/* main loop */
static void mainLoop(void)
{
int i, j, k;
if( count == 100 ) {
printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
count = 0;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0, 0 );
/* if the debug mode is on draw squares
around the detected squares in the video image */
if( arDebug ) {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 2, 1 );
else
argDispImage( arImage, 2, 1);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 3.0 );
for( i = 0; i < marker_num; i++ ) {
if( marker_info[i].id < 0 ) continue;
argDrawSquare( marker_info[i].vertex, 2, 1 );
}
glLineWidth( 1.0 );
}
argSwapBuffers();
}
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
glClearColor( 0.0, 0.0, 0.0, 0.0 );
glClearDepth( 1.0 );
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
argDrawMode2D();
if( disp_mode ) {
argDispImage( dataPtr, 0, 0 );
}
else {
argDispImage( dataPtr, 1, 1 );
}
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
arVideoCapNext();
/* if the debug mode is on draw squares
around the detected squares in the video image */
if( arDebug ) {
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 2, 1 );
else
argDispImage( arImage, 2, 1);
}
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( marker_info[j].id == target_id ) {
if( k == -1 ) k = j;
else {
if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
}
if( k != -1 ) {
glDisable(GL_DEPTH_TEST);
switch( outputMode ) {
case 0:
getResultRaw( &marker_info[k] );
break;
case 1:
getResultQuat( &marker_info[k] );
break;
}
}
argSwapBuffers();
}
static void argCalibMainFunc(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i, j;
double cfmax;
double err;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
target_visible = 0;
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh,
&marker_info, &marker_num) < 0 ) {
(*gCalibPostFunc)( NULL, NULL );
arFittingMode = arFittingModeBak;
#ifndef ANDROID
glutKeyboardFunc( gKeyFunc );
glutMouseFunc( gMouseFunc );
glutIdleFunc( gMainFunc );
glutDisplayFunc( gMainFunc );
#endif
return;
}
arVideoCapNext();
glClearColor( 0.0, 0.0, 0.0, 0.0 );
#ifndef ANDROID
glClear(GL_COLOR_BUFFER_BIT);
#endif
/* if the debug mode is on draw squares
around the detected squares in the video image */
if( arDebug && gMiniXnum >= 2 && gMiniYnum >= 1 ) {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 2, 1 );
else
argDispImage( arImage, 2, 1);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 3.0 );
for( i = 0; i < marker_num; i++ ) {
if( marker_info[i].id < 0 ) continue;
argDrawSquare( marker_info[i].vertex, 2, 1 );
}
glLineWidth( 1.0 );
}
if( left_right == 0 ) argDraw2dLeft();
else argDraw2dRight();
glLineWidth( 3.0 );
glColor3f( 1.0, 1.0, 1.0 );
argLineSegHMD( 0, calib_pos[co1][1], AR_HMD_XSIZE, calib_pos[co1][1] );
argLineSegHMD( calib_pos[co1][0], 0, calib_pos[co1][0], AR_HMD_YSIZE );
glLineWidth( 1.0 );
argDrawMode2D();
cfmax = 0.0;
j = -1;
for( i = 0; i < marker_num; i++ ) {
if( marker_info[i].id != target_id ) continue;
if( marker_info[i].cf > cfmax ) {
cfmax = marker_info[i].cf;
j = i;
}
}
if( j < 0 ) {
argSwapBuffers();
return;
}
err = arGetTransMat(&marker_info[j], target_center, target_width, target_trans);
if( err >= 0.0 ) {
target_visible = 1;
if( left_right == 0 ) argDraw2dLeft();
else argDraw2dRight();
argDrawAttention( calib_pos[co1], co2 );
argDrawMode2D();
if( arDebug && gMiniXnum >= 2 && gMiniYnum >= 1 ) {
glColor3f( 0.0, 1.0, 0.0 );
glLineWidth( 3.0 );
argDrawSquare( marker_info[j].vertex, 1, 1 );
glLineWidth( 1.0 );
}
}
argSwapBuffers();
}
/* 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();
}
