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#include <stdio.h>
#include <stdlib.h>
#if defined(_WIN32)
#include <windows.h>
#endif
#ifndef __APPLE__
# include <GL/glut.h>
# ifdef GL_VERSION_1_2
# include <GL/glext.h>
# endif
#else
# include <GLUT/glut.h>
# include <OpenGL/glext.h>
#endif
#include <AR/config.h>
#include <AR/param.h>
#include <AR/ar.h>
#include <AR/gsub.h>
#include <AR/video.h>
#include <AR/gsubUtil.h>
#define CALIB_POS1_NUM 5
#define CALIB_POS2_NUM 2
static double calib_pos[CALIB_POS1_NUM][2] = { { 160, 120 },
{ 480, 120 },
{ 320, 240 },
{ 160, 360 },
{ 480, 360 } };
static double calib_pos2d[CALIB_POS1_NUM][CALIB_POS2_NUM][2];
static double calib_pos3d[CALIB_POS1_NUM][CALIB_POS2_NUM][3];
static int co1;
static int co2;
static int left_right;
static double target_trans[3][4];
static int target_id;
static int target_visible;
static double target_center[2] = { 0.0, 0.0 };
static double target_width = 80.0;
static ARParam hmd_param[2];
static int thresh;
static int arFittingModeBak;
static int hmdMode;
static int gMiniXnum, gMiniYnum;
static void (*gMouseFunc)(int button, int state, int x, int y);
static void (*gKeyFunc)(unsigned char key, int x, int y);
static void (*gMainFunc)(void);
static void (*gCalibPostFunc)(ARParam *lpara, ARParam *rpara);
static void argCalibMouseFunc(int button, int state, int x, int y);
static void argCalibMainFunc(void);
static int argDrawAttention(double pos[2], int color);
void argUtilCalibHMD( int targetId, int thresh2,
void (*postFunc)(ARParam *lpara, ARParam *rpara) )
{
argInqSetting( &hmdMode, &gMiniXnum, &gMiniYnum,
&gMouseFunc, &gKeyFunc, &gMainFunc );
if( hmdMode == 0 ) return;
target_id = targetId;
thresh = thresh2;
gCalibPostFunc = postFunc;
arFittingModeBak = arFittingMode;
arFittingMode = AR_FITTING_TO_IDEAL;
co1 = 0;
co2 = 0;
left_right = 0;
target_visible = 0;
glutKeyboardFunc( NULL );
glutMouseFunc( argCalibMouseFunc );
glutIdleFunc( argCalibMainFunc );
glutDisplayFunc( argCalibMainFunc );
}
static void argCalibMouseFunc(int button, int state, int x, int y)
{
if( button == GLUT_LEFT_BUTTON && state == GLUT_DOWN ) {
if( target_visible ) {
calib_pos3d[co1][co2][0] = target_trans[0][3];
calib_pos3d[co1][co2][1] = target_trans[1][3];
calib_pos3d[co1][co2][2] = target_trans[2][3];
calib_pos2d[co1][co2][0] = calib_pos[co1][0];
calib_pos2d[co1][co2][1] = calib_pos[co1][1];
co2++;
if( co2 == CALIB_POS2_NUM ) {
co1++;
co2 = 0;
}
if( co1 == CALIB_POS1_NUM ) {
hmd_param[left_right].xsize = AR_HMD_XSIZE;
hmd_param[left_right].ysize = AR_HMD_YSIZE;
hmd_param[left_right].dist_factor[0] = AR_HMD_XSIZE / 2.0;
hmd_param[left_right].dist_factor[1] = AR_HMD_YSIZE / 2.0;
hmd_param[left_right].dist_factor[2] = 0.0;
hmd_param[left_right].dist_factor[3] = 1.0;
if( arParamGet( (double (*)[3])calib_pos3d, (double (*)[2])calib_pos2d,
CALIB_POS1_NUM*CALIB_POS2_NUM, hmd_param[left_right].mat) < 0 ) {
(*gCalibPostFunc)( NULL, NULL );
arFittingMode = arFittingModeBak;
glutKeyboardFunc( gKeyFunc );
glutMouseFunc( gMouseFunc );
glutIdleFunc( gMainFunc );
glutDisplayFunc( gMainFunc );
return;
}
co1 = 0;
co2 = 0;
left_right++;
if( left_right == 2 ) {
argLoadHMDparam( &hmd_param[0], &hmd_param[1] );
arFittingMode = arFittingModeBak;
if( gCalibPostFunc != NULL ) {
(*gCalibPostFunc)( &hmd_param[0], &hmd_param[1] );
}
glutKeyboardFunc( gKeyFunc );
glutMouseFunc( gMouseFunc );
glutIdleFunc( gMainFunc );
glutDisplayFunc( gMainFunc );
return;
}
}
}
}
if( button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN ) {
(*gCalibPostFunc)( NULL, NULL );
arFittingMode = arFittingMode;
glutKeyboardFunc( gKeyFunc );
glutMouseFunc( gMouseFunc );
glutIdleFunc( gMainFunc );
glutDisplayFunc( gMainFunc );
return;
}
}
static void argCalibMainFunc(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i, j;
double cfmax;
double err;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
target_visible = 0;
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh,
&marker_info, &marker_num) < 0 ) {
(*gCalibPostFunc)( NULL, NULL );
arFittingMode = arFittingModeBak;
glutKeyboardFunc( gKeyFunc );
glutMouseFunc( gMouseFunc );
glutIdleFunc( gMainFunc );
glutDisplayFunc( gMainFunc );
return;
}
arVideoCapNext();
glClearColor( 0.0, 0.0, 0.0, 0.0 );
glClear(GL_COLOR_BUFFER_BIT);
/* if the debug mode is on draw squares
around the detected squares in the video image */
if( arDebug && gMiniXnum >= 2 && gMiniYnum >= 1 ) {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 2, 1 );
else
argDispImage( arImage, 2, 1);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 3.0 );
for( i = 0; i < marker_num; i++ ) {
if( marker_info[i].id < 0 ) continue;
argDrawSquare( marker_info[i].vertex, 2, 1 );
}
glLineWidth( 1.0 );
}
if( left_right == 0 ) argDraw2dLeft();
else argDraw2dRight();
glLineWidth( 3.0 );
glColor3f( 1.0, 1.0, 1.0 );
argLineSegHMD( 0, calib_pos[co1][1], AR_HMD_XSIZE, calib_pos[co1][1] );
argLineSegHMD( calib_pos[co1][0], 0, calib_pos[co1][0], AR_HMD_YSIZE );
glLineWidth( 1.0 );
argDrawMode2D();
cfmax = 0.0;
j = -1;
for( i = 0; i < marker_num; i++ ) {
if( marker_info[i].id != target_id ) continue;
if( marker_info[i].cf > cfmax ) {
cfmax = marker_info[i].cf;
j = i;
}
}
if( j < 0 ) {
argSwapBuffers();
return;
}
err = arGetTransMat(&marker_info[j], target_center, target_width, target_trans);
if( err >= 0.0 ) {
target_visible = 1;
if( left_right == 0 ) argDraw2dLeft();
else argDraw2dRight();
argDrawAttention( calib_pos[co1], co2 );
argDrawMode2D();
if( arDebug && gMiniXnum >= 2 && gMiniYnum >= 1 ) {
glColor3f( 0.0, 1.0, 0.0 );
glLineWidth( 3.0 );
argDrawSquare( marker_info[j].vertex, 1, 1 );
glLineWidth( 1.0 );
}
}
argSwapBuffers();
}
static int argDrawAttention( double pos[2], int color )
{
switch( color%7 ) {
case 0: glColor3f( 1.0, 0.0, 0.0 ); break;
case 1: glColor3f( 0.0, 1.0, 0.0 ); break;
case 2: glColor3f( 0.0, 0.0, 1.0 ); break;
case 3: glColor3f( 1.0, 1.0, 0.0 ); break;
case 4: glColor3f( 1.0, 0.0, 1.0 ); break;
case 5: glColor3f( 0.0, 1.0, 1.0 ); break;
case 6: glColor3f( 1.0, 1.0, 1.0 ); break;
}
glLineWidth( 5.0 );
argLineSegHMD( pos[0]-20, pos[1]-20, pos[0]+20, pos[1]-20 );
argLineSegHMD( pos[0]-20, pos[1]+20, pos[0]+20, pos[1]+20 );
argLineSegHMD( pos[0]-20, pos[1]-20, pos[0]-20, pos[1]+20 );
argLineSegHMD( pos[0]+20, pos[1]-20, pos[0]+20, pos[1]+20 );
glLineWidth( 1.0 );
return(0);
}
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