#ifdef _WIN32
#include <windows.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#ifndef __APPLE__
#include <GL/gl.h>
#include <GL/glut.h>
#else
#include <OpenGL/gl.h>
#include <GLUT/glut.h>
#endif
#include <AR/gsub.h>
#include <AR/video.h>
#include <AR/param.h>
#include <AR/ar.h>
#include <ciostream>
//
// Camera configuration.
//
#ifdef _WIN32
char *vconf = "Data\\WDM_camera_flipV.xml";
#else
char *vconf = "";
#endif
int xsize, ysize;
int thresh = 100;
int count = 0;
char *cparam_name = "Data/camera_para.dat";
ARParam cparam;
char *patt_name = "Data/patt.hiro";
int patt_id;
double patt_width = 80.0;
double patt_center[2] = {0.0, 0.0};
double patt_trans[3][4];
static void init(void);
static void cleanup(void);
static void keyEvent( unsigned char key, int x, int y);
static void mainLoop(void);
static void draw( void );
int main(int argc, char **argv)
{
glutInit(&argc, argv);
init(); // starting the video capture, reading in the marker and camera parameters
arVideoCapStart(); // video starting in the real-time state
argMainLoop( NULL, keyEvent, mainLoop ); // defined in "include/AR/gsub.c"
return (0);
}
static void keyEvent( unsigned char key, int x, int y)
{
/* quit if the ESC key is pressed */
if( key == 0x1b ) {
printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
cleanup();
exit(0);
}
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
arVideoCapNext();
/* check for object visibility */
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
if( k == -1 ) {
argSwapBuffers();
return;
}
/* get the transformation between the marker and the real camera */
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
// http://www.hitl.washington.edu/artoolkit/documentation/tutorialcamera.htm
cout << "werwstsfg" << endl;
printf("TEST %f %f %f\n",patt_trans[0][3],patt_trans[1][3],patt_trans[2][3]);
draw();
argSwapBuffers();
}
static void init( void )
{
ARParam wparam;
/* open the video path */
if( arVideoOpen( vconf ) < 0 ) exit(0);
/* find the size of the window */
if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
printf("Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
printf("*** Camera Parameter ***\n");
arParamDisp( &cparam );
if( (patt_id=arLoadPatt(patt_name)) < 0 ) {
printf("pattern load error !!\n");
exit(0);
}
/* open the graphics window */
argInit( &cparam, 1.0, 0, 0, 0, 0 );
}
/* cleanup function called when program exits */
static void cleanup(void)
{
arVideoCapStop();
arVideoClose();
argCleanup();
}
static void draw( void )
{
double gl_para[16];
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
argConvGlpara(patt_trans, gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glMatrixMode(GL_MODELVIEW);
glTranslatef( 0.0, 0.0, 25.0 );
glutSolidCube(50.0);
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
}
swPark_2000rtim.pdf
