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));
}
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
float curPaddlePos[3];
int i;
double err;
/* grab a video frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 1.0 );
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
arVideoCapNext();
for( i = 0; i < marker_num; i++ ) marker_flag[i] = 0;
/* get the paddle position */
paddleGetTrans(paddleInfo, marker_info, marker_flag,
marker_num, &cparam);
/* draw the 3D models */
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
/* draw the paddle, base and menu */
if( paddleInfo->active ){
draw_paddle( paddleInfo);
}
/* get the translation from the multimarker pattern */
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
//printf("err = %f\n", err);
if(err > 100.0 ) {
argSwapBuffers();
return;
}
//draw a red ground grid
drawGroundGrid( config->trans, 20, 150.0f, 105.0f, 0.0f);
/* find the paddle position relative to the base */
findPaddlePosition(curPaddlePos, paddleInfo->trans, config->trans);
/* check for collisions with targets */
for(i=0;i<TARGET_NUM;i++){
myTarget[i].state = NOT_TOUCHED;
if(checkCollision(curPaddlePos, myTarget[i].pos, 20.0f))
{
myTarget[i].state = TOUCHED;
fprintf(stderr,"touched !!\n");
}
}
/* draw the targets */
for(i=0;i<TARGET_NUM;i++){
draw(myTarget[i],config->trans);
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
float curPaddlePos[3];
int i;
double err;
double angle;
err=0.;
/* grab a video frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 1.0 );
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
arVideoCapNext();
for( i = 0; i < marker_num; i++ )
marker_flag[i] = 0;
/* get the paddle position */
paddleGetTrans(paddleInfo, marker_info, marker_flag,
marker_num, &cparam);
/* draw the 3D models */
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
/* get the translation from the multimarker pattern */
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
// printf("err = %f\n", err);
if(err > 100.0 ) {
argSwapBuffers();
return;
}
//draw a red ground grid
drawGroundGrid( config->trans, 15, 150.0, 110.0, 0.0);
/* find the paddle position relative to the base */
if (paddleInfo->active)
findPaddlePosition(curPaddlePos,paddleInfo->trans,config->trans);
/* checking for paddle gesture */
if( paddleInfo->active)
{
int findItem=-1;
if (myPaddleItem.item!=-1)
{
if( check_incline(paddleInfo->trans, config->trans, &angle) ) {
myPaddleItem.x += 2.0 * cos(angle);
myPaddleItem.y += 2.0 * sin(angle);
if( myPaddleItem.x*myPaddleItem.x +
myPaddleItem.y*myPaddleItem.y > 900.0 ) {
myPaddleItem.x -= 2.0 * cos(angle);
myPaddleItem.y -= 2.0 * sin(angle);
myListItem.item[myPaddleItem.item].onpaddle=0;
myListItem.item[myPaddleItem.item].pos[0]=curPaddlePos[0];
myListItem.item[myPaddleItem.item].pos[1]=curPaddlePos[1];
myPaddleItem.item = -1;
}
}
}
else
{
if ((findItem=check_pickup(paddleInfo->trans, config->trans,&myListItem, &angle))!=-1) {
myPaddleItem.item=findItem;
myPaddleItem.x =0.0;
myPaddleItem.y =0.0;
myPaddleItem.angle = 0.0;
myListItem.item[myPaddleItem.item].onpaddle=1;
}
}
}
/* draw the item */
drawItems(config->trans,&myListItem);
/* draw the paddle */
if( paddleInfo->active ){
draw_paddle(paddleInfo,&myPaddleItem);
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
double err;
int i;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 1.0 );
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
arVideoCapNext();
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
printf("err = %f\n", err);
if(err > 100.0 ) {
argSwapBuffers();
return;
}
/*
for(i=0;i<3;i++) {
for(j=0;j<4;j++) printf("%10.5f ", config->trans[i][j]);
printf("\n");
}
printf("\n");
*/
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
for( i = 0; i < config->marker_num; i++ ) {
if( config->marker[i].visible >= 0 ) draw( config->trans, config->marker[i].trans, 0 );
else draw( config->trans, config->marker[i].trans, 1 );
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
double err;
int i;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 1.0 );
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
arVideoCapNext();
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
printf("err = %f\n", err);
if(err > 100.0 ) {
argSwapBuffers();
return;
}
/*
for(i=0;i<3;i++) {
for(j=0;j<4;j++) printf("%10.5f ", config->trans[i][j]);
printf("\n");
}
printf("\n");
*/
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 ); glScalef(1.0,1.0,5.0);
glClear(GL_DEPTH_BUFFER_BIT);
//PRINT DOS PREDIOS FANTASMAS (COM E SEM MARCADORES)
if (mostraFantasmas == 1)
{
desenhaFantasmasSemTag();
//Desenha predios fantasmas com marcadores identificados
glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
for(i = (config->marker_num) - 3; i < config->marker_num; i++ ) {
if( config->marker[i].visible >= 0 )
{
glScalef(1.0,1.0,2.0);
draw( config->trans, config->marker[i].trans, 0 );
glScalef(1.0,1.0,0.5);
}else{
glScalef(1.0,1.0,2.0);
draw( config->trans, config->marker[i].trans, 1 );
glScalef(1.0,1.0,0.5);
}
}
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
}
desenhaCarros();
for (i = 0; i < (config->marker_num) - 3; i++ ) {
if( config->marker[i].visible >= 0 ) draw( config->trans, config->marker[i].trans, 0 );
else draw( config->trans, config->marker[i].trans, 1 );
}
argSwapBuffers();
}
void ARMultiPublisher::getTransformationCallback(const sensor_msgs::ImageConstPtr & image_msg)
{
// Get the image from ROSTOPIC
// NOTE: the dataPtr format is BGR because the ARToolKit library was
// build with V4L, dataPtr format change according to the
// ARToolKit configure option (see config.h).
try
{
capture_ = bridge_.imgMsgToCv(image_msg, "bgr8");
}
catch (sensor_msgs::CvBridgeException & e)
{
ROS_ERROR ("Could not convert from >%s< to 'bgr8'.", image_msg->encoding.c_str ());
}
// cvConvertImage(capture,capture,CV_CVTIMG_FLIP);
ARUint8* data_ptr = (ARUint8 *)capture_->imageData;
// detect the markers in the video frame
if (arDetectMarker(data_ptr, threshold_, &marker_info_, &num_detected_marker_) < 0)
{
argCleanup();
ROS_BREAK ();
}
ROS_DEBUG("Detected >%i< of >%i< markers.", num_detected_marker_, num_total_markers_);
double error = 0.0;
if ((error = arMultiGetTransMat(marker_info_, num_detected_marker_, multi_marker_config_)) < 0)
{
// ROS_ERROR("Could not get transformation. This should never happen.");
ROS_WARN("Could not get transformation.");
return;
}
ROS_DEBUG("Error is >%f<.", error);
for (int i = 0; i < num_detected_marker_; i++)
{
ROS_DEBUG("multi_marker_config_->prevF: %i", multi_marker_config_->prevF);
ROS_DEBUG("%s: (%i) pos: %f %f id: %i cf: %f", marker_frame_.c_str(), i, marker_info_[i].pos[0], marker_info_[i].pos[1], marker_info_[i].id, marker_info_[i].cf);
}
// choose those with the highest confidence
std::vector<double> cfs(num_total_markers_, 0.0);
marker_indizes_.clear();
for (int i = 0; i < num_total_markers_; ++i)
{
marker_indizes_.push_back(-1);
}
for (int i = 0; i < num_total_markers_; ++i)
{
for (int j = 0; j < num_detected_marker_; j++)
{
if (!(marker_info_[j].id < 0))
{
if (marker_info_[j].cf > cfs[marker_info_[j].id])
{
cfs[marker_info_[j].id] = marker_info_[j].cf;
marker_indizes_[marker_info_[j].id] = j;
}
}
}
}
double ar_quat[4], ar_pos[3];
arUtilMat2QuatPos(multi_marker_config_->trans, ar_quat, ar_pos);
tf::Quaternion rotation(-ar_quat[0], -ar_quat[1], -ar_quat[2], ar_quat[3]);
tf::Vector3 origin(ar_pos[0] * AR_TO_ROS, ar_pos[1] * AR_TO_ROS, ar_pos[2] * AR_TO_ROS);
tf::Transform transform(rotation, origin);
if (multi_marker_config_->prevF && publish_tf_)
{
if(error < error_threshold_)
{
ROS_DEBUG("%f %f %f | %f %f %f %f | %f", origin.getX(), origin.getY(), origin.getZ(), rotation.getX(), rotation.getY(), rotation.getZ(), rotation.getW(), image_msg->header.stamp.toSec());
tf::StampedTransform cam_to_marker(transform, image_msg->header.stamp, camera_frame_, marker_frame_);
tf_broadcaster_.sendTransform(cam_to_marker);
}
publishErrorMarker(error, image_msg->header.stamp);
}
if(publish_visual_markers_)
{
for (int i = 0; i < num_total_markers_; i++)
{
if (marker_indizes_[i] >= 0)
{
tf::Transform marker_transform;
getTransform(i, marker_transform);
tf::Transform marker = transform * marker_transform;
publishMarker(i, marker, image_msg->header.stamp);
last_transform_ = marker;
}
// else
// {
// publishMarker(i, last_transform_, image_msg->header.stamp);
// }
}
}
}
