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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/ar.h> |
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| 43 | #include <AR/video.h> |
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| 44 | #include <AR/param.h> |
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| 45 | #include <AR/gsub_lite.h> |
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| 46 | #include "calib_cparam.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_CPARAM_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 | 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"; |
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| 65 | # elif defined(AR_INPUT_V4L) |
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| 66 | char *vconf = "-width=640 -height=480"; |
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| 67 | # elif defined(AR_INPUT_1394CAM) |
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| 68 | char *vconf = "-mode=640x480_YUV411"; |
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| 69 | # elif defined(AR_INPUT_DV) |
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| 70 | char *vconf = ""; |
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| 71 | # endif |
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| 72 | #elif defined(_WIN32) |
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| 73 | char *vconf = "Data\\WDM_camera_flipV.xml"; |
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| 74 | #elif defined(__APPLE__) |
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| 75 | char *vconf = "-width=640 -height=480"; |
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| 76 | #else |
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| 77 | 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 | static int gWin; |
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| 85 | static int gXsize = 0; |
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| 86 | static int gYsize = 0; |
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| 87 | int refresh; |
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| 88 | |||
| 89 | static unsigned char *gSaveARTImage = NULL; |
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| 90 | static ARGL_CONTEXT_SETTINGS_REF gSaveArglSettings = NULL; |
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| 91 | |||
| 92 | static ARParam param; |
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| 93 | static double dist_factor[4]; |
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| 94 | |||
| 95 | int line_num; |
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| 96 | int loop_num; |
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| 97 | int line_mode[LINE_MAX]; |
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| 98 | double inter_coord[LOOP_MAX][LINE_MAX][LINE_MAX][3]; |
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| 99 | double line_info[LOOP_MAX][LINE_MAX][4]; |
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| 100 | |||
| 101 | int mode; |
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| 102 | int line_num_current; |
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| 103 | int loop_num_current; |
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| 104 | double theta; |
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| 105 | double radius; |
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| 106 | double gStartX, gStartY, gEndX, gEndY; |
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| 107 | |||
| 108 | // ============================================================================ |
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| 109 | // Functions |
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| 110 | // ============================================================================ |
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| 111 | |||
| 112 | int main(int argc, char *argv[]); |
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| 113 | static int init(int argc, char *argv[]); |
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| 114 | static void Keyboard(unsigned char key, int x, int y); |
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| 115 | static void Special(int key, int x, int y); |
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| 116 | static void Mouse(int button, int state, int x, int y); |
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| 117 | static void Quit(void); |
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| 118 | static void Idle(void); |
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| 119 | static void Visibility(int visible); |
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| 120 | static void Reshape(int w, int h); |
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| 121 | static void Display(void); |
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| 122 | static void drawPrevLine(void); |
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| 123 | static void drawNextLine(void); |
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| 124 | static void draw_warp_line(double sx, double ex, double sy, double ey); |
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| 125 | static void getCpara(void); |
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| 126 | static void intersection( double line1[4], double line2[4], double *screen_coord ); |
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| 127 | |||
| 128 | |||
| 129 | int main(int argc, char *argv[]) |
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| 130 | { |
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| 131 | glutInit(&argc, argv); |
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| 132 | if (!init(argc, argv)) exit(-1); |
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| 133 | |||
| 134 | glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE); |
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| 135 | glutInitWindowSize(gXsize, gYsize); |
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| 136 | glutInitWindowPosition(100,100); |
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| 137 | gWin = glutCreateWindow("Camera calibration"); |
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| 138 | |||
| 139 | // Setup argl library for current context. |
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| 140 | // Turn off distortion compensation.. we are calibrating. |
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| 141 | if ((gArglSettings = arglSetupForCurrentContext()) == NULL) { |
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| 142 | fprintf(stderr, "main(): arglSetupForCurrentContext() returned error.\n"); |
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| 143 | exit(-1); |
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| 144 | } |
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| 145 | arglDistortionCompensationSet(gArglSettings, FALSE); |
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| 146 | |||
| 147 | // Make a dummy camera parameter to supply when calling arglDispImage(). |
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| 148 | gARTCparam.xsize = gXsize; |
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| 149 | gARTCparam.ysize = gYsize; |
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| 150 | |||
| 151 | // Setup a space to save our captured image. |
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| 152 | if ((gSaveArglSettings = arglSetupForCurrentContext()) == NULL) { |
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| 153 | fprintf(stderr, "grabImage(): arglSetupForCurrentContext() returned error.\n"); |
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| 154 | exit(-1); |
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| 155 | } |
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| 156 | arglDistortionCompensationSet(gSaveArglSettings, FALSE); |
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| 157 | arMalloc(gSaveARTImage, unsigned char, gXsize*gYsize*AR_PIX_SIZE_DEFAULT); |
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| 158 | |||
| 159 | // Register GLUT event-handling callbacks. |
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| 160 | // NB: Idle() is registered by Visibility. |
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| 161 | glutDisplayFunc(Display); |
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| 162 | glutReshapeFunc(Reshape); |
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| 163 | glutVisibilityFunc(Visibility); |
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| 164 | glutKeyboardFunc(Keyboard); |
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| 165 | glutSpecialFunc(Special); |
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| 166 | glutMouseFunc(Mouse); |
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| 167 | |||
| 168 | if (arVideoCapStart() != 0) { |
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| 169 | fprintf(stderr, "init(): Unable to begin camera data capture.\n"); |
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| 170 | return (FALSE); |
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| 171 | } |
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| 172 | mode = 0; |
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| 173 | line_num_current = 0; |
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| 174 | loop_num_current = 0; |
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| 175 | |||
| 176 | glutMainLoop(); |
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| 177 | return (0); |
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| 178 | } |
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| 179 | |||
| 180 | static int init(int argc, char *argv[]) |
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| 181 | { |
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| 182 | printf("Input center coordinates: X = "); |
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| 183 | scanf("%lf", &dist_factor[0]); |
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| 184 | while (getchar() != '\n'); |
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| 185 | printf(" : Y = "); |
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| 186 | scanf("%lf", &dist_factor[1]); |
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| 187 | while (getchar() != '\n'); |
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| 188 | printf("Input distortion ratio: F = "); |
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| 189 | scanf("%lf", &dist_factor[2]); |
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| 190 | while (getchar() != '\n'); |
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| 191 | printf("Input size adjustment factor: S = "); |
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| 192 | scanf("%lf", &dist_factor[3]); |
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| 193 | while (getchar() != '\n'); |
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| 194 | |||
| 195 | initLineModel(&line_num, &loop_num, line_mode, inter_coord); |
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| 196 | |||
| 197 | // Open the video path. |
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| 198 | if (arVideoOpen(vconf) < 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 save image. |
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| 208 | arMalloc(gSaveARTImage, unsigned char, gXsize * gYsize * AR_PIX_SIZE_DEFAULT); |
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| 209 | |||
| 210 | param.xsize = gXsize; |
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| 211 | param.ysize = gYsize; |
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| 212 | param.dist_factor[0] = dist_factor[0]; |
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| 213 | param.dist_factor[1] = dist_factor[1]; |
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| 214 | param.dist_factor[2] = dist_factor[2]; |
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| 215 | param.dist_factor[3] = dist_factor[3]; |
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| 216 | |||
| 217 | return (TRUE); |
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| 218 | } |
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| 219 | |||
| 220 | static void thetaRadiusSet(void) { |
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| 221 | if (line_num_current == 0) { |
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| 222 | if (line_mode[line_num_current] == L_HORIZONTAL) { |
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| 223 | theta = 90; |
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| 224 | radius = gYsize/2; |
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| 225 | } else { |
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| 226 | theta = 0; |
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| 227 | radius = gXsize/2; |
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| 228 | } |
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| 229 | } else { |
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| 230 | if (line_mode[line_num_current] == L_HORIZONTAL) { |
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| 231 | if (line_mode[line_num_current] == line_mode[line_num_current-1]) { |
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| 232 | radius += 10.0; |
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| 233 | } else { |
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| 234 | theta = 90; |
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| 235 | radius = gYsize/2; |
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| 236 | } |
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| 237 | } else { |
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| 238 | if (line_mode[line_num_current] == line_mode[line_num_current-1]) { |
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| 239 | radius += 10.0; |
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| 240 | } else { |
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| 241 | theta = 0; |
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| 242 | radius = gXsize/2; |
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| 243 | } |
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| 244 | } |
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| 245 | } |
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| 246 | } |
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| 247 | |||
| 248 | static void eventCancel(void) { |
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| 249 | if (mode == 0) { |
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| 250 | // Cancel from mode 0 should quit program. |
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| 251 | arVideoCapStop(); |
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| 252 | Quit(); |
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| 253 | } else if (mode == 1) { |
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| 254 | if (line_num_current == 0) { |
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| 255 | // Cancel from mode 1, first line, should go back to mode 0. |
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| 256 | arVideoCapStart(); |
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| 257 | mode = 0; |
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| 258 | } else { |
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| 259 | // Cancel from mode 1, non-first line, should go back to first line. |
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| 260 | line_num_current = 0; |
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| 261 | thetaRadiusSet(); |
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| 262 | glutPostRedisplay(); |
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| 263 | } |
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| 264 | } |
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| 265 | } |
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| 266 | |||
| 267 | static void Mouse(int button, int state, int x, int y) |
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| 268 | { |
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| 269 | ARUint8 *image; |
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| 270 | |||
| 271 | if (state == GLUT_DOWN) { |
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| 272 | if (button == GLUT_RIGHT_BUTTON) { |
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| 273 | eventCancel(); |
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| 274 | } else if (button == GLUT_LEFT_BUTTON && mode == 0) { |
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| 275 | // Processing a new image. |
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| 276 | // Copy an image to saved image buffer. |
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| 277 | do { |
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| 278 | image = arVideoGetImage(); |
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| 279 | } while (image == NULL); |
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| 280 | memcpy(gSaveARTImage, image, gXsize*gYsize*AR_PIX_SIZE_DEFAULT); |
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| 281 | printf("Grabbed image.\n"); |
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| 282 | arVideoCapStop(); |
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| 283 | mode = 1; |
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| 284 | line_num_current = 0; |
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| 285 | thetaRadiusSet(); |
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| 286 | glutPostRedisplay(); |
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| 287 | } |
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| 288 | } |
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| 289 | } |
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| 290 | |||
| 291 | static void Keyboard(unsigned char key, int x, int y) |
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| 292 | { |
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| 293 | ARParam iparam; |
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| 294 | double trans[3][4]; |
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| 295 | char name[256]; |
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| 296 | int k = 1; |
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| 297 | |||
| 298 | if( mode == 0 ) return; |
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| 299 | |||
| 300 | switch( key ) { |
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| 301 | case 0x1B: |
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| 302 | gStartX = -1.0; |
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| 303 | gStartY = -1.0; |
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| 304 | gEndX = -1.0; |
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| 305 | gEndY = -1.0; |
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| 306 | // fall through.. |
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| 307 | case 0x0D: |
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| 308 | line_info[loop_num_current][line_num_current][0] = gStartX; |
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| 309 | line_info[loop_num_current][line_num_current][1] = gStartY; |
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| 310 | line_info[loop_num_current][line_num_current][2] = gEndX; |
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| 311 | line_info[loop_num_current][line_num_current][3] = gEndY; |
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| 312 | line_num_current++; |
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| 313 | if (line_num_current < line_num) { |
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| 314 | thetaRadiusSet(); |
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| 315 | } else { |
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| 316 | // Completed placements for this image. |
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| 317 | loop_num_current++; |
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| 318 | if (loop_num_current < loop_num) { |
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| 319 | arVideoCapStart(); |
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| 320 | mode = 0; |
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| 321 | } else { |
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| 322 | // All done. Calculate parameter, save it, and exit. |
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| 323 | getCpara(); |
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| 324 | arParamDecomp( ¶m, &iparam, trans ); |
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| 325 | arParamDisp( &iparam ); |
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| 326 | |||
| 327 | printf("Input filename: "); |
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| 328 | scanf("%s", name); |
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| 329 | arParamSave( name, 1, &iparam ); |
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| 330 | |||
| 331 | Quit(); |
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| 332 | } |
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| 333 | } |
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| 334 | break; |
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| 335 | default: |
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| 336 | k = 0; |
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| 337 | break; |
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| 338 | } |
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| 339 | if (k) glutPostRedisplay(); |
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| 340 | } |
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| 341 | |||
| 342 | |||
| 343 | static void Special(int key, int x, int y) |
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| 344 | { |
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| 345 | double mx, my; |
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| 346 | int k = 1; |
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| 347 | |||
| 348 | if (mode == 0) return; |
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| 349 | |||
| 350 | if (line_mode[line_num_current] == L_HORIZONTAL) { |
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| 351 | switch (key) { |
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| 352 | case GLUT_KEY_UP: |
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| 353 | radius -= 1.0; |
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| 354 | break; |
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| 355 | case GLUT_KEY_DOWN: |
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| 356 | radius += 1.0; |
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| 357 | break; |
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| 358 | case GLUT_KEY_LEFT: |
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| 359 | mx = (gStartX + gEndX)/ 2.0; |
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| 360 | my = (gStartY + gEndY)/ 2.0; |
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| 361 | theta -= 0.25; |
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| 362 | radius = cos( (double)(theta*3.141592/180.0) ) * mx |
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| 363 | + sin( (double)(theta*3.141592/180.0) ) * my; |
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| 364 | break; |
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| 365 | case GLUT_KEY_RIGHT: |
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| 366 | mx = (gStartX + gEndX)/ 2.0; |
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| 367 | my = (gStartY + gEndY)/ 2.0; |
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| 368 | theta += 0.25; |
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| 369 | radius = cos( (double)(theta*3.141592/180.0) ) * mx |
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| 370 | + sin( (double)(theta*3.141592/180.0) ) * my; |
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| 371 | break; |
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| 372 | default: |
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| 373 | k = 0; |
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| 374 | break; |
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| 375 | } |
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| 376 | } else { |
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| 377 | switch (key) { |
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| 378 | case GLUT_KEY_UP: |
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| 379 | mx = (gStartX + gEndX)/ 2.0; |
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| 380 | my = (gStartY + gEndY)/ 2.0; |
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| 381 | theta += 0.25; |
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| 382 | radius = cos( (double)(theta*3.141592/180.0) ) * mx |
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| 383 | + sin( (double)(theta*3.141592/180.0) ) * my; |
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| 384 | break; |
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| 385 | case GLUT_KEY_DOWN: |
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| 386 | mx = (gStartX + gEndX)/ 2.0; |
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| 387 | my = (gStartY + gEndY)/ 2.0; |
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| 388 | theta -= 0.25; |
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| 389 | radius = cos( (double)(theta*3.141592/180.0) ) * mx |
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| 390 | + sin( (double)(theta*3.141592/180.0) ) * my; |
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| 391 | break; |
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| 392 | case GLUT_KEY_LEFT: |
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| 393 | radius -= 1.0; |
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| 394 | break; |
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| 395 | case GLUT_KEY_RIGHT: |
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| 396 | radius += 1.0; |
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| 397 | break; |
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| 398 | default: |
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| 399 | k = 0; |
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| 400 | break; |
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| 401 | } |
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| 402 | } |
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| 403 | |||
| 404 | if (k) glutPostRedisplay(); |
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| 405 | } |
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| 406 | |||
| 407 | static void Quit(void) |
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| 408 | { |
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| 409 | if (gSaveArglSettings) arglCleanup(gSaveArglSettings); |
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| 410 | if (gArglSettings) arglCleanup(gArglSettings); |
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| 411 | if (gWin) glutDestroyWindow(gWin); |
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| 412 | arVideoClose(); |
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| 413 | exit(0); |
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| 414 | } |
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| 415 | |||
| 416 | static void Idle(void) |
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| 417 | { |
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| 418 | static int ms_prev; |
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| 419 | int ms; |
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| 420 | float s_elapsed; |
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| 421 | ARUint8 *image; |
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| 422 | |||
| 423 | // Find out how long since Idle() last ran. |
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| 424 | ms = glutGet(GLUT_ELAPSED_TIME); |
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| 425 | s_elapsed = (float)(ms - ms_prev) * 0.001; |
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| 426 | if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz. |
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| 427 | ms_prev = ms; |
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| 428 | |||
| 429 | // Grab a video frame. |
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| 430 | if (mode == 0) { |
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| 431 | if ((image = arVideoGetImage()) != NULL) { |
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| 432 | gARTImage = image; |
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| 433 | // Tell GLUT the display has changed. |
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| 434 | glutPostRedisplay(); |
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| 435 | } |
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| 436 | } |
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| 437 | } |
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| 438 | |||
| 439 | // |
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| 440 | // This function is called on events when the visibility of the |
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| 441 | // GLUT window changes (including when it first becomes visible). |
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| 442 | // |
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| 443 | static void Visibility(int visible) |
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| 444 | { |
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| 445 | if (visible == GLUT_VISIBLE) { |
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| 446 | glutIdleFunc(Idle); |
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| 447 | } else { |
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| 448 | glutIdleFunc(NULL); |
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| 449 | } |
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| 450 | } |
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| 451 | |||
| 452 | // |
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| 453 | // This function is called when the |
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| 454 | // GLUT window is resized. |
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| 455 | // |
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| 456 | static void Reshape(int w, int h) |
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| 457 | { |
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| 458 | glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); |
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| 459 | glViewport(0, 0, (GLsizei) w, (GLsizei) h); |
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| 460 | |||
| 461 | glMatrixMode(GL_PROJECTION); |
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| 462 | glLoadIdentity(); |
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| 463 | glMatrixMode(GL_MODELVIEW); |
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| 464 | glLoadIdentity(); |
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| 465 | |||
| 466 | // Call through to anyone else who needs to know about window sizing here. |
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| 467 | } |
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| 468 | |||
| 469 | static void beginOrtho2D(int xsize, int ysize) { |
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| 470 | glMatrixMode(GL_PROJECTION); |
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| 471 | glPushMatrix(); |
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| 472 | glLoadIdentity(); |
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| 473 | gluOrtho2D(0.0, xsize, 0.0, ysize); |
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| 474 | glMatrixMode(GL_MODELVIEW); |
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| 475 | glPushMatrix(); |
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| 476 | glLoadIdentity(); |
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| 477 | } |
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| 478 | |||
| 479 | static void endOrtho2D(void) { |
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| 480 | glMatrixMode(GL_PROJECTION); |
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| 481 | glPopMatrix(); |
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| 482 | glMatrixMode(GL_MODELVIEW); |
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| 483 | glPopMatrix(); |
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| 484 | } |
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| 485 | |||
| 486 | static void Display(void) |
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| 487 | { |
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| 488 | // Select correct buffer for this context. |
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| 489 | glDrawBuffer(GL_BACK); |
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| 490 | glClear(GL_COLOR_BUFFER_BIT); |
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| 491 | glDisable(GL_DEPTH_TEST); |
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| 492 | glDisable(GL_LIGHTING); |
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| 493 | glDisable(GL_TEXTURE_2D); |
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| 494 | beginOrtho2D(gXsize, gYsize); |
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| 495 | |||
| 496 | if (mode == 0) { |
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| 497 | |||
| 498 | arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings); // zoom = 1.0. |
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| 499 | arVideoCapNext(); |
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| 500 | gARTImage = NULL; |
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| 501 | |||
| 502 | } else if (mode == 1) { |
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| 503 | |||
| 504 | arglDispImage(gSaveARTImage, &gARTCparam, 1.0, gSaveArglSettings); |
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| 505 | |||
| 506 | drawPrevLine(); |
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| 507 | drawNextLine(); |
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| 508 | } |
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| 509 | |||
| 510 | endOrtho2D(); |
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| 511 | glutSwapBuffers(); |
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| 512 | } |
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| 513 | |||
| 514 | static void drawPrevLine(void) |
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| 515 | { |
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| 516 | int i; |
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| 517 | |||
| 518 | glColor3f(0.0,0.0,1.0); |
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| 519 | for (i = 0; i < line_num_current; i++) { |
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| 520 | if (line_info[loop_num_current][i][0] == -1.0) continue; |
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| 521 | draw_warp_line(line_info[loop_num_current][i][0], line_info[loop_num_current][i][2], |
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| 522 | line_info[loop_num_current][i][1], line_info[loop_num_current][i][3]); |
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| 523 | } |
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| 524 | } |
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| 525 | |||
| 526 | static void drawNextLine(void) |
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| 527 | { |
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| 528 | double sin_theta, cos_theta; |
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| 529 | double x1, x2; |
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| 530 | double y1, y2; |
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| 531 | |||
| 532 | sin_theta = sin( (double)(theta*3.141592/180.0) ); |
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| 533 | cos_theta = cos( (double)(theta*3.141592/180.0) ); |
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| 534 | |||
| 535 | if (cos_theta != 0) { |
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| 536 | x1 = radius / cos_theta; |
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| 537 | x2 = (radius - (gYsize-1)*sin_theta) / cos_theta; |
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| 538 | } else { |
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| 539 | x1 = x2 = -1.0; |
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| 540 | } |
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| 541 | |||
| 542 | if (sin_theta != 0) { |
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| 543 | y1 = radius / sin_theta; |
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| 544 | y2 = (radius - (gXsize-1)*cos_theta) / sin_theta; |
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| 545 | } else { |
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| 546 | y1 = y2 = -1.0; |
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| 547 | } |
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| 548 | |||
| 549 | gEndY = -1; |
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| 550 | if (x1 >= 0 && x1 <= gXsize-1) { |
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| 551 | gStartX = x1; |
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| 552 | gStartY = 0; |
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| 553 | if (x2 >= 0 && x2 <= gXsize-1) { |
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| 554 | gEndX = x2; |
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| 555 | gEndY = gYsize-1; |
||
| 556 | } else if (y1 >= 0 && y1 <= gYsize-1) { |
||
| 557 | gEndX = 0; |
||
| 558 | gEndY = y1; |
||
| 559 | } else if (y2 >= 0 && y2 <= gYsize-1) { |
||
| 560 | gEndX = gXsize-1; |
||
| 561 | gEndY = y2; |
||
| 562 | } else { |
||
| 563 | printf("???\n"); |
||
| 564 | } |
||
| 565 | } else if (y1 >= 0 && y1 <= gYsize-1) { |
||
| 566 | gStartX = 0; |
||
| 567 | gStartY = y1; |
||
| 568 | if (x2 >= 0 && x2 <= gXsize-1) { |
||
| 569 | gEndX = x2; |
||
| 570 | gEndY = gYsize-1; |
||
| 571 | } else if (y2 >= 0 && y2 <= gYsize-1) { |
||
| 572 | gEndX = gXsize-1; |
||
| 573 | gEndY = y2; |
||
| 574 | } else { |
||
| 575 | printf("???\n"); |
||
| 576 | } |
||
| 577 | } else if (x2 >= 0 && x2 <= gXsize-1) { |
||
| 578 | gStartX = x2; |
||
| 579 | gStartY = gYsize-1; |
||
| 580 | if (y2 >= 0 && y2 <= gYsize-1) { |
||
| 581 | gEndX = gXsize-1; |
||
| 582 | gEndY = y2; |
||
| 583 | } else { |
||
| 584 | printf("???\n"); |
||
| 585 | } |
||
| 586 | } |
||
| 587 | |||
| 588 | glColor3f(1.0,1.0,1.0); |
||
| 589 | if (gEndY != -1) { |
||
| 590 | draw_warp_line(gStartX, gEndX, gStartY, gEndY); |
||
| 591 | } |
||
| 592 | } |
||
| 593 | |||
| 594 | static void draw_warp_line(double sx, double ex, double sy, double ey) |
||
| 595 | { |
||
| 596 | double a, b, c; |
||
| 597 | double x, y; |
||
| 598 | double x1, y1; |
||
| 599 | int i; |
||
| 600 | |||
| 601 | a = ey - sy; |
||
| 602 | b = sx - ex; |
||
| 603 | c = sy*ex - sx*ey; |
||
| 604 | |||
| 605 | glLineWidth(1.0f); |
||
| 606 | glBegin(GL_LINE_STRIP); |
||
| 607 | if (a*a >= b*b) { |
||
| 608 | for (i = -20; i <= gYsize+20; i+=10) { |
||
| 609 | x = -(b*i + c)/a; |
||
| 610 | y = i; |
||
| 611 | |||
| 612 | arParamIdeal2Observ(dist_factor, x, y, &x1, &y1); |
||
| 613 | glVertex2f(x1, gYsize-1-y1); |
||
| 614 | } |
||
| 615 | } else { |
||
| 616 | for (i = -20; i <= gXsize+20; i+=10) { |
||
| 617 | x = i; |
||
| 618 | y = -(a*i + c)/b; |
||
| 619 | |||
| 620 | arParamIdeal2Observ(dist_factor, x, y, &x1, &y1); |
||
| 621 | glVertex2f(x1, gYsize-1-y1); |
||
| 622 | } |
||
| 623 | } |
||
| 624 | glEnd(); |
||
| 625 | } |
||
| 626 | |||
| 627 | |||
| 628 | |||
| 629 | static void getCpara(void) |
||
| 630 | { |
||
| 631 | double *world_coord; |
||
| 632 | double *screen_coord; |
||
| 633 | int point_num; |
||
| 634 | int i, j, k; |
||
| 635 | |||
| 636 | point_num = 0; |
||
| 637 | for (k = 0; k < loop_num; k++) { |
||
| 638 | for (i = 0; i < line_num; i++) { |
||
| 639 | for (j = 0; j < line_num; j++) { |
||
| 640 | if (inter_coord[k][i][j][0] != -10000.0) point_num++; |
||
| 641 | } |
||
| 642 | } |
||
| 643 | } |
||
| 644 | arMalloc(world_coord, double, point_num * 3); |
||
| 645 | arMalloc(screen_coord, double, point_num * 2); |
||
| 646 | |||
| 647 | point_num = 0; |
||
| 648 | for (k = 0; k < loop_num; k++) { |
||
| 649 | for (i = 0; i < line_num; i++) { |
||
| 650 | if (line_info[k][i][0] == -1.0) continue; |
||
| 651 | for (j = 0; j < line_num; j++) { |
||
| 652 | if (line_info[k][j][0] == -1.0) continue; |
||
| 653 | if (inter_coord[k][i][j][0] == -10000.0) continue; |
||
| 654 | |||
| 655 | world_coord[point_num*3+0] = inter_coord[k][i][j][0]; |
||
| 656 | world_coord[point_num*3+1] = inter_coord[k][i][j][1]; |
||
| 657 | world_coord[point_num*3+2] = inter_coord[k][i][j][2]; |
||
| 658 | intersection(line_info[k][i], line_info[k][j], |
||
| 659 | &(screen_coord[point_num*2])); |
||
| 660 | |||
| 661 | point_num++; |
||
| 662 | } |
||
| 663 | } |
||
| 664 | } |
||
| 665 | printf("point_num = %d\n", point_num); |
||
| 666 | if (arParamGet((double (*)[3])world_coord, (double (*)[2])screen_coord, point_num, param.mat) < 0) { |
||
| 667 | printf("ddd error!!\n"); |
||
| 668 | exit(0); |
||
| 669 | } |
||
| 670 | |||
| 671 | free(world_coord); |
||
| 672 | free(screen_coord); |
||
| 673 | } |
||
| 674 | |||
| 675 | static void intersection(double line1[4], double line2[4], double *screen_coord) |
||
| 676 | { |
||
| 677 | double a, b, c, d, e, f, g; |
||
| 678 | |||
| 679 | a = line1[1] - line1[3]; |
||
| 680 | b = line1[2] - line1[0]; |
||
| 681 | c = line1[0] * a + line1[1] * b; |
||
| 682 | d = line2[1] - line2[3]; |
||
| 683 | e = line2[2] - line2[0]; |
||
| 684 | f = line2[0] * d + line2[1] * e; |
||
| 685 | |||
| 686 | g = a*e - b*d; |
||
| 687 | if (g == 0.0) { printf("???\n"); exit(0); } |
||
| 688 | |||
| 689 | screen_coord[0] = (c * e - b * f) / g; |
||
| 690 | screen_coord[1] = (a * f - c * d) / g; |
||
| 691 | } |