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/*
* CalibradorAR.cpp
*
* Created on: 8/09/2010
* Author: smarichal
*/
#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 <AR/arMulti.h>
#include "Utilidades.h"
#include "stdio.h"
#include "stdlib.h"
#include <math.h>
/*************************************************************************************************************************
* CONFIGURACIONES GENERALES DE LA APLICACION
*************************************************************************************************************************/
int mostrarVideo = 0;
int mostrarRadar = 1;
/********************************************************************************************************************************
* CONFIGURACION DE ARTOOLKIT Y MARCADORES
********************************************************************************************************************************/
#define MAX_MARCADORES 30
/* set up the video format globals */
#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 *config_name = "Data/prototipo1/prototipo1.dat";
ARMultiMarkerInfoT *config;
/******************************************************************************************************************************************
* VARIABLES DEL CALIBRADOR
*****************************************************************************************************************************************/
int cantidad_iteraciones = 20;
/***************************************************************************************************************************************
* DECALRACIONES DE FUNCIONES AUXILIARES Y VARIABLES AUXILIAREAS
****************************************************************************************************************************************/
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();
int main(int argc, char **argv)
{
glutInit(&argc, argv);
init();
arVideoCapStart();
argMainLoop( NULL, keyEvent, mainLoop );
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);
}
if( key == 'c'){
ArtoolkitData* data = new ArtoolkitData();
data->config = config;
data->thresh = thresh;
data->usarAlgoritmoLite = 1;
printf("Antes de calibrar\n");
ARMultiCalibracionData* resultCalibracion = arCalibrarThresholdMultiMarker(data,1000,cantidad_iteraciones,1);
printf("Resultados de la calibracion, nuevo t = %d\n",resultCalibracion->threshCalculado);
}
if( key == 'x'){
ArtoolkitData* data = new ArtoolkitData();
data->config = config;
data->thresh = thresh;
data->usarAlgoritmoLite = 0;
printf("Antes de calibrar\n");
ARMultiCalibracionData* resultCalibracion = arCalibrarThresholdMultiMarker(data,1000,cantidad_iteraciones,1);
printf("Resultados de la calibracion, nuevo t = %d\n",resultCalibracion->threshCalculado);
}
if( key == 'v' ) {
mostrarVideo = 1 - mostrarVideo;
if(!mostrarVideo){
argCleanWindow(0,0);
}
}
if( key == 'r' ) {
printf("Mostrar Radar\n");
mostrarRadar = 1 - mostrarRadar;
if(!mostrarRadar){
argCleanWindow(2,1);
}
}
if( key == 't' ) {
printf("count = %d\n",count);
printf("timer = %f\n",arUtilTimer());
printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
printf("Enter new threshold value (current = %d): ", thresh);
scanf("%d",&thresh); while( getchar()!='\n' );
printf("\n");
count = 0;
}
/* turn on and off the debug mode with right mouse */
if( key == 'd' ) {
printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
arDebug = 1 - arDebug;
if( arDebug == 0 ) {
glClearColor( 0.0, 0.0, 0.0, 0.0 );
glClear(GL_COLOR_BUFFER_BIT);
argSwapBuffers();
glClear(GL_COLOR_BUFFER_BIT);
argSwapBuffers();
}
count = 0;
}
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
double err;
int i;
/* grab a video frame */
arUtilSleep(90000);
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
printf("sleep\n");
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
//argSwapBuffers();
if(mostrarVideo){
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth(6.0);
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
}
if(mostrarRadar){
argDrawMode2D();
argCleanWindow(2,1);
dibujarLimitesPantalla(xsize, ysize);
for( i = 0; i < marker_num; i++ ) {
dibujarMiniMarcador(0,0,marker_info[i].vertex,1);
}
}
arVideoCapNext();
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
if(err > 100.0 ) {
printf("saliendo 2\n");
argSwapBuffers();
return;
}
if(mostrarVideo){
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
argSwapBuffers();
}
// printf("Marcadores detectados = %d\n",marker_num);
}
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( (config = arMultiReadConfigFile(config_name)) == NULL ) {
printf("config data load error !!\n");
exit(0);
}
/* open the graphics window */
argInit( &cparam, 1.0, 0, 2, 1, 0 );
arFittingMode = AR_FITTING_TO_IDEAL;
arImageProcMode = AR_IMAGE_PROC_IN_HALF;
argDrawMode = AR_DRAW_BY_TEXTURE_MAPPING;
argTexmapMode = AR_DRAW_TEXTURE_HALF_IMAGE;
}
/* cleanup function called when program exits */
static void cleanup(void)
{
arVideoCapStop();
arVideoClose();
argCleanup();
}
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