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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/gsubUtil.h> |
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| 15 | #include <AR/gsub.h> |
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| 16 | #include <AR/video.h> |
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| 17 | #include <AR/param.h> |
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| 18 | #include <AR/ar.h> |
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| 19 | #include "object.h" |
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| 20 | #include "draw_object.h" |
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| 21 | |||
| 22 | #define TARGET_PATT_FILE "Data/patt.calib" |
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| 23 | |||
| 24 | /* set up the video format globals */ |
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| 25 | |||
| 26 | #ifdef _WIN32 |
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| 27 | char *vconf = "Data\\WDM_camera_flipV.xml"; |
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| 28 | #else |
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| 29 | char *vconf = ""; |
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| 30 | #endif |
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| 31 | |||
| 32 | int xsize; |
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| 33 | int ysize; |
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| 34 | int thresh = 100; |
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| 35 | int opticalFlag = 0; |
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| 36 | int saveFittingMode; |
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| 37 | |||
| 38 | /* set up the matrix arrays for the camera and view transforms */ |
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| 39 | ARParam cparam; |
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| 40 | int hmd_param_flag; |
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| 41 | int target_id; |
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| 42 | ObjectData_T *object; |
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| 43 | int objectnum; |
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| 44 | double object_center[2] = {0.0, 0.0}; |
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| 45 | |||
| 46 | static int count = 0; |
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| 47 | |||
| 48 | /* function definitions */ |
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| 49 | static void usage( char *com ); |
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| 50 | static int init( int argc, char *argv[] ); |
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| 51 | static void cleanup(void); |
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| 52 | |||
| 53 | static void keyEvent( unsigned char key, int x, int y); |
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| 54 | static void mouseEvent(int button, int state, int x, int y); |
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| 55 | static void mainLoop(void); |
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| 56 | static void calibPostFunc(ARParam *lpara, ARParam *rpara); |
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| 57 | |||
| 58 | static void usage( char *com ) |
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| 59 | { |
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| 60 | printf("Usage: %s [options]\n", com); |
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| 61 | printf(" Options:\n"); |
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| 62 | printf(" -c <camera parameter filename>\n"); |
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| 63 | printf(" -o <object data filename>\n"); |
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| 64 | printf("\n"); |
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| 65 | exit(0); |
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| 66 | } |
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| 67 | |||
| 68 | int main(int argc, char **argv) |
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| 69 | { |
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| 70 | glutInit(&argc, argv); |
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| 71 | if( init( argc, argv ) < 0 ) exit(0); |
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| 72 | |||
| 73 | arVideoCapStart(); |
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| 74 | argMainLoop( mouseEvent, keyEvent, mainLoop ); |
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| 75 | return (0); |
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| 76 | } |
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| 77 | |||
| 78 | static void keyEvent( unsigned char key, int x, int y) |
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| 79 | { |
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| 80 | /* quit if the ESC key is pressed */ |
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| 81 | if( key == 0x1b ) { |
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| 82 | /* print out frame/sec and shut everything down */ |
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| 83 | cleanup(); |
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| 84 | printf("*** %f (frame/sec)\n", (double)count/arUtilTimer()); |
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| 85 | exit(0); |
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| 86 | } |
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| 87 | |||
| 88 | /* change the threshold value when 't' key pressed */ |
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| 89 | if( key == 't' ) { |
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| 90 | printf("Enter new threshold value (default = 100): "); |
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| 91 | scanf("%d",&thresh); while( getchar()!='\n' ); |
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| 92 | printf("\n"); |
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| 93 | count = 0; |
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| 94 | } |
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| 95 | |||
| 96 | /* turn on and off the debug mode with right mouse */ |
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| 97 | if( key == 'd' ) { |
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| 98 | arDebug = 1 - arDebug; |
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| 99 | if( arDebug == 0 ) { |
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| 100 | glClearColor( 0.0, 0.0, 0.0, 0.0 ); |
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| 101 | glClear(GL_COLOR_BUFFER_BIT); |
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| 102 | argSwapBuffers(); |
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| 103 | glClear(GL_COLOR_BUFFER_BIT); |
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| 104 | argSwapBuffers(); |
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| 105 | } |
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| 106 | } |
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| 107 | } |
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| 108 | |||
| 109 | /* mouse event handling function */ |
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| 110 | static void mouseEvent(int button, int state, int x, int y) |
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| 111 | { |
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| 112 | /* change display modes on left mouse button |
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| 113 | - between video see-through and optical see-through */ |
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| 114 | if( button == GLUT_LEFT_BUTTON && state == GLUT_DOWN ) { |
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| 115 | if( hmd_param_flag ) { |
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| 116 | opticalFlag = 1 - opticalFlag; |
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| 117 | if( opticalFlag == 0 ) { |
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| 118 | arFittingMode = saveFittingMode; |
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| 119 | } |
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| 120 | else { |
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| 121 | arFittingMode = AR_FITTING_TO_IDEAL; |
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| 122 | } |
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| 123 | } |
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| 124 | } |
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| 125 | |||
| 126 | /* turn on and off the debug mode with middle mouse */ |
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| 127 | if( button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN ) { |
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| 128 | argUtilCalibHMD( target_id, thresh, calibPostFunc ); |
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| 129 | } |
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| 130 | } |
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| 131 | |||
| 132 | static void calibPostFunc(ARParam *lpara, ARParam *rpara) |
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| 133 | { |
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| 134 | count = 0; |
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| 135 | |||
| 136 | if( lpara == NULL || rpara == NULL ) { |
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| 137 | printf("Calibration error!!\n"); |
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| 138 | return; |
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| 139 | } |
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| 140 | |||
| 141 | hmd_param_flag = 1; |
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| 142 | opticalFlag = 1; |
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| 143 | arFittingMode = AR_FITTING_TO_IDEAL; |
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| 144 | |||
| 145 | printf("*** HMD Parameter ***\n"); |
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| 146 | printf("LEFT\n"); |
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| 147 | arParamDisp( lpara ); |
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| 148 | printf("Right\n"); |
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| 149 | arParamDisp( rpara ); |
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| 150 | printf("\n"); |
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| 151 | } |
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| 152 | |||
| 153 | /* main loop */ |
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| 154 | static void mainLoop(void) |
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| 155 | { |
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| 156 | ARUint8 *dataPtr; |
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| 157 | ARMarkerInfo *marker_info; |
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| 158 | int marker_num; |
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| 159 | int i, j, k; |
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| 160 | |||
| 161 | /* grab a vide frame */ |
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| 162 | if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) { |
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| 163 | arUtilSleep(2); |
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| 164 | return; |
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| 165 | } |
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| 166 | if( count == 0 ) arUtilTimerReset(); |
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| 167 | count++; |
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| 168 | |||
| 169 | if( opticalFlag == 0 ) { |
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| 170 | argDispImage( dataPtr, 0, 0 ); |
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| 171 | if( !arDebug ) arVideoCapNext(); |
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| 172 | glClearDepth( 1.0 ); |
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| 173 | glClear(GL_DEPTH_BUFFER_BIT); |
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| 174 | } |
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| 175 | else { |
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| 176 | if( !arDebug ) arVideoCapNext(); |
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| 177 | glClearDepth( 1.0 ); |
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| 178 | glClearColor( 0.0, 0.0, 0.0, 0.0 ); |
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| 179 | glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); |
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| 180 | } |
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| 181 | |||
| 182 | /* detect the markers in the video frame */ |
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| 183 | if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) { |
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| 184 | cleanup(); |
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| 185 | exit(0); |
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| 186 | } |
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| 187 | |||
| 188 | /* if the debug mode is on draw squares |
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| 189 | around the detected squares in the video image */ |
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| 190 | if( arDebug ) { |
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| 191 | argDispImage( dataPtr, 1, 1 ); |
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| 192 | arVideoCapNext(); |
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| 193 | if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) |
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| 194 | argDispHalfImage( arImage, 2, 1 ); |
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| 195 | else |
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| 196 | argDispImage( arImage, 2, 1); |
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| 197 | |||
| 198 | glColor3f( 1.0, 0.0, 0.0 ); |
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| 199 | glLineWidth( 3.0 ); |
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| 200 | for( i = 0; i < marker_num; i++ ) { |
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| 201 | if( marker_info[i].id < 0 ) continue; |
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| 202 | argDrawSquare( marker_info[i].vertex, 2, 1 ); |
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| 203 | } |
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| 204 | glLineWidth( 1.0 ); |
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| 205 | } |
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| 206 | |||
| 207 | /* check for object visibility */ |
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| 208 | for( i = 0; i < objectnum; i++ ) { |
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| 209 | k = -1; |
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| 210 | for( j = 0; j < marker_num; j++ ) { |
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| 211 | if( object[i].id == marker_info[j].id ) { |
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| 212 | if( k == -1 ) k = j; |
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| 213 | else { |
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| 214 | if( marker_info[k].cf < marker_info[j].cf ) k = j; |
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| 215 | } |
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| 216 | } |
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| 217 | } |
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| 218 | if( k == -1 ) { |
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| 219 | object[i].visible = 0; |
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| 220 | continue; |
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| 221 | } |
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| 222 | |||
| 223 | /* get the transformation between the marker and the real camera */ |
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| 224 | if( arGetTransMat(&marker_info[k], |
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| 225 | object_center, object[i].marker_width, object[i].trans) < 0 ) { |
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| 226 | object[i].visible = 0; |
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| 227 | } |
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| 228 | else { |
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| 229 | object[i].visible = 1; |
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| 230 | } |
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| 231 | } |
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| 232 | |||
| 233 | /* draw the virtual objects attached to the cards */ |
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| 234 | draw( object, objectnum, opticalFlag ); |
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| 235 | |||
| 236 | argSwapBuffers(); |
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| 237 | } |
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| 238 | |||
| 239 | /* set up the application parameters - read in from command line*/ |
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| 240 | static int init( int argc, char *argv[] ) |
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| 241 | { |
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| 242 | char cparaname[256]; |
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| 243 | char odataname[256]; |
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| 244 | ARParam wparam; |
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| 245 | /* |
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| 246 | ARParam wlpara, wrpara; |
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| 247 | */ |
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| 248 | int i; |
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| 249 | |||
| 250 | /* copy in name of the camera parameter file, the hmd parameter file |
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| 251 | and the object data file */ |
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| 252 | strcpy( cparaname, "Data/camera_para.dat" ); |
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| 253 | strcpy( odataname, "Data/object_data" ); |
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| 254 | |||
| 255 | /* read in the parameters from the various files */ |
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| 256 | for( i = 1; i < argc; i++ ) { |
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| 257 | if( strcmp(argv[i],"-c") == 0 ) { |
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| 258 | if( i < argc-1 && argv[i+1][0] != '-' ) { |
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| 259 | strcpy( cparaname, argv[i+1] ); |
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| 260 | i++; |
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| 261 | } |
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| 262 | else usage( argv[0] ); |
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| 263 | } |
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| 264 | else if( strcmp(argv[i],"-o") == 0 ) { |
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| 265 | if( i < argc-1 && argv[i+1][0] != '-' ) { |
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| 266 | strcpy( odataname, argv[i+1] ); |
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| 267 | i++; |
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| 268 | } |
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| 269 | else usage( argv[0] ); |
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| 270 | } |
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| 271 | else usage( argv[0] ); |
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| 272 | } |
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| 273 | |||
| 274 | /* load in the object data - trained markers and associated bitmap files */ |
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| 275 | if( (object=read_objectdata(odataname,&objectnum)) == NULL ) exit(0); |
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| 276 | if( (target_id = arLoadPatt(TARGET_PATT_FILE)) < 0 ) { |
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| 277 | printf("Target pattern load error!!\n"); |
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| 278 | exit(0); |
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| 279 | } |
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| 280 | |||
| 281 | /* open the video path */ |
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| 282 | if( arVideoOpen( vconf ) < 0 ) exit(0); |
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| 283 | /* find the size of the window */ |
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| 284 | if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0); |
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| 285 | printf("Image size (x,y) = (%d,%d)\n", xsize, ysize); |
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| 286 | |||
| 287 | /* set the initial camera parameters */ |
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| 288 | if( arParamLoad(cparaname, 1, &wparam) < 0 ) { |
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| 289 | printf("Camera parameter load error !!\n"); |
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| 290 | exit(0); |
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| 291 | } |
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| 292 | arParamChangeSize( &wparam, xsize, ysize, &cparam ); |
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| 293 | arInitCparam( &cparam ); |
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| 294 | printf("*** Camera Parameter ***\n"); |
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| 295 | arParamDisp( &cparam ); |
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| 296 | |||
| 297 | /* |
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| 298 | arParamLoad( "Data/hmd_para", 2, &wlpara, &wrpara); |
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| 299 | argLoadHMDparam( &wrpara, &wlpara ); |
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| 300 | hmd_param_flag = 1; |
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| 301 | */ |
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| 302 | hmd_param_flag = 0; |
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| 303 | |||
| 304 | /* open the graphics window */ |
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| 305 | argInit( &cparam, 1.0, 0, 2, 1, 1 ); |
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| 306 | |||
| 307 | /* initialize lights and material properties */ |
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| 308 | init_lights(); |
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| 309 | |||
| 310 | saveFittingMode = arFittingMode; |
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| 311 | arDebug = 0; |
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| 312 | |||
| 313 | return 0; |
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| 314 | } |
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| 315 | |||
| 316 | /* cleanup function called when program exits */ |
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| 317 | static void cleanup(void) |
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| 318 | { |
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| 319 | arVideoCapStop(); |
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| 320 | arVideoClose(); |
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| 321 | argCleanup(); |
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| 322 | } |