setThreadingModel(osgViewer::ViewerBase::ThreadingModel::ThreadPerContext);
viewer->realize();
// attatch osg model
osg::ref_ptr<osg::MatrixTransform> objectCoordinate = new osg::MatrixTransform();
// localCoordinates->addChild(objectCoordinate);
for(int i=0; i<TEMPLATE_IMAGE_COUNT; i++)
{
foregroundGroup->addChild(localCoordinators[i]);
localCoordinators[i]->addChild(objectCoordinate);
}
double scaleFactor = 50;
double x = 0.0;
double y = 0.0;
double z = 3.0;
osg::Matrixd scale; scale.makeScale(scaleFactor, scaleFactor, scaleFactor);
osg::Matrixd translate; translate.makeTranslate(x, y, z);
objectCoordinate->postMult(translate);
objectCoordinate->postMult(scale);
objectCoordinate->addChild(LoadModel("model/cow.osg"));
#ifdef SAVE_RENDERING_IMAGE
IplImage* saveImage = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
IplImage* saveTempImage = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 4);
bool saving = false;
writer = cvCreateVideoWriter("rendering.avi", CV_FOURCC_DEFAULT, 30, cvSize(saveImage->width, saveImage->height), 1);
osg::Image* osgImage = new osg::Image();
osgImage->allocateImage(saveImage->width, saveImage->height, 1, GL_RGBA, GL_UNSIGNED_BYTE);
viewer->getCamera()->attach(osg::Camera::COLOR_BUFFER, osgImage);
#endif
while (!viewer->done())
{
GetTrackerCoordinate();
viewer->frame();
#ifdef SAVE_RENDERING_IMAGE
std::cout << "read buffer" << std::endl;
osgImage->readPixels(0, 0, saveImage->width, saveImage->height, GL_RGBA, GL_UNSIGNED_BYTE);
memcpy(saveTempImage->imageData, osgImage->data(), sizeof(char)*saveImage->width*saveImage->height*4);
cvCvtColor(saveTempImage, saveImage, CV_RGBA2BGR);
cvFlip(saveImage, saveImage);
if(writer) cvWriteFrame(writer, saveImage);
#endif
}
cvReleaseCapture(&capture);
return 0;
}
HRESULT COleControl::OnActivateInPlace(BOOL bUIActivate, LPMSG pMsg)
{
#ifdef _AFXDLL
if (m_bOpen)
{
m_pWndOpenFrame->SetActiveWindow();
SendAdvise(OBJECTCODE_SHOWWINDOW);
return S_OK;
}
#endif
// Initialize pointer to in-place site, if necessary.
if (m_pInPlaceSite == NULL)
{
if (m_pClientSite == NULL)
return E_UNEXPECTED;
if ((GetControlFlags() & windowlessActivate) &&
SUCCEEDED(m_pClientSite->QueryInterface(IID_IOleInPlaceSiteWindowless,
reinterpret_cast<void**>(&m_pInPlaceSiteWndless))))
{
m_bInPlaceSiteWndless = m_bInPlaceSiteEx = TRUE;
}
else if ((GetControlFlags() & noFlickerActivate) &&
SUCCEEDED(m_pClientSite->QueryInterface(IID_IOleInPlaceSiteEx,
reinterpret_cast<void**>(&m_pInPlaceSiteEx))))
{
m_bInPlaceSiteEx = TRUE;
}
else if (SUCCEEDED(m_pClientSite->QueryInterface(IID_IOleInPlaceSite,
reinterpret_cast<void**>(&m_pInPlaceSite))))
{
m_bInPlaceSiteEx = FALSE;
}
else
{
m_pInPlaceSite = NULL;
return E_FAIL;
}
}
ASSERT(m_pInPlaceSite != NULL);
if ((m_bInPlaceActive && !bUIActivate) || m_bUIActive)
{
CWnd* pWndOuter = GetOuterWindow();
HWND hwndParent;
if ((pWndOuter != NULL) &&
SUCCEEDED(m_pInPlaceSite->GetWindow(&hwndParent)) &&
(hwndParent == ::GetParent(pWndOuter->m_hWnd)))
{
::SetWindowPos(pWndOuter->m_hWnd, NULL, 0, 0, 0, 0,
SWP_NOZORDER|SWP_NOMOVE|SWP_NOSIZE|SWP_NOACTIVATE|
SWP_SHOWWINDOW);
OnSetObjectRects(m_rcPos, NULL);
return S_OK;
}
}
// Check if container allows windowless activation.
if (m_bInPlaceSiteWndless)
{
if (m_pInPlaceSiteWndless->CanWindowlessActivate() != S_OK)
m_bInPlaceSiteWndless = FALSE;
}
HRESULT hr = E_FAIL;
if (m_pInPlaceSite != NULL)
hr = m_pInPlaceSite->CanInPlaceActivate();
if (hr != NOERROR)
{
// Site doesn't allow in-place activation.
return OnOpen(FALSE, pMsg);
}
if (!m_bInPlaceActive)
{
if (m_bInPlaceSiteEx)
{
// flicker-free and/or windowless activation
BOOL bNoRedraw;
m_pInPlaceSiteEx->OnInPlaceActivateEx(&bNoRedraw,
m_bInPlaceSiteWndless ? ACTIVATE_WINDOWLESS : 0);
if (GetControlFlags() & noFlickerActivate)
m_bNoRedraw = bNoRedraw;
}
else
{
// old-style activation
m_pInPlaceSite->OnInPlaceActivate();
}
}
HWND hwndParent = NULL;
if (SUCCEEDED(m_pInPlaceSite->GetWindow(&hwndParent)))
{
CRect rcClip;
m_frameInfo.cb = sizeof(OLEINPLACEFRAMEINFO);
RELEASE(m_pInPlaceFrame);
RELEASE(m_pInPlaceDoc);
if (SUCCEEDED(m_pInPlaceSite->GetWindowContext(
&m_pInPlaceFrame, &m_pInPlaceDoc,
&m_rcPos, &rcClip, &m_frameInfo)))
{
ASSERT(m_pInPlaceFrame != NULL);
CRect rectClip;
if (!m_bInPlaceSiteWndless)
{
_GetClippingCoordinates(&m_rcPos, &rcClip, rectClip,
&m_ptOffset);
m_bInPlaceActive = CreateControlWindow(hwndParent, m_rcPos,
rectClip);
}
else
{
m_bInPlaceActive = TRUE;
}
if (m_bInPlaceActive)
{
if (bUIActivate)
{
if (m_bInPlaceSiteEx)
{
if (m_pInPlaceSiteEx->RequestUIActivate() != S_OK)
m_pInPlaceSite->OnUIDeactivate(FALSE);
}
BuildSharedMenu();
m_bUIActive = TRUE;
m_pInPlaceSite->OnUIActivate();
m_pInPlaceFrame->SetActiveObject(
&m_xOleInPlaceActiveObject, NULL);
if (m_pInPlaceDoc != NULL)
m_pInPlaceDoc->SetActiveObject(
&m_xOleInPlaceActiveObject, NULL);
if (m_hWnd != NULL)
{
BOOL bHandles = AmbientShowGrabHandles();
BOOL bHatching = AmbientShowHatching();
if (bHandles || bHatching)
CreateTracker(bHandles, bHatching, rcClip);
}
AddFrameLevelUI();
if (bUIActivate != -1 &&
(m_hWnd != NULL) && !IsChild(GetFocus()))
{
SetFocus();
}
}
// Pass thru the window message that caused us to be activated
if ((m_hWnd != NULL || m_bInPlaceSiteWndless) && (pMsg != NULL))
ForwardActivationMsg(pMsg);
// Send appropriate notifications...
SendAdvise(OBJECTCODE_SHOWOBJECT);
return S_OK;
}
}
}
RELEASE(m_pInPlaceFrame);
RELEASE(m_pInPlaceDoc);
return E_FAIL;
}
