static void mainLoop(void) { ARUint8 *dataPtr; ARMarkerInfo *markerInfo; int markerNum; ARdouble patt_trans[3][4]; ARdouble err; int imageProcMode; int debugMode; int j, k; /* grab a video frame */ if ((dataPtr = (ARUint8*)arVideoGetImage()) == NULL) { arUtilSleep(2); return; } /* detect the markers in the video frame */ if (arDetectMarker(arHandle, dataPtr) < 0) { cleanup(); exit(0); } argSetWindow(w1); argDrawMode2D(vp1); arGetDebugMode(arHandle, &debugMode); if (debugMode == 0) { argDrawImage(dataPtr); } else { arGetImageProcMode(arHandle, &imageProcMode); if (imageProcMode == AR_IMAGE_PROC_FRAME_IMAGE) { argDrawImage(arHandle->labelInfo.bwImage); } else { argDrawImageHalf(arHandle->labelInfo.bwImage); } } argSetWindow(w2); argDrawMode2D(vp2); argDrawImage(dataPtr); argSetWindow(w1); if (count % 10 == 0) { sprintf(fps, "%f[fps]", 10.0 / arUtilTimer()); arUtilTimerReset(); } count++; glColor3f(0.0f, 1.0f, 0.0f); argDrawStringsByIdealPos(fps, 10, ysize - 30); markerNum = arGetMarkerNum(arHandle); if (markerNum == 0) { argSetWindow(w1); argSwapBuffers(); argSetWindow(w2); argSwapBuffers(); return; } /* check for object visibility */ markerInfo = arGetMarker(arHandle); k = -1; for (j = 0; j < markerNum; j++) { // ARLOG("ID=%d, CF = %f\n", markerInfo[j].id, markerInfo[j].cf); if (patt_id == markerInfo[j].id) { if (k == -1) { if (markerInfo[j].cf > 0.7) k = j; } else if (markerInfo[j].cf > markerInfo[k].cf) k = j; } } if (k == -1) { argSetWindow(w1); argSwapBuffers(); argSetWindow(w2); argSwapBuffers(); return; } err = arGetTransMatSquare(ar3DHandle, &(markerInfo[k]), patt_width, patt_trans); sprintf(errValue, "err = %f", err); glColor3f(0.0f, 1.0f, 0.0f); argDrawStringsByIdealPos(fps, 10, ysize - 30); argDrawStringsByIdealPos(errValue, 10, ysize - 60); // ARLOG("err = %f\n", err); draw(patt_trans); argSetWindow(w1); argSwapBuffers(); argSetWindow(w2); argSwapBuffers(); }
static void mainLoop(void) { AR2VideoBufferT *buff; ARMarkerInfo *markerInfo; int markerNum; ARdouble patt_trans[3][4]; ARdouble err; int debugMode; int j, k; /* grab a video frame */ buff = arVideoGetImage(); if (!buff || !buff->fillFlag) { arUtilSleep(2); return; } /* detect the markers in the video frame */ if( arDetectMarker(arHandle, buff) < 0 ) { cleanup(); exit(0); } argSetWindow(w1); arGetDebugMode(arHandle, &debugMode); if (debugMode == AR_DEBUG_ENABLE) { int imageProcMode; argViewportSetPixFormat(vp1, AR_PIXEL_FORMAT_MONO); // Drawing the debug image. argDrawMode2D(vp1); arGetImageProcMode(arHandle, &imageProcMode); if (imageProcMode == AR_IMAGE_PROC_FRAME_IMAGE) argDrawImage(arHandle->labelInfo.bwImage); else argDrawImageHalf(arHandle->labelInfo.bwImage); } else { AR_PIXEL_FORMAT pixFormat; arGetPixelFormat(arHandle, &pixFormat); argViewportSetPixFormat(vp1, pixFormat); // Drawing the input image. argDrawMode2D(vp1); argDrawImage(buff->buff); } argSetWindow(w2); argDrawMode2D(vp2); argDrawImage(buff->buff); argSetWindow(w1); if( count % 10 == 0 ) { sprintf(fps, "%f[fps]", 10.0/arUtilTimer()); arUtilTimerReset(); } count++; glColor3f(0.0f, 1.0f, 0.0f); argDrawStringsByIdealPos(fps, 10, ysize-30); markerNum = arGetMarkerNum( arHandle ); if( markerNum == 0 ) { argSetWindow(w1); argSwapBuffers(); argSetWindow(w2); argSwapBuffers(); return; } /* check for object visibility */ markerInfo = arGetMarker( arHandle ); k = -1; for( j = 0; j < markerNum; j++ ) { //ARLOG("ID=%d, CF = %f\n", markerInfo[j].id, markerInfo[j].cf); if( patt_id == markerInfo[j].id ) { if( k == -1 ) { if (markerInfo[j].cf > 0.7) k = j; } else if (markerInfo[j].cf > markerInfo[k].cf) k = j; } } if( k == -1 ) { argSetWindow(w1); argSwapBuffers(); argSetWindow(w2); argSwapBuffers(); return; } err = arGetTransMatSquare(ar3DHandle, &(markerInfo[k]), patt_width, patt_trans); sprintf(errValue, "err = %f", err); glColor3f(0.0f, 1.0f, 0.0f); argDrawStringsByIdealPos(fps, 10, ysize-30); argDrawStringsByIdealPos(errValue, 10, ysize-60); //ARLOG("err = %f\n", err); draw(patt_trans); argSetWindow(w1); argSwapBuffers(); argSetWindow(w2); argSwapBuffers(); }