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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 204 | chris | 1 | /* |
| 2 | * |
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| 3 | * This file is part of ARToolKit. |
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| 4 | * |
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| 5 | * ARToolKit is free software; you can redistribute it and/or modify |
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| 6 | * it under the terms of the GNU General Public License as published by |
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| 7 | * the Free Software Foundation; either version 2 of the License, or |
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| 8 | * (at your option) any later version. |
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| 9 | * |
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| 10 | * ARToolKit is distributed in the hope that it will be useful, |
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| 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 13 | * GNU General Public License for more details. |
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| 14 | * |
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| 15 | * You should have received a copy of the GNU General Public License |
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| 16 | * along with ARToolKit; if not, write to the Free Software |
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| 17 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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| 18 | * |
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| 19 | */ |
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| 20 | |||
| 21 | // ============================================================================ |
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| 22 | // Includes |
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| 23 | // ============================================================================ |
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| 24 | |||
| 25 | #ifdef _WIN32 |
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| 26 | # include <windows.h> |
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| 27 | #endif |
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| 28 | #include <math.h> |
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| 29 | #include <stdio.h> |
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| 30 | #include <stdlib.h> |
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| 31 | #include <string.h> |
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| 32 | #ifndef __APPLE__ |
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| 33 | # include <GL/glut.h> |
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| 34 | # ifdef GL_VERSION_1_2 |
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| 35 | # include <GL/glext.h> |
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| 36 | # endif |
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| 37 | #else |
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| 38 | # include <GLUT/glut.h> |
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| 39 | # include <OpenGL/glext.h> |
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| 40 | #endif |
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| 41 | #include <AR/config.h> |
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| 42 | #include <AR/video.h> |
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| 43 | #include <AR/param.h> |
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| 44 | #include <AR/matrix.h> |
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| 45 | #include <AR/gsub_lite.h> |
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| 46 | #include "calib_camera.h" |
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| 47 | |||
| 48 | // ============================================================================ |
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| 49 | // Constants |
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| 50 | // ============================================================================ |
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| 51 | |||
| 52 | #define CALIB_CAMERA2_DEBUG 0 |
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| 53 | |||
| 54 | // ============================================================================ |
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| 55 | // Global variables |
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| 56 | // ============================================================================ |
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| 57 | |||
| 58 | /* set up the video format globals */ |
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| 59 | |||
| 60 | #if defined(__sgi) |
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| 61 | static char *vconf = "-size=FULL"; |
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| 62 | #elif defined(__linux) |
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| 63 | # if defined(AR_INPUT_GSTREAMER) |
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| 64 | char *vconf = "videotestsrc ! capsfilter caps=video/x-raw-rgb,bpp=24 ! identity name=artoolkit ! fakesink"; |
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| 65 | # elif defined(AR_INPUT_V4L) |
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| 66 | static char *vconf = "-width=640 -height=480"; |
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| 67 | # elif defined(AR_INPUT_1394CAM) |
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| 68 | static char *vconf = "-mode=640x480_YUV411"; |
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| 69 | # elif defined(AR_INPUT_DV) |
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| 70 | static char *vconf = ""; |
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| 71 | # endif |
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| 72 | #elif defined(_WIN32) |
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| 73 | static char *vconf = "Data\\WDM_camera_flipV.xml"; |
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| 74 | #elif defined(__APPLE__) |
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| 75 | static char *vconf = "-width=640 -height=480"; |
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| 76 | #else |
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| 77 | static char *vconf = ""; |
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| 78 | #endif |
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| 79 | |||
| 80 | static ARUint8 *gARTImage = NULL; |
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| 81 | static ARParam gARTCparam; // Dummy parameter, to supply to gsub_lite. |
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| 82 | static ARGL_CONTEXT_SETTINGS_REF gArglSettings = NULL; |
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| 83 | |||
| 84 | |||
| 85 | static int gWin; |
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| 86 | static int gXsize = 0; |
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| 87 | static int gYsize = 0; |
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| 88 | static int gThresh = THRESH; |
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| 89 | static unsigned char *gClipImage = NULL; |
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| 90 | |||
| 91 | static CALIB_PATT_T gPatt; |
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| 92 | static double dist_factor[4]; |
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| 93 | static double mat[3][4]; |
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| 94 | |||
| 95 | static int point_num; |
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| 96 | static int gDragStartX = -1, gDragStartY = -1, gDragEndX = -1, gDragEndY = -1; // x and y coordinates of start and end of mouse drag. |
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| 97 | |||
| 98 | static int gStatus; // 0 = Waiting to grab image, 1 = Drawing bounding boxes, 2 = Placing warp lines. |
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| 99 | static int check_num; |
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| 100 | |||
| 101 | // ============================================================================ |
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| 102 | // Functions |
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| 103 | // ============================================================================ |
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| 104 | |||
| 105 | int main(int argc, char *argv[]); |
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| 106 | static int init(int argc, char *argv[]); |
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| 107 | static void Mouse(int button, int state, int x, int y); |
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| 108 | static void Motion(int x, int y); |
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| 109 | static void Keyboard(unsigned char key, int x, int y); |
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| 110 | static void Quit(void); |
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| 111 | static void Idle(void); |
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| 112 | static void Visibility(int visible); |
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| 113 | static void Reshape(int w, int h); |
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| 114 | static void Display(void); |
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| 115 | static void draw_warp_line(double a, double b , double c); |
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| 116 | static void draw_line(void); |
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| 117 | static void draw_line2(double *x, double *y, int num); |
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| 118 | static void draw_warp_line(double a, double b , double c); |
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| 119 | static void print_comment(int status); |
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| 120 | static void save_param(void); |
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| 121 | |||
| 122 | int main(int argc, char *argv[]) |
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| 123 | { |
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| 124 | glutInit(&argc, argv); |
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| 125 | if (!init(argc, argv)) exit(-1); |
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| 126 | |||
| 127 | glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE); |
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| 128 | glutInitWindowSize(gXsize, gYsize); |
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| 129 | glutInitWindowPosition(100,100); |
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| 130 | gWin = glutCreateWindow("Calibrate camera parameters"); |
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| 131 | |||
| 132 | // Setup argl library for current context. |
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| 133 | // Turn off distortion compensation.. we don't know distortion yet! |
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| 134 | if ((gArglSettings = arglSetupForCurrentContext()) == NULL) { |
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| 135 | fprintf(stderr, "main(): arglSetupForCurrentContext() returned error.\n"); |
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| 136 | exit(-1); |
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| 137 | } |
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| 138 | arglDistortionCompensationSet(gArglSettings, FALSE); |
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| 139 | |||
| 140 | // Make a dummy camera parameter to supply when calling arglDispImage(). |
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| 141 | gARTCparam.xsize = gXsize; |
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| 142 | gARTCparam.ysize = gYsize; |
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| 143 | |||
| 144 | // Register GLUT event-handling callbacks. |
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| 145 | // NB: Idle() is registered by Visibility. |
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| 146 | glutDisplayFunc(Display); |
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| 147 | glutReshapeFunc(Reshape); |
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| 148 | glutVisibilityFunc(Visibility); |
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| 149 | glutKeyboardFunc(Keyboard); |
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| 150 | glutMouseFunc(Mouse); |
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| 151 | glutMotionFunc(Motion); |
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| 152 | |||
| 153 | // Start grabbing. |
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| 154 | if (arVideoCapStart() != 0) { |
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| 155 | fprintf(stderr, "init(): Unable to begin camera data capture.\n"); |
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| 156 | return (FALSE); |
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| 157 | } |
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| 158 | point_num = 0; |
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| 159 | gStatus = 0; |
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| 160 | print_comment(0); |
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| 161 | |||
| 162 | glutMainLoop(); |
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| 163 | |||
| 164 | return (0); |
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| 165 | } |
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| 166 | |||
| 167 | static int init(int argc, char *argv[]) |
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| 168 | { |
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| 169 | double length; |
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| 170 | char line[512]; |
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| 171 | int i, j; |
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| 172 | |||
| 173 | gPatt.h_num = H_NUM; |
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| 174 | gPatt.v_num = V_NUM; |
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| 175 | gPatt.loop_num = 0; |
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| 176 | if (gPatt.h_num < 3 || gPatt.v_num < 3) exit(0); |
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| 177 | |||
| 178 | printf("Input the distance between each marker dot, in millimeters: "); |
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| 179 | scanf("%lf", &length); |
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| 180 | while (getchar() != '\n'); |
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| 181 | |||
| 182 | gPatt.world_coord = (CALIB_COORD_T *)malloc(sizeof(CALIB_COORD_T) * gPatt.h_num * gPatt.v_num); |
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| 183 | for (j = 0; j < gPatt.v_num; j++) { |
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| 184 | for (i = 0; i < gPatt.h_num; i++) { |
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| 185 | gPatt.world_coord[j*gPatt.h_num+i].x_coord = length * i; |
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| 186 | gPatt.world_coord[j*gPatt.h_num+i].y_coord = length * j; |
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| 187 | } |
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| 188 | } |
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| 189 | |||
| 190 | // Add command-line arguments to vconf string. |
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| 191 | strcpy(line, vconf); |
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| 192 | for (i = 1; i < argc; i++) { |
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| 193 | strcat(line, " "); |
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| 194 | strcat(line, argv[i]); |
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| 195 | } |
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| 196 | |||
| 197 | // Open the video path. |
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| 198 | if (arVideoOpen(line) < 0) { |
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| 199 | fprintf(stderr, "init(): Unable to open connection to camera.\n"); |
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| 200 | return (FALSE); |
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| 201 | } |
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| 202 | |||
| 203 | // Find the size of the window. |
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| 204 | if (arVideoInqSize(&gXsize, &gYsize) < 0) return (FALSE); |
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| 205 | fprintf(stdout, "Camera image size (x,y) = (%d,%d)\n", gXsize, gYsize); |
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| 206 | |||
| 207 | // Allocate space for a clipping image (luminance only). |
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| 208 | arMalloc(gClipImage, unsigned char, gXsize * gYsize); |
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| 209 | |||
| 210 | return (TRUE); |
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| 211 | } |
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| 212 | |||
| 213 | static void grabImage(void) { |
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| 214 | ARUint8 *image; |
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| 215 | |||
| 216 | // Processing a new image. |
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| 217 | // Copy an image to saved image buffer. |
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| 218 | do { |
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| 219 | image = arVideoGetImage(); |
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| 220 | } while (image == NULL); |
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| 221 | gPatt.loop_num++; |
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| 222 | if ((gPatt.arglSettings[gPatt.loop_num-1] = arglSetupForCurrentContext()) == NULL) { |
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| 223 | fprintf(stderr, "grabImage(): arglSetupForCurrentContext() returned error.\n"); |
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| 224 | exit(-1); |
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| 225 | } |
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| 226 | arglDistortionCompensationSet(gPatt.arglSettings[gPatt.loop_num-1], FALSE); |
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| 227 | arMalloc((gPatt.savedImage)[gPatt.loop_num-1], unsigned char, gXsize*gYsize*AR_PIX_SIZE_DEFAULT); |
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| 228 | memcpy((gPatt.savedImage)[gPatt.loop_num-1], image, gXsize*gYsize*AR_PIX_SIZE_DEFAULT); |
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| 229 | printf("Grabbed image %d.\n", gPatt.loop_num); |
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| 230 | arMalloc(gPatt.point[gPatt.loop_num-1], CALIB_COORD_T, gPatt.h_num*gPatt.v_num); |
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| 231 | } |
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| 232 | |||
| 233 | static void ungrabImage(void) { |
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| 234 | if (gPatt.loop_num == 0) {printf("error!!\n"); exit(0);} |
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| 235 | free(gPatt.point[gPatt.loop_num-1]); |
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| 236 | gPatt.point[gPatt.loop_num-1] = NULL; |
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| 237 | free(gPatt.savedImage[gPatt.loop_num-1]); |
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| 238 | gPatt.savedImage[gPatt.loop_num-1] = NULL; |
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| 239 | arglCleanup(gPatt.arglSettings[gPatt.loop_num-1]); |
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| 240 | gPatt.loop_num--; |
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| 241 | } |
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| 242 | |||
| 243 | void checkFit(void) { |
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| 244 | printf("\n-----------\n"); |
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| 245 | if (check_num < gPatt.loop_num) { |
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| 246 | printf("Checking fit on image %3d of %3d.\n", check_num + 1, gPatt.loop_num); |
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| 247 | if (check_num + 1 < gPatt.loop_num) { |
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| 248 | printf("Press mouse button to check fit of next image.\n"); |
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| 249 | } else { |
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| 250 | printf("Press mouse button to calculate parameter.\n"); |
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| 251 | } |
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| 252 | glutPostRedisplay(); |
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| 253 | } else { |
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| 254 | if (gPatt.loop_num > 1) { |
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| 255 | if (calc_inp(&gPatt, dist_factor, gXsize, gYsize, mat) < 0) { |
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| 256 | printf("Calibration failed. Exiting.\n"); |
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| 257 | exit(0); |
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| 258 | } else { |
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| 259 | printf("Calibration succeeded. Enter filename to save camera parameter to below.\n"); |
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| 260 | save_param(); |
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| 261 | } |
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| 262 | } else { |
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| 263 | printf("Not enough images to proceed with calibration. Exiting.\n"); |
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| 264 | } |
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| 265 | Quit(); |
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| 266 | } |
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| 267 | } |
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| 268 | |||
| 269 | static void eventCancel(void) { |
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| 270 | // What was cancelled? |
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| 271 | if (gStatus == 0) { |
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| 272 | // Cancelled grabbing. |
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| 273 | // Live video will not be needed from here on. |
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| 274 | arVideoCapStop(); |
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| 275 | if (gPatt.loop_num == 0) { |
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| 276 | // No images with all features identified, so quit. |
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| 277 | Quit(); |
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| 278 | } else { |
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| 279 | // At least one image with all features identified, |
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| 280 | // so calculate distortion. |
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| 281 | calc_distortion(&gPatt, gXsize, gYsize, dist_factor); |
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| 282 | printf("--------------\n"); |
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| 283 | printf("Center X: %f\n", dist_factor[0]); |
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| 284 | printf(" Y: %f\n", dist_factor[1]); |
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| 285 | printf("Dist Factor: %f\n", dist_factor[2]); |
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| 286 | printf("Size Adjust: %f\n", dist_factor[3]); |
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| 287 | printf("--------------\n"); |
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| 288 | // Distortion calculation done. Check fit. |
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| 289 | gStatus = 2; |
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| 290 | check_num = 0; |
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| 291 | checkFit(); |
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| 292 | } |
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| 293 | } else if (gStatus == 1) { |
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| 294 | // Cancelled rubber-bounding. |
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| 295 | ungrabImage(); |
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| 296 | // Restart grabbing. |
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| 297 | point_num = 0; |
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| 298 | arVideoCapStart(); |
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| 299 | gStatus = 0; |
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| 300 | if (gPatt.loop_num == 0) print_comment(0); |
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| 301 | else print_comment(4); |
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| 302 | } |
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| 303 | } |
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| 304 | |||
| 305 | static void Mouse(int button, int state, int x, int y) |
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| 306 | { |
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| 307 | unsigned char *p; |
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| 308 | int ssx, ssy, eex, eey; |
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| 309 | int i, j, k; |
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| 310 | |||
| 311 | if (button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN) { |
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| 312 | eventCancel(); |
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| 313 | } else if (button == GLUT_LEFT_BUTTON) { |
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| 314 | if (state == GLUT_DOWN) { |
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| 315 | if (gStatus == 0 && gPatt.loop_num < LOOP_MAX) { |
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| 316 | // End grabbing. |
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| 317 | // Begin waiting for drag for rubber-bounding of a feature. |
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| 318 | grabImage(); |
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| 319 | gDragStartX = gDragStartY = gDragEndX = gDragEndY = -1; |
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| 320 | arVideoCapStop(); |
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| 321 | gStatus = 1; |
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| 322 | print_comment(1); |
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| 323 | } else if (gStatus == 1) { |
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| 324 | if (point_num < gPatt.h_num*gPatt.v_num) { |
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| 325 | // Drag for rubber-bounding of a feature has begun. |
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| 326 | gDragStartX = gDragEndX = x; |
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| 327 | gDragStartY = gDragEndY = y; |
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| 328 | } else { |
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| 329 | // Feature point locations have been accepted. |
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| 330 | printf("### Image no.%d ###\n", gPatt.loop_num); |
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| 331 | for( j = 0; j < gPatt.v_num; j++ ) { |
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| 332 | for( i = 0; i < gPatt.h_num; i++ ) { |
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| 333 | printf("%2d, %2d: %6.2f, %6.2f\n", i+1, j+1, |
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| 334 | gPatt.point[gPatt.loop_num-1][j*gPatt.h_num+i].x_coord, |
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| 335 | gPatt.point[gPatt.loop_num-1][j*gPatt.h_num+i].y_coord); |
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| 336 | } |
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| 337 | } |
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| 338 | printf("\n\n"); |
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| 339 | // Restart grabbing. |
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| 340 | point_num = 0; |
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| 341 | arVideoCapStart(); |
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| 342 | gStatus = 0; |
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| 343 | if (gPatt.loop_num < LOOP_MAX) print_comment(4); |
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| 344 | else print_comment(5); |
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| 345 | } |
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| 346 | } else if (gStatus == 2) { |
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| 347 | check_num++; |
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| 348 | checkFit(); |
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| 349 | } |
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| 350 | } else if (state == GLUT_UP) { |
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| 351 | if (gStatus == 1 |
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| 352 | && gDragStartX != -1 && gDragStartY != -1 |
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| 353 | && gDragEndX != -1 && gDragEndY != -1 |
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| 354 | && point_num < gPatt.h_num*gPatt.v_num) { |
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| 355 | // Drag for rubber-bounding of a feature has finished. Begin identification |
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| 356 | // of center of white region in gClipImage. |
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| 357 | if (gDragStartX < gDragEndX) { ssx = gDragStartX; eex = gDragEndX; } |
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| 358 | else { ssx = gDragEndX; eex = gDragStartX; } |
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| 359 | if (gDragStartY < gDragEndY) { ssy = gDragStartY; eey = gDragEndY; } |
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| 360 | else { ssy = gDragEndY; eey = gDragStartY; } |
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| 361 | |||
| 362 | gPatt.point[gPatt.loop_num-1][point_num].x_coord = 0.0; |
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| 363 | gPatt.point[gPatt.loop_num-1][point_num].y_coord = 0.0; |
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| 364 | p = gClipImage; |
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| 365 | k = 0; |
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| 366 | for (j = 0; j < (eey-ssy+1); j++) { |
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| 367 | for (i = 0; i < (eex-ssx+1); i++) { |
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| 368 | gPatt.point[gPatt.loop_num-1][point_num].x_coord += i * *p; |
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| 369 | gPatt.point[gPatt.loop_num-1][point_num].y_coord += j * *p; |
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| 370 | k += *p; |
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| 371 | p++; |
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| 372 | } |
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| 373 | } |
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| 374 | if (k != 0) { |
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| 375 | gPatt.point[gPatt.loop_num-1][point_num].x_coord /= k; |
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| 376 | gPatt.point[gPatt.loop_num-1][point_num].y_coord /= k; |
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| 377 | gPatt.point[gPatt.loop_num-1][point_num].x_coord += ssx; |
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| 378 | gPatt.point[gPatt.loop_num-1][point_num].y_coord += ssy; |
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| 379 | point_num++; |
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| 380 | printf("Marked feature position %3d of %3d\n", point_num, gPatt.h_num*gPatt.v_num); |
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| 381 | if (point_num == gPatt.h_num*gPatt.v_num) print_comment(2); |
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| 382 | } |
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| 383 | gDragStartX = gDragStartY = gDragEndX = gDragEndY = -1; |
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| 384 | glutPostRedisplay(); |
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| 385 | } |
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| 386 | } |
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| 387 | } |
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| 388 | } |
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| 389 | |||
| 390 | static void Motion(int x, int y) |
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| 391 | { |
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| 392 | unsigned char *p, *p1; |
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| 393 | int ssx, ssy, eex, eey; |
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| 394 | int i, j; |
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| 395 | |||
| 396 | // During mouse drag. |
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| 397 | if (gStatus == 1 && gDragStartX != -1 && gDragStartY != -1) { |
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| 398 | |||
| 399 | // Set x,y of end of mouse drag region. |
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| 400 | gDragEndX = x; |
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| 401 | gDragEndY = y; |
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| 402 | |||
| 403 | // Check that start is above and to left of end. |
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| 404 | if (gDragStartX < gDragEndX) { ssx = gDragStartX; eex = gDragEndX; } |
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| 405 | else { ssx = gDragEndX; eex = gDragStartX; } |
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| 406 | if (gDragStartY < gDragEndY) { ssy = gDragStartY; eey = gDragEndY; } |
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| 407 | else { ssy = gDragEndY; eey = gDragStartY; } |
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| 408 | |||
| 409 | // Threshold clipping area, copy it into gClipImage. |
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| 410 | p1 = gClipImage; |
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| 411 | for (j = ssy; j <= eey; j++) { |
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| 412 | p = &(gPatt.savedImage[gPatt.loop_num-1][(j*gXsize+ssx)*AR_PIX_SIZE_DEFAULT]); |
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| 413 | for (i = ssx; i <= eex; i++) { |
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| 414 | #if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA) |
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| 415 | *p1 = (((255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3) < gThresh ? 0 : 255); |
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| 416 | #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ABGR) |
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| 417 | *p1 = (((255*3 - (*(p+1) + *(p+2) + *(p+3))) / 3) < gThresh ? 0 : 255); |
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| 418 | #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ARGB) |
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| 419 | *p1 = (((255*3 - (*(p+1) + *(p+2) + *(p+3))) / 3) < gThresh ? 0 : 255); |
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| 420 | #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR) |
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| 421 | *p1 = (((255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3) < gThresh ? 0 : 255); |
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| 422 | #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGBA) |
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| 423 | *p1 = (((255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3) < gThresh ? 0 : 255); |
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| 424 | #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB) |
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| 425 | *p1 = (((255*3 - (*(p+0) + *(p+1) + *(p+2))) / 3) < gThresh ? 0 : 255); |
||
| 426 | #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_2vuy) |
||
| 427 | *p1 = ((255 - *(p+1)) < gThresh ? 0 : 255); |
||
| 428 | #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_yuvs) |
||
| 429 | *p1 = ((255 - *(p+0)) < gThresh ? 0 : 255); |
||
| 430 | #elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_MONO) |
||
| 431 | *p1 = ((255 - *(p)) < gThresh ? 0 : 255); |
||
| 432 | #else |
||
| 433 | # error Unknown default pixel format defined in config.h |
||
| 434 | #endif |
||
| 435 | p += AR_PIX_SIZE_DEFAULT; |
||
| 436 | p1++; |
||
| 437 | } |
||
| 438 | } |
||
| 439 | // Tell GLUT the display has changed. |
||
| 440 | glutPostRedisplay(); |
||
| 441 | } |
||
| 442 | } |
||
| 443 | |||
| 444 | static void Keyboard(unsigned char key, int x, int y) |
||
| 445 | { |
||
| 446 | switch (key) { |
||
| 447 | case 0x1B: |
||
| 448 | eventCancel(); |
||
| 449 | break; |
||
| 450 | case 'T': |
||
| 451 | case 't': |
||
| 452 | printf("Enter new threshold value (now = %d): ", gThresh); |
||
| 453 | scanf("%d",&gThresh); while( getchar()!='\n' ); |
||
| 454 | printf("\n"); |
||
| 455 | break; |
||
| 456 | case '1': |
||
| 457 | gThresh -= 5; |
||
| 458 | if (gThresh < 0) gThresh = 0; |
||
| 459 | break; |
||
| 460 | case '2': |
||
| 461 | gThresh += 5; |
||
| 462 | if (gThresh > 255) gThresh = 255; |
||
| 463 | break; |
||
| 464 | default: |
||
| 465 | break; |
||
| 466 | } |
||
| 467 | } |
||
| 468 | |||
| 469 | static void Quit(void) |
||
| 470 | { |
||
| 471 | if (gClipImage) { |
||
| 472 | free(gClipImage); |
||
| 473 | gClipImage = NULL; |
||
| 474 | } |
||
| 475 | if (gArglSettings) arglCleanup(gArglSettings); |
||
| 476 | if (gWin) glutDestroyWindow(gWin); |
||
| 477 | arVideoClose(); |
||
| 478 | exit(0); |
||
| 479 | } |
||
| 480 | |||
| 481 | static void Idle(void) |
||
| 482 | { |
||
| 483 | static int ms_prev; |
||
| 484 | int ms; |
||
| 485 | float s_elapsed; |
||
| 486 | ARUint8 *image; |
||
| 487 | |||
| 488 | // Find out how long since Idle() last ran. |
||
| 489 | ms = glutGet(GLUT_ELAPSED_TIME); |
||
| 490 | s_elapsed = (float)(ms - ms_prev) * 0.001; |
||
| 491 | if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz. |
||
| 492 | ms_prev = ms; |
||
| 493 | |||
| 494 | // Grab a video frame. |
||
| 495 | if (gStatus == 0) { |
||
| 496 | if ((image = arVideoGetImage()) != NULL) { |
||
| 497 | gARTImage = image; |
||
| 498 | // Tell GLUT the display has changed. |
||
| 499 | glutPostRedisplay(); |
||
| 500 | } |
||
| 501 | } |
||
| 502 | } |
||
| 503 | |||
| 504 | // |
||
| 505 | // This function is called on events when the visibility of the |
||
| 506 | // GLUT window changes (including when it first becomes visible). |
||
| 507 | // |
||
| 508 | static void Visibility(int visible) |
||
| 509 | { |
||
| 510 | if (visible == GLUT_VISIBLE) { |
||
| 511 | glutIdleFunc(Idle); |
||
| 512 | } else { |
||
| 513 | glutIdleFunc(NULL); |
||
| 514 | } |
||
| 515 | } |
||
| 516 | |||
| 517 | // |
||
| 518 | // This function is called when the |
||
| 519 | // GLUT window is resized. |
||
| 520 | // |
||
| 521 | static void Reshape(int w, int h) |
||
| 522 | { |
||
| 523 | glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); |
||
| 524 | glViewport(0, 0, (GLsizei) w, (GLsizei) h); |
||
| 525 | |||
| 526 | glMatrixMode(GL_PROJECTION); |
||
| 527 | glLoadIdentity(); |
||
| 528 | glMatrixMode(GL_MODELVIEW); |
||
| 529 | glLoadIdentity(); |
||
| 530 | |||
| 531 | // Call through to anyone else who needs to know about window sizing here. |
||
| 532 | } |
||
| 533 | |||
| 534 | static void beginOrtho2D(int xsize, int ysize) { |
||
| 535 | glMatrixMode(GL_PROJECTION); |
||
| 536 | glPushMatrix(); |
||
| 537 | glLoadIdentity(); |
||
| 538 | gluOrtho2D(0.0, xsize, 0.0, ysize); |
||
| 539 | glMatrixMode(GL_MODELVIEW); |
||
| 540 | glPushMatrix(); |
||
| 541 | glLoadIdentity(); |
||
| 542 | } |
||
| 543 | |||
| 544 | static void endOrtho2D(void) { |
||
| 545 | glMatrixMode(GL_PROJECTION); |
||
| 546 | glPopMatrix(); |
||
| 547 | glMatrixMode(GL_MODELVIEW); |
||
| 548 | glPopMatrix(); |
||
| 549 | } |
||
| 550 | |||
| 551 | static void Display(void) |
||
| 552 | { |
||
| 553 | double x, y; |
||
| 554 | int ssx, eex, ssy, eey; |
||
| 555 | int i; |
||
| 556 | |||
| 557 | // Select correct buffer for this context. |
||
| 558 | glDrawBuffer(GL_BACK); |
||
| 559 | glClear(GL_COLOR_BUFFER_BIT); |
||
| 560 | glDisable(GL_DEPTH_TEST); |
||
| 561 | glDisable(GL_LIGHTING); |
||
| 562 | glDisable(GL_TEXTURE_2D); |
||
| 563 | beginOrtho2D(gXsize, gYsize); |
||
| 564 | |||
| 565 | if (gStatus == 0) { |
||
| 566 | |||
| 567 | arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings); // zoom = 1.0. |
||
| 568 | arVideoCapNext(); |
||
| 569 | gARTImage = NULL; |
||
| 570 | |||
| 571 | } else if (gStatus == 1) { |
||
| 572 | |||
| 573 | arglDispImage(gPatt.savedImage[gPatt.loop_num-1], &gARTCparam, 1.0, gPatt.arglSettings[gPatt.loop_num-1]); |
||
| 574 | // Draw red crosses on the points in the image. |
||
| 575 | for (i = 0; i < point_num; i++) { |
||
| 576 | x = gPatt.point[gPatt.loop_num-1][i].x_coord; |
||
| 577 | y = gPatt.point[gPatt.loop_num-1][i].y_coord; |
||
| 578 | glColor3f(1.0f, 0.0f, 0.0f); |
||
| 579 | glBegin(GL_LINES); |
||
| 580 | glVertex2d(x-10.0, (GLdouble)(gYsize-1)-y); |
||
| 581 | glVertex2d(x+10.0, (GLdouble)(gYsize-1)-y); |
||
| 582 | glVertex2d(x, (GLdouble)(gYsize-1)-(y-10.0)); |
||
| 583 | glVertex2d(x, (GLdouble)(gYsize-1)-(y+10.0)); |
||
| 584 | glEnd(); |
||
| 585 | } |
||
| 586 | |||
| 587 | // Draw the current mouse drag clipping area. |
||
| 588 | if (gDragStartX != -1 && gDragStartY != -1 |
||
| 589 | && gDragEndX != -1 && gDragEndY != -1) { |
||
| 590 | if (gDragStartX < gDragEndX) { ssx = gDragStartX; eex = gDragEndX; } |
||
| 591 | else { ssx = gDragEndX; eex = gDragStartX; } |
||
| 592 | if (gDragStartY < gDragEndY) { ssy = gDragStartY; eey = gDragEndY; } |
||
| 593 | else { ssy = gDragEndY; eey = gDragStartY; } |
||
| 594 | #if 1 |
||
| 595 | if (gClipImage) { |
||
| 596 | glPixelZoom(1.0f, -1.0f); // ARToolKit bitmap 0.0 is at upper-left, OpenGL bitmap 0.0 is at lower-left. |
||
| 597 | glRasterPos2f((GLfloat)(ssx), (GLfloat)(gYsize-1-ssy)); |
||
| 598 | glPixelStorei(GL_UNPACK_ALIGNMENT, 1); |
||
| 599 | glDrawPixels(eex-ssx+1, eey-ssy+1, GL_LUMINANCE, GL_UNSIGNED_BYTE, gClipImage); |
||
| 600 | } |
||
| 601 | #else |
||
| 602 | glColor3f(0.0f, 0.0f, 1.0f); |
||
| 603 | glBegin(GL_LINE_LOOP); |
||
| 604 | glVertex2i(gDragStartX, (gYsize-1)-gDragStartY); |
||
| 605 | glVertex2i(gDragEndX, (gYsize-1)-gDragStartY); |
||
| 606 | glVertex2i(gDragEndX, (gYsize-1)-gDragEndY); |
||
| 607 | glVertex2i(gDragStartX, (gYsize-1)-gDragEndY); |
||
| 608 | glEnd(); |
||
| 609 | #endif |
||
| 610 | } |
||
| 611 | |||
| 612 | } else if (gStatus == 2) { |
||
| 613 | |||
| 614 | arglDispImage(gPatt.savedImage[check_num], &gARTCparam, 1.0, gPatt.arglSettings[check_num]); |
||
| 615 | for (i = 0; i < gPatt.h_num*gPatt.v_num; i++) { |
||
| 616 | x = gPatt.point[check_num][i].x_coord; |
||
| 617 | y = gPatt.point[check_num][i].y_coord; |
||
| 618 | glColor3f(1.0f, 0.0f, 0.0f); |
||
| 619 | glBegin(GL_LINES); |
||
| 620 | glVertex2d(x-10.0, (GLdouble)(gYsize-1)-y); |
||
| 621 | glVertex2d(x+10.0, (GLdouble)(gYsize-1)-y); |
||
| 622 | glVertex2d(x, (GLdouble)(gYsize-1)-(y-10.0)); |
||
| 623 | glVertex2d(x, (GLdouble)(gYsize-1)-(y+10.0)); |
||
| 624 | glEnd(); |
||
| 625 | } |
||
| 626 | draw_line(); |
||
| 627 | |||
| 628 | } |
||
| 629 | |||
| 630 | endOrtho2D(); |
||
| 631 | glutSwapBuffers(); |
||
| 632 | } |
||
| 633 | |||
| 634 | static void draw_line(void) |
||
| 635 | { |
||
| 636 | double *x, *y; |
||
| 637 | int max; |
||
| 638 | // int num; // unreferenced |
||
| 639 | int i, j, k, l; |
||
| 640 | int p; |
||
| 641 | |||
| 642 | max = (gPatt.v_num > gPatt.h_num) ? gPatt.v_num : gPatt.h_num; |
||
| 643 | arMalloc(x, double, max); |
||
| 644 | arMalloc(y, double, max); |
||
| 645 | |||
| 646 | i = check_num; |
||
| 647 | |||
| 648 | for (j = 0; j < gPatt.v_num; j++) { |
||
| 649 | for (k = 0; k < gPatt.h_num; k++) { |
||
| 650 | x[k] = gPatt.point[i][j*gPatt.h_num+k].x_coord; |
||
| 651 | y[k] = gPatt.point[i][j*gPatt.h_num+k].y_coord; |
||
| 652 | } |
||
| 653 | draw_line2(x, y, gPatt.h_num); |
||
| 654 | } |
||
| 655 | |||
| 656 | for (j = 0; j < gPatt.h_num; j++) { |
||
| 657 | for (k = 0; k < gPatt.v_num; k++) { |
||
| 658 | x[k] = gPatt.point[i][k*gPatt.h_num+j].x_coord; |
||
| 659 | y[k] = gPatt.point[i][k*gPatt.h_num+j].y_coord; |
||
| 660 | } |
||
| 661 | draw_line2(x, y, gPatt.v_num); |
||
| 662 | } |
||
| 663 | |||
| 664 | for (j = 3 - gPatt.v_num; j < gPatt.h_num - 2; j++) { |
||
| 665 | p = 0; |
||
| 666 | for (k = 0; k < gPatt.v_num; k++) { |
||
| 667 | l = j+k; |
||
| 668 | if (l < 0 || l >= gPatt.h_num) continue; |
||
| 669 | x[p] = gPatt.point[i][k*gPatt.h_num+l].x_coord; |
||
| 670 | y[p] = gPatt.point[i][k*gPatt.h_num+l].y_coord; |
||
| 671 | p++; |
||
| 672 | } |
||
| 673 | draw_line2(x, y, p); |
||
| 674 | } |
||
| 675 | |||
| 676 | for (j = 2; j < gPatt.h_num + gPatt.v_num - 3; j++) { |
||
| 677 | p = 0; |
||
| 678 | for (k = 0; k < gPatt.v_num; k++) { |
||
| 679 | l = j-k; |
||
| 680 | if (l < 0 || l >= gPatt.h_num) continue; |
||
| 681 | x[p] = gPatt.point[i][k*gPatt.h_num+l].x_coord; |
||
| 682 | y[p] = gPatt.point[i][k*gPatt.h_num+l].y_coord; |
||
| 683 | p++; |
||
| 684 | } |
||
| 685 | draw_line2(x, y, p); |
||
| 686 | } |
||
| 687 | |||
| 688 | free(x); |
||
| 689 | free(y); |
||
| 690 | } |
||
| 691 | |||
| 692 | static void draw_line2( double *x, double *y, int num ) |
||
| 693 | { |
||
| 694 | ARMat *input, *evec; |
||
| 695 | ARVec *ev, *mean; |
||
| 696 | double a, b, c; |
||
| 697 | int i; |
||
| 698 | |||
| 699 | ev = arVecAlloc(2); |
||
| 700 | mean = arVecAlloc(2); |
||
| 701 | evec = arMatrixAlloc(2, 2); |
||
| 702 | |||
| 703 | input = arMatrixAlloc(num, 2); |
||
| 704 | for (i = 0; i < num; i++) { |
||
| 705 | arParamObserv2Ideal(dist_factor, x[i], y[i], |
||
| 706 | &(input->m[i*2+0]), &(input->m[i*2+1])); |
||
| 707 | } |
||
| 708 | if (arMatrixPCA(input, evec, ev, mean) < 0) exit(0); |
||
| 709 | a = evec->m[1]; |
||
| 710 | b = -evec->m[0]; |
||
| 711 | c = -(a*mean->v[0] + b*mean->v[1]); |
||
| 712 | |||
| 713 | arMatrixFree(input); |
||
| 714 | arMatrixFree(evec); |
||
| 715 | arVecFree(mean); |
||
| 716 | arVecFree(ev); |
||
| 717 | |||
| 718 | draw_warp_line(a, b, c); |
||
| 719 | } |
||
| 720 | |||
| 721 | static void draw_warp_line(double a, double b , double c) |
||
| 722 | { |
||
| 723 | double x, y; |
||
| 724 | double x1, y1; |
||
| 725 | int i; |
||
| 726 | |||
| 727 | glLineWidth(1.0f); |
||
| 728 | glBegin(GL_LINE_STRIP); |
||
| 729 | if (a*a >= b*b) { |
||
| 730 | for (i = -20; i <= gYsize+20; i+=10) { |
||
| 731 | x = -(b*i + c)/a; |
||
| 732 | y = i; |
||
| 733 | |||
| 734 | arParamIdeal2Observ(dist_factor, x, y, &x1, &y1); |
||
| 735 | glVertex2f(x1, gYsize-1-y1); |
||
| 736 | } |
||
| 737 | } else { |
||
| 738 | for(i = -20; i <= gXsize+20; i+=10) { |
||
| 739 | x = i; |
||
| 740 | y = -(a*i + c)/b; |
||
| 741 | |||
| 742 | arParamIdeal2Observ(dist_factor, x, y, &x1, &y1); |
||
| 743 | glVertex2f(x1, gYsize-1-y1); |
||
| 744 | } |
||
| 745 | } |
||
| 746 | glEnd(); |
||
| 747 | } |
||
| 748 | |||
| 749 | static void print_comment(int status) |
||
| 750 | { |
||
| 751 | printf("\n-----------\n"); |
||
| 752 | switch(status) { |
||
| 753 | case 0: |
||
| 754 | printf("Press mouse button to grab first image,\n"); |
||
| 755 | printf("or press right mouse button or [esc] to quit.\n"); |
||
| 756 | break; |
||
| 757 | case 1: |
||
| 758 | printf("Press mouse button and drag mouse to rubber-bound features (%d x %d),\n", gPatt.h_num, gPatt.v_num); |
||
| 759 | printf("or press right mouse button or [esc] to cancel rubber-bounding & retry grabbing.\n"); |
||
| 760 | break; |
||
| 761 | case 2: |
||
| 762 | printf("Press mouse button to save feature positions,\n"); |
||
| 763 | printf("or press right mouse button or [esc] to discard feature positions & retry grabbing.\n"); |
||
| 764 | break; |
||
| 765 | case 4: |
||
| 766 | printf("Press mouse button to grab next image,\n"); |
||
| 767 | printf("or press right mouse button or [esc] to calculate distortion parameter.\n"); |
||
| 768 | break; |
||
| 769 | case 5: |
||
| 770 | printf("Press right mouse button or [esc] to calculate distortion parameter.\n"); |
||
| 771 | break; |
||
| 772 | } |
||
| 773 | } |
||
| 774 | |||
| 775 | static void save_param(void) |
||
| 776 | { |
||
| 777 | char name[256]; |
||
| 778 | ARParam param; |
||
| 779 | int i, j; |
||
| 780 | |||
| 781 | param.xsize = gXsize; |
||
| 782 | param.ysize = gYsize; |
||
| 783 | for (i = 0; i < 4; i++) param.dist_factor[i] = dist_factor[i]; |
||
| 784 | for (j = 0; j < 3; j++) { |
||
| 785 | for (i = 0; i < 4; i++) { |
||
| 786 | param.mat[j][i] = mat[j][i]; |
||
| 787 | } |
||
| 788 | } |
||
| 789 | arParamDisp( ¶m ); |
||
| 790 | |||
| 791 | printf("Filename: "); |
||
| 792 | scanf( "%s", name ); |
||
| 793 | arParamSave( name, 1, ¶m ); |
||
| 794 | |||
| 795 | return; |
||
| 796 | } |
||
| 797 |