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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 | #ifndef __APPLE__ |
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| 8 | #include <GL/gl.h> |
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| 9 | #include <GL/glut.h> |
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| 10 | #else |
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| 11 | #include <OpenGL/gl.h> |
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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/video.h> |
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| 16 | #include <AR/param.h> |
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| 17 | #include <AR/ar.h> |
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| 18 | #include "draw_object.h" |
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| 19 | |||
| 20 | |||
| 21 | |||
| 22 | /* set up the video format globals */ |
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| 23 | |||
| 24 | #ifdef _WIN32 |
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| 25 | char *vconf = "Data\\WDM_camera_flipV.xml"; |
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| 26 | #else |
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| 27 | char *vconf = ""; |
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| 28 | #endif |
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| 29 | |||
| 30 | int xsize; |
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| 31 | int ysize; |
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| 32 | int thresh = 100; |
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| 33 | ARParam cparam; |
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| 34 | int outputMode = 0; |
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| 35 | |||
| 36 | int mouse_ox; |
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| 37 | int mouse_oy; |
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| 38 | int mouse_st = 0; |
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| 39 | int disp_mode = 1; |
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| 40 | double a = 0.0; |
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| 41 | double b = -45.0; |
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| 42 | double r = 500.0; |
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| 43 | |||
| 44 | int target_id; |
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| 45 | double target_center[2] = {0.0, 0.0}; |
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| 46 | double target_width = 80.0; |
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| 47 | |||
| 48 | |||
| 49 | /* function definitions */ |
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| 50 | static int init(void); |
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| 51 | static void cleanup(void); |
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| 52 | static void keyEvent( unsigned char key, int x, int y); |
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| 53 | static void mouseEvent(int button, int state, int x, int y); |
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| 54 | static void motionEvent( int x, int y ); |
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| 55 | static void mainLoop(void); |
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| 56 | |||
| 57 | static void getResultRaw( ARMarkerInfo *marker_info ); |
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| 58 | static void getResultQuat( ARMarkerInfo *marker_info ); |
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| 59 | |||
| 60 | int main(int argc, char **argv) |
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| 61 | { |
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| 62 | glutInit(&argc, argv); |
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| 63 | if( init() < 0 ) exit(0); |
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| 64 | |||
| 65 | arVideoCapStart(); |
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| 66 | glutMotionFunc( motionEvent ); |
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| 67 | argMainLoop( mouseEvent, keyEvent, mainLoop ); |
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| 68 | return (0); |
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| 69 | } |
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| 70 | |||
| 71 | static void mainLoop(void) |
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| 72 | { |
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| 73 | ARUint8 *dataPtr; |
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| 74 | ARMarkerInfo *marker_info; |
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| 75 | int marker_num; |
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| 76 | int j, k; |
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| 77 | |||
| 78 | /* grab a vide frame */ |
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| 79 | if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) { |
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| 80 | arUtilSleep(2); |
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| 81 | return; |
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| 82 | } |
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| 83 | |||
| 84 | glClearColor( 0.0, 0.0, 0.0, 0.0 ); |
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| 85 | glClearDepth( 1.0 ); |
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| 86 | glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); |
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| 87 | argDrawMode2D(); |
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| 88 | if( disp_mode ) { |
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| 89 | argDispImage( dataPtr, 0, 0 ); |
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| 90 | } |
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| 91 | else { |
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| 92 | argDispImage( dataPtr, 1, 1 ); |
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| 93 | } |
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| 94 | |||
| 95 | /* detect the markers in the video frame */ |
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| 96 | if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) { |
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| 97 | cleanup(); |
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| 98 | exit(0); |
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| 99 | } |
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| 100 | arVideoCapNext(); |
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| 101 | |||
| 102 | /* if the debug mode is on draw squares |
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| 103 | around the detected squares in the video image */ |
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| 104 | if( arDebug ) { |
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| 105 | if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) |
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| 106 | argDispHalfImage( arImage, 2, 1 ); |
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| 107 | else |
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| 108 | argDispImage( arImage, 2, 1); |
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| 109 | } |
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| 110 | |||
| 111 | /* check for object visibility */ |
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| 112 | k = -1; |
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| 113 | for( j = 0; j < marker_num; j++ ) { |
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| 114 | if( marker_info[j].id == target_id ) { |
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| 115 | if( k == -1 ) k = j; |
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| 116 | else { |
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| 117 | if( marker_info[k].cf < marker_info[j].cf ) k = j; |
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| 118 | } |
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| 119 | } |
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| 120 | } |
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| 121 | if( k != -1 ) { |
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| 122 | glDisable(GL_DEPTH_TEST); |
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| 123 | switch( outputMode ) { |
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| 124 | case 0: |
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| 125 | getResultRaw( &marker_info[k] ); |
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| 126 | break; |
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| 127 | case 1: |
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| 128 | getResultQuat( &marker_info[k] ); |
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| 129 | break; |
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| 130 | } |
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| 131 | } |
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| 132 | |||
| 133 | argSwapBuffers(); |
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| 134 | } |
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| 135 | |||
| 136 | static void getResultRaw( ARMarkerInfo *marker_info ) |
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| 137 | { |
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| 138 | double target_trans[3][4]; |
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| 139 | double cam_trans[3][4]; |
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| 140 | char string[256]; |
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| 141 | |||
| 142 | if( arGetTransMat(marker_info, target_center, target_width, target_trans) < 0 ) return; |
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| 143 | if( arUtilMatInv(target_trans, cam_trans) < 0 ) return; |
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| 144 | |||
| 145 | sprintf(string," RAW: Cam Pos x: %3.1f y: %3.1f z: %3.1f", |
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| 146 | cam_trans[0][3], cam_trans[1][3], cam_trans[2][3]); |
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| 147 | |||
| 148 | if( disp_mode ) { |
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| 149 | draw( "target", target_trans, 0, 0 ); |
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| 150 | draw_exview( a, b, r, target_trans, 1, 1 ); |
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| 151 | } |
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| 152 | else { |
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| 153 | draw( "target", target_trans, 1, 1 ); |
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| 154 | draw_exview( a, b, r, target_trans, 0, 0 ); |
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| 155 | } |
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| 156 | print_string( string ); |
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| 157 | |||
| 158 | return; |
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| 159 | } |
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| 160 | |||
| 161 | static void getResultQuat( ARMarkerInfo *marker_info ) |
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| 162 | { |
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| 163 | double target_trans[3][4]; |
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| 164 | double cam_trans[3][4]; |
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| 165 | double quat[4], pos[3]; |
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| 166 | char string1[256]; |
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| 167 | char string2[256]; |
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| 168 | |||
| 169 | if( arGetTransMat(marker_info, target_center, target_width, target_trans) < 0 ) return; |
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| 170 | if( arUtilMatInv(target_trans, cam_trans) < 0 ) return; |
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| 171 | if( arUtilMat2QuatPos(cam_trans, quat, pos) < 0 ) return; |
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| 172 | |||
| 173 | sprintf(string1," QUAT: Pos x: %3.1f y: %3.1f z: %3.1f\n", |
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| 174 | pos[0], pos[1], pos[2]); |
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| 175 | sprintf(string2, " Quat qx: %3.2f qy: %3.2f qz: %3.2f qw: %3.2f ", |
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| 176 | quat[0], quat[1], quat[2], quat[3]); |
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| 177 | strcat( string1, string2 ); |
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| 178 | |||
| 179 | if( disp_mode ) { |
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| 180 | draw( "target", target_trans, 0, 0 ); |
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| 181 | draw_exview( a, b, r, target_trans, 1, 1 ); |
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| 182 | } |
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| 183 | else { |
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| 184 | draw( "target", target_trans, 1, 1 ); |
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| 185 | draw_exview( a, b, r, target_trans, 0, 0 ); |
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| 186 | } |
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| 187 | print_string( string1 ); |
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| 188 | |||
| 189 | return; |
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| 190 | } |
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| 191 | |||
| 192 | /* set up the application parameters - read in from command line*/ |
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| 193 | static int init(void) |
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| 194 | { |
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| 195 | char cparaname[256]; |
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| 196 | char pattname[256]; |
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| 197 | ARParam wparam; |
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| 198 | |||
| 199 | strcpy( cparaname, "Data/camera_para.dat" ); |
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| 200 | strcpy( pattname, "Data/patt.hiro" ); |
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| 201 | |||
| 202 | /* open the video path */ |
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| 203 | if( arVideoOpen( vconf ) < 0 ) exit(0); |
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| 204 | /* find the size of the window */ |
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| 205 | if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0); |
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| 206 | printf("Image size (x,y) = (%d,%d)\n", xsize, ysize); |
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| 207 | |||
| 208 | /* set the initial camera parameters */ |
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| 209 | if( arParamLoad(cparaname, 1, &wparam) < 0 ) { |
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| 210 | printf("Camera parameter load error !!\n"); |
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| 211 | exit(0); |
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| 212 | } |
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| 213 | arParamChangeSize( &wparam, xsize, ysize, &cparam ); |
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| 214 | arInitCparam( &cparam ); |
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| 215 | printf("*** Camera Parameter ***\n"); |
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| 216 | arParamDisp( &cparam ); |
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| 217 | |||
| 218 | /* open the graphics window */ |
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| 219 | argInit( &cparam, 1.0, 0, 2, 1, 0 ); |
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| 220 | |||
| 221 | if( (target_id = arLoadPatt(pattname)) < 0 ) { |
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| 222 | printf("Target pattern load error!!\n"); |
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| 223 | exit(0); |
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| 224 | } |
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| 225 | |||
| 226 | arDebug = 0; |
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| 227 | |||
| 228 | return 0; |
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| 229 | } |
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| 230 | |||
| 231 | /* cleanup function called when program exits */ |
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| 232 | static void cleanup(void) |
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| 233 | { |
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| 234 | arVideoCapStop(); |
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| 235 | arVideoClose(); |
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| 236 | argCleanup(); |
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| 237 | } |
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| 238 | |||
| 239 | static void keyEvent( unsigned char key, int x, int y) |
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| 240 | { |
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| 241 | /* quit if the ESC key is pressed */ |
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| 242 | if( key == 0x1b ) { |
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| 243 | cleanup(); |
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| 244 | exit(0); |
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| 245 | } |
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| 246 | |||
| 247 | /* change the threshold value when 't' key pressed */ |
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| 248 | if( key == 't' ) { |
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| 249 | printf("Enter new threshold value (default = 100): "); |
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| 250 | scanf("%d",&thresh); while( getchar()!='\n' ); |
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| 251 | printf("\n"); |
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| 252 | } |
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| 253 | |||
| 254 | /* turn on and off the debug mode with right mouse */ |
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| 255 | if( key == 'd' ) { |
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| 256 | arDebug = 1 - arDebug; |
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| 257 | if( arDebug == 0 ) { |
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| 258 | glClearColor( 0.0, 0.0, 0.0, 0.0 ); |
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| 259 | glClear(GL_COLOR_BUFFER_BIT); |
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| 260 | argSwapBuffers(); |
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| 261 | glClear(GL_COLOR_BUFFER_BIT); |
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| 262 | argSwapBuffers(); |
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| 263 | } |
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| 264 | } |
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| 265 | |||
| 266 | if(key == 'o') { |
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| 267 | outputMode = (outputMode + 1) % 2; |
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| 268 | } |
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| 269 | |||
| 270 | if(key == 'c' ) { |
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| 271 | disp_mode = 1 - disp_mode; |
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| 272 | } |
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| 273 | |||
| 274 | } |
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| 275 | |||
| 276 | static void motionEvent( int x, int y ) |
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| 277 | { |
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| 278 | if( mouse_st == 1 ) { |
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| 279 | a += ((double)x - mouse_ox) / 2.0; |
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| 280 | b -= ((double)y - mouse_oy) / 2.0; |
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| 281 | if( a < 0.0 ) a += 360.0; |
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| 282 | if( a > 360.0 ) a -= 360.0; |
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| 283 | if( b < -90.0 ) b = -90.0; |
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| 284 | if( b > 0.0 ) b = 0.0; |
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| 285 | } |
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| 286 | else if( mouse_st == 2 ) { |
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| 287 | r *= (1.0 + ((double)y - mouse_oy)*0.01); |
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| 288 | if( r < 10.0 ) r = 10.0; |
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| 289 | } |
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| 290 | |||
| 291 | mouse_ox = x; |
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| 292 | mouse_oy = y; |
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| 293 | } |
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| 294 | |||
| 295 | static void mouseEvent(int button, int state, int x, int y) |
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| 296 | { |
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| 297 | if( state == GLUT_UP ) { |
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| 298 | mouse_st = 0; |
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| 299 | } |
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| 300 | else if( state == GLUT_DOWN ) { |
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| 301 | if( button == GLUT_LEFT_BUTTON ) { |
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| 302 | mouse_st = 1; |
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| 303 | mouse_ox = x; |
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| 304 | mouse_oy = y; |
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| 305 | } |
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| 306 | else if( button == GLUT_MIDDLE_BUTTON ) { |
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| 307 | disp_mode = 1 - disp_mode; |
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| 308 | } |
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| 309 | else if( button == GLUT_RIGHT_BUTTON ) { |
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| 310 | mouse_st = 2; |
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| 311 | mouse_ox = x; |
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| 312 | mouse_oy = y; |
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| 313 | } |
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| 314 | } |
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| 315 | } |