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);
}
}
JNIEXPORT void JNICALL JNIFUNCTION_NATIVE(nativeVideoFrame(JNIEnv* env, jobject obj, jbyteArray pinArray))
{
int i, j, k;
jbyte* inArray;
ARdouble err;
if (!videoInited) {
#ifdef DEBUG
LOGI("nativeVideoFrame !VIDEO\n");
#endif
return; // No point in trying to track until video is inited.
}
if (!gARViewInited) {
return; // Also, we won't track until the ARView has been inited.
#ifdef DEBUG
LOGI("nativeVideoFrame !ARVIEW\n");
#endif
}
#ifdef DEBUG
LOGI("nativeVideoFrame\n");
#endif
// Copy the incoming YUV420 image in pinArray.
env->GetByteArrayRegion(pinArray, 0, gVideoFrameSize, (jbyte *)gVideoFrame);
// As of ARToolKit v5.0, NV21 format video frames are handled natively,
// and no longer require colour conversion to RGBA.
// If you still require RGBA format information from the video,
// here is where you'd do the conversion:
// color_convert_common(gVideoFrame, gVideoFrame + videoWidth*videoHeight, videoWidth, videoHeight, myRGBABuffer);
videoFrameNeedsPixelBufferDataUpload = true; // Note that buffer needs uploading. (Upload must be done on OpenGL context's thread.)
// Run marker detection on frame
arDetectMarker(arHandle, gVideoBuffer);
// Get detected markers
ARMarkerInfo* markerInfo = arGetMarker(arHandle);
int markerNum = arGetMarkerNum(arHandle);
// 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;
#ifdef DEBUG
LOGI("Marker %d matched pattern %d.\n", k, markerInfo[k].id);
#endif
// Get the transformation between the marker and the real camera into trans.
if (markersSquare[i].validPrev) {
err = arGetTransMatSquareCont(ar3DHandle, &(markerInfo[k]), markersSquare[i].trans, markersSquare[i].marker_width, markersSquare[i].trans);
} else {
err = arGetTransMatSquare(ar3DHandle, &(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) {
LOGE("arFilterTransMat error with marker %d.\n", i);
}
}
if (!markersSquare[i].validPrev) {
// Marker has become visible, tell any dependent objects.
//ARMarkerAppearedNotification
}
// We have a new pose, so set that.
arglCameraViewRHf(markersSquare[i].trans, markersSquare[i].pose.T, 1.0f /*VIEW_SCALEFACTOR*/);
// Tell any dependent objects about the update.
//ARMarkerUpdatedPoseNotification
} else {
if (markersSquare[i].validPrev) {
// Marker has ceased to be visible, tell any dependent objects.
//ARMarkerDisappearedNotification
}
}
}
}
static void mainLoop(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
ARdouble err;
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.
arVrmlTimerUpdate();
// 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);
}
// Check for object visibility.
for (i = 0; i < gObjectDataCount; i++) {
// Check through the marker_info array for highest confidence
// visible marker matching our object's pattern.
k = -1;
for (j = 0; j < gARHandle->marker_num; j++) {
if (gARHandle->markerInfo[j].id == gObjectData[i].id) {
if (k == -1) k = j; // First marker detected.
else if (gARHandle->markerInfo[j].cf > gARHandle->markerInfo[k].cf) k = j; // Higher confidence marker detected.
}
}
if (k != -1) {
// Get the transformation between the marker and the real camera.
//ARLOGe("Saw object %d.\n", i);
if (gObjectData[i].visible && useContPoseEstimation) {
err = arGetTransMatSquareCont(gAR3DHandle, &(gARHandle->markerInfo[k]),
gObjectData[i].trans,
gObjectData[i].marker_width, gObjectData[i].trans);
} else {
err = arGetTransMatSquare(gAR3DHandle, &(gARHandle->markerInfo[k]),
gObjectData[i].marker_width, gObjectData[i].trans);
}
gObjectData[i].visible = 1;
} else {
gObjectData[i].visible = 0;
}
}
// Tell GLUT the display has changed.
glutPostRedisplay();
}
}
static void mainLoop(void)
{
static int ms_prev;
int ms;
float s_elapsed;
ARUint8 *image;
AR2VideoBufferT *movieBuffer;
ARdouble err;
int 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;
// Grab a movie frame (if available).
if ((movieBuffer = ar2VideoGetImage(gMovieVideo)) != NULL) {
if (movieBuffer->buff && movieBuffer->fillFlag)
gMovieImage = movieBuffer->buff;
}
// 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);
}
// Check through the marker_info array for highest confidence
// visible marker matching our preferred pattern.
k = -1;
for (j = 0; j < gARHandle->marker_num; j++) {
if (gARHandle->markerInfo[j].id == gPatt_id) {
if (k == -1) k = j; // First marker detected.
else if (gARHandle->markerInfo[j].cf > gARHandle->markerInfo[k].cf) k = j; // Higher confidence marker detected.
}
}
if (k != -1) {
// Get the transformation between the marker and the real camera into gPatt_trans.
if (gPatt_found && useContPoseEstimation) {
err = arGetTransMatSquareCont(gAR3DHandle, &(gARHandle->markerInfo[k]), gPatt_trans, gPatt_width, gPatt_trans);
} else {
err = arGetTransMatSquare(gAR3DHandle, &(gARHandle->markerInfo[k]), gPatt_width, gPatt_trans);
// Marker has appeared, so un-pause movie.
ar2VideoCapStart(gMovieVideo);
}
gPatt_found = TRUE;
} else {
if (gPatt_found) {
// Marker has disappeared, so pause movie.
ar2VideoCapStop(gMovieVideo);
}
gPatt_found = FALSE;
}
// Tell GLUT the display has changed.
glutPostRedisplay();
}
}
bool ARMarkerSquare::updateWithDetectedMarkers(ARMarkerInfo* markerInfo, int markerNum, AR3DHandle *ar3DHandle) {
//ARController::logv("ARMarkerSquare::update()");
if (patt_id < 0) return false; // Can't update if no pattern loaded
visiblePrev = visible;
if (markerInfo) {
int k = -1;
if (patt_type == AR_PATTERN_TYPE_TEMPLATE) {
// Iterate over all detected markers.
for (int j = 0; j < markerNum; j++ ) {
if (patt_id == markerInfo[j].idPatt) {
// The pattern of detected trapezoid matches marker[k].
if (k == -1) {
if (markerInfo[j].cfPatt > m_cfMin) k = j; // Count as a match if match confidence exceeds cfMin.
} else if (markerInfo[j].cfPatt > markerInfo[k].cfPatt) k = j; // Or if it exceeds match confidence of a different already matched trapezoid (i.e. assume only one instance of each marker).
}
}
if (k != -1) {
markerInfo[k].id = markerInfo[k].idPatt;
markerInfo[k].cf = markerInfo[k].cfPatt;
markerInfo[k].dir = markerInfo[k].dirPatt;
}
} else {
for (int j = 0; j < markerNum; j++) {
if (patt_id == markerInfo[j].idMatrix) {
if (k == -1) {
if (markerInfo[j].cfMatrix >= m_cfMin) k = j; // Count as a match if match confidence exceeds cfMin.
} else if (markerInfo[j].cfMatrix > markerInfo[k].cfMatrix) k = j; // Or if it exceeds match confidence of a different already matched trapezoid (i.e. assume only one instance of each marker).
}
}
if (k != -1) {
markerInfo[k].id = markerInfo[k].idMatrix;
markerInfo[k].cf = markerInfo[k].cfMatrix;
markerInfo[k].dir = markerInfo[k].dirMatrix;
}
}
// Consider marker visible if a match was found.
if (k != -1) {
visible = true;
m_cf = markerInfo[k].cf;
// If the model is visible, update its transformation matrix
if (visiblePrev && useContPoseEstimation) {
// If the marker was visible last time, use "cont" version of arGetTransMatSquare
arGetTransMatSquareCont(ar3DHandle, &(markerInfo[k]), trans, m_width, trans);
} else {
// If the marker wasn't visible last time, use normal version of arGetTransMatSquare
arGetTransMatSquare(ar3DHandle, &(markerInfo[k]), m_width, trans);
}
} else {
visible = false;
m_cf = 0.0f;
}
} else {
visible = false;
m_cf = 0.0f;
}
return (ARMarker::update()); // Parent class will finish update.
}
