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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 204 | chris | 1 | #ifdef _WIN32 |
| 2 | # include <windows.h> |
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| 3 | #endif |
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| 4 | #include <stdio.h> |
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| 5 | #include <stdlib.h> |
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| 6 | #include <string.h> |
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| 7 | #include <math.h> |
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| 8 | |||
| 9 | #ifndef __APPLE__ |
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| 10 | # include <GL/glut.h> |
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| 11 | #else |
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| 12 | # include <GLUT/glut.h> |
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| 13 | #endif |
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| 14 | #include <AR/gsub.h> |
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| 15 | #include <AR/param.h> |
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| 16 | #include <AR/ar.h> |
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| 17 | #include <AR/video.h> |
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| 18 | |||
| 19 | #include "object.h" |
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| 20 | |||
| 21 | |||
| 22 | #define COLLIDE_DIST 30000.0 |
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| 23 | |||
| 24 | /* Object Data */ |
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| 25 | char *model_name = "Data/object_data2"; |
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| 26 | ObjectData_T *object; |
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| 27 | int objectnum; |
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| 28 | |||
| 29 | int xsize, ysize; |
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| 30 | int thresh = 100; |
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| 31 | int count = 0; |
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| 32 | |||
| 33 | /* set up the video format globals */ |
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| 34 | |||
| 35 | #ifdef _WIN32 |
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| 36 | char *vconf = "Data\\WDM_camera_flipV.xml"; |
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| 37 | #else |
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| 38 | char *vconf = ""; |
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| 39 | #endif |
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| 40 | |||
| 41 | char *cparam_name = "Data/camera_para.dat"; |
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| 42 | ARParam cparam; |
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| 43 | |||
| 44 | static void init(void); |
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| 45 | static void cleanup(void); |
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| 46 | static void keyEvent( unsigned char key, int x, int y); |
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| 47 | static void mainLoop(void); |
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| 48 | static int checkCollisions( ObjectData_T object0, ObjectData_T object1, float collide_dist); |
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| 49 | static int draw( ObjectData_T *object, int objectnum ); |
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| 50 | static int draw_object( int obj_id, double gl_para[16], int collide_flag ); |
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| 51 | |||
| 52 | int main(int argc, char **argv) |
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| 53 | { |
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| 54 | //initialize applications |
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| 55 | glutInit(&argc, argv); |
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| 56 | init(); |
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| 57 | |||
| 58 | //start video capture |
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| 59 | arVideoCapStart(); |
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| 60 | |||
| 61 | //start the main event loop |
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| 62 | argMainLoop( NULL, keyEvent, mainLoop ); |
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| 63 | |||
| 64 | return 0; |
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| 65 | } |
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| 66 | |||
| 67 | static void keyEvent( unsigned char key, int x, int y) |
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| 68 | { |
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| 69 | /* quit if the ESC key is pressed */ |
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| 70 | if( key == 0x1b ) { |
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| 71 | printf("*** %f (frame/sec)\n", (double)count/arUtilTimer()); |
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| 72 | cleanup(); |
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| 73 | exit(0); |
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| 74 | } |
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| 75 | } |
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| 76 | |||
| 77 | /* main loop */ |
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| 78 | static void mainLoop(void) |
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| 79 | { |
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| 80 | ARUint8 *dataPtr; |
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| 81 | ARMarkerInfo *marker_info; |
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| 82 | int marker_num; |
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| 83 | int i,j,k; |
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| 84 | |||
| 85 | /* grab a video frame */ |
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| 86 | if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) { |
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| 87 | arUtilSleep(2); |
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| 88 | return; |
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| 89 | } |
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| 90 | |||
| 91 | if( count == 0 ) arUtilTimerReset(); |
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| 92 | count++; |
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| 93 | |||
| 94 | /*draw the video*/ |
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| 95 | argDrawMode2D(); |
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| 96 | argDispImage( dataPtr, 0,0 ); |
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| 97 | |||
| 98 | /* capture the next video frame */ |
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| 99 | arVideoCapNext(); |
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| 100 | |||
| 101 | glColor3f( 1.0, 0.0, 0.0 ); |
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| 102 | glLineWidth(6.0); |
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| 103 | |||
| 104 | /* detect the markers in the video frame */ |
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| 105 | if(arDetectMarker(dataPtr, thresh, |
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| 106 | &marker_info, &marker_num) < 0 ) { |
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| 107 | cleanup(); |
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| 108 | exit(0); |
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| 109 | } |
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| 110 | for( i = 0; i < marker_num; i++ ) { |
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| 111 | argDrawSquare(marker_info[i].vertex,0,0); |
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| 112 | } |
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| 113 | |||
| 114 | /* check for known patterns */ |
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| 115 | for( i = 0; i < objectnum; i++ ) { |
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| 116 | k = -1; |
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| 117 | for( j = 0; j < marker_num; j++ ) { |
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| 118 | if( object[i].id == marker_info[j].id) { |
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| 119 | |||
| 120 | /* you've found a pattern */ |
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| 121 | //printf("Found pattern: %d ",patt_id); |
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| 122 | glColor3f( 0.0, 1.0, 0.0 ); |
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| 123 | argDrawSquare(marker_info[j].vertex,0,0); |
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| 124 | |||
| 125 | if( k == -1 ) k = j; |
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| 126 | else /* make sure you have the best pattern (highest confidence factor) */ |
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| 127 | if( marker_info[k].cf < marker_info[j].cf ) k = j; |
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| 128 | } |
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| 129 | } |
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| 130 | if( k == -1 ) { |
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| 131 | object[i].visible = 0; |
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| 132 | continue; |
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| 133 | } |
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| 134 | |||
| 135 | /* calculate the transform for each marker */ |
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| 136 | if( object[i].visible == 0 ) { |
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| 137 | arGetTransMat(&marker_info[k], |
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| 138 | object[i].marker_center, object[i].marker_width, |
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| 139 | object[i].trans); |
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| 140 | } |
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| 141 | else { |
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| 142 | arGetTransMatCont(&marker_info[k], object[i].trans, |
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| 143 | object[i].marker_center, object[i].marker_width, |
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| 144 | object[i].trans); |
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| 145 | } |
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| 146 | object[i].visible = 1; |
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| 147 | } |
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| 148 | |||
| 149 | /*check for object collisions between marker 0 and 1 */ |
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| 150 | if(object[0].visible && object[1].visible){ |
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| 151 | if(checkCollisions(object[0],object[1],COLLIDE_DIST)){ |
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| 152 | object[0].collide = 1; |
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| 153 | object[1].collide = 1; |
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| 154 | } |
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| 155 | else{ |
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| 156 | object[0].collide = 0; |
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| 157 | object[1].collide = 0; |
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| 158 | } |
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| 159 | } |
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| 160 | |||
| 161 | /* draw the AR graphics */ |
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| 162 | draw( object, objectnum ); |
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| 163 | |||
| 164 | /*swap the graphics buffers*/ |
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| 165 | argSwapBuffers(); |
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| 166 | } |
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| 167 | |||
| 168 | /* check collision between two markers */ |
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| 169 | static int checkCollisions( ObjectData_T object0, ObjectData_T object1, float collide_dist) |
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| 170 | { |
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| 171 | float x1,y1,z1; |
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| 172 | float x2,y2,z2; |
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| 173 | float dist; |
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| 174 | |||
| 175 | x1 = object0.trans[0][3]; |
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| 176 | y1 = object0.trans[1][3]; |
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| 177 | z1 = object0.trans[2][3]; |
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| 178 | |||
| 179 | x2 = object1.trans[0][3]; |
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| 180 | y2 = object1.trans[1][3]; |
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| 181 | z2 = object1.trans[2][3]; |
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| 182 | |||
| 183 | dist = (x1-x2)*(x1-x2)+(y1-y2)*(y1-y2)+(z1-z2)*(z1-z2); |
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| 184 | |||
| 185 | printf("Dist = %3.2f\n",dist); |
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| 186 | |||
| 187 | if(dist < collide_dist) |
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| 188 | return 1; |
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| 189 | else |
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| 190 | return 0; |
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| 191 | } |
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| 192 | static void init( void ) |
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| 193 | { |
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| 194 | ARParam wparam; |
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| 195 | |||
| 196 | /* open the video path */ |
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| 197 | if( arVideoOpen( vconf ) < 0 ) exit(0); |
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| 198 | /* find the size of the window */ |
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| 199 | if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0); |
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| 200 | printf("Image size (x,y) = (%d,%d)\n", xsize, ysize); |
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| 201 | |||
| 202 | /* set the initial camera parameters */ |
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| 203 | if( arParamLoad(cparam_name, 1, &wparam) < 0 ) { |
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| 204 | printf("Camera parameter load error !!\n"); |
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| 205 | exit(0); |
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| 206 | } |
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| 207 | arParamChangeSize( &wparam, xsize, ysize, &cparam ); |
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| 208 | arInitCparam( &cparam ); |
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| 209 | printf("*** Camera Parameter ***\n"); |
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| 210 | arParamDisp( &cparam ); |
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| 211 | |||
| 212 | /* load in the object data - trained markers and associated bitmap files */ |
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| 213 | if( (object=read_ObjData(model_name, &objectnum)) == NULL ) exit(0); |
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| 214 | printf("Objectfile num = %d\n", objectnum); |
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| 215 | |||
| 216 | /* open the graphics window */ |
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| 217 | argInit( &cparam, 2.0, 0, 0, 0, 0 ); |
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| 218 | } |
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| 219 | |||
| 220 | /* cleanup function called when program exits */ |
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| 221 | static void cleanup(void) |
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| 222 | { |
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| 223 | arVideoCapStop(); |
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| 224 | arVideoClose(); |
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| 225 | argCleanup(); |
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| 226 | } |
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| 227 | |||
| 228 | /* draw the the AR objects */ |
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| 229 | static int draw( ObjectData_T *object, int objectnum ) |
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| 230 | { |
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| 231 | int i; |
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| 232 | double gl_para[16]; |
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| 233 | |||
| 234 | glClearDepth( 1.0 ); |
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| 235 | glClear(GL_DEPTH_BUFFER_BIT); |
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| 236 | glEnable(GL_DEPTH_TEST); |
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| 237 | glDepthFunc(GL_LEQUAL); |
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| 238 | glEnable(GL_LIGHTING); |
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| 239 | |||
| 240 | /* calculate the viewing parameters - gl_para */ |
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| 241 | for( i = 0; i < objectnum; i++ ) { |
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| 242 | if( object[i].visible == 0 ) continue; |
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| 243 | argConvGlpara(object[i].trans, gl_para); |
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| 244 | draw_object( object[i].id, gl_para, object[i].collide ); |
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| 245 | } |
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| 246 | |||
| 247 | glDisable( GL_LIGHTING ); |
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| 248 | glDisable( GL_DEPTH_TEST ); |
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| 249 | |||
| 250 | return(0); |
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| 251 | } |
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| 252 | |||
| 253 | /* draw the user object */ |
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| 254 | static int draw_object( int obj_id, double gl_para[16], int collide_flag ) |
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| 255 | { |
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| 256 | GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0}; |
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| 257 | GLfloat mat_ambient_collide[] = {1.0, 0.0, 0.0, 1.0}; |
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| 258 | GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0}; |
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| 259 | GLfloat mat_flash_collide[] = {1.0, 0.0, 0.0, 1.0}; |
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| 260 | GLfloat mat_flash_shiny[] = {50.0}; |
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| 261 | GLfloat light_position[] = {100.0,-200.0,200.0,0.0}; |
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| 262 | GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1}; |
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| 263 | GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1}; |
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| 264 | |||
| 265 | argDrawMode3D(); |
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| 266 | argDraw3dCamera( 0, 0 ); |
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| 267 | glMatrixMode(GL_MODELVIEW); |
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| 268 | glLoadMatrixd( gl_para ); |
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| 269 | |||
| 270 | /* set the material */ |
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| 271 | glEnable(GL_LIGHTING); |
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| 272 | glEnable(GL_LIGHT0); |
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| 273 | glLightfv(GL_LIGHT0, GL_POSITION, light_position); |
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| 274 | glLightfv(GL_LIGHT0, GL_AMBIENT, ambi); |
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| 275 | glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor); |
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| 276 | |||
| 277 | glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny); |
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| 278 | |||
| 279 | if(collide_flag){ |
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| 280 | glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash_collide); |
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| 281 | glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient_collide); |
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| 282 | /* draw a cube */ |
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| 283 | glTranslatef( 0.0, 0.0, 30.0 ); |
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| 284 | glutSolidSphere(30,12,6); |
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| 285 | } |
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| 286 | else { |
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| 287 | glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash); |
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| 288 | glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient); |
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| 289 | /* draw a cube */ |
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| 290 | glTranslatef( 0.0, 0.0, 30.0 ); |
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| 291 | glutSolidCube(60); |
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| 292 | } |
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| 293 | |||
| 294 | argDrawMode2D(); |
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| 295 | |||
| 296 | return 0; |
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| 297 | } |