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#include <AR/gsub_lite.h>
#include <AR/video.h>
#include <AR/param.h>
#include <AR/ar.h>
#include <SDL/SDL.h>
#include <SDL/SDL_opengl.h>
#include <stdexcept>
#include <iostream>
#include "texturepng.h"
class Pattern {
private:
double patt_width;
double patt_center[2];
int patt_id;
double patt_trans_kake[3][4];
Texture* tex;
public:
Pattern() {
patt_width = 10.0;
patt_center[0] = 0.0;
patt_center[1] = 0.0;
patt_id = arLoadPatt("patt.head");
tex = new TexturePNG("foo.png");
}
void update(ARMarkerInfo* marker_info, int marker_num) {
for(int j = 0; j < marker_num; j++) {
if( patt_id == marker_info[j].id ) {
arGetTransMat(&marker_info[j], patt_center, patt_width, patt_trans_kake);
draw();
//else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
}
void draw() {
double gl_para[16];
arglCameraView(patt_trans_kake, gl_para, 1.0);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd(gl_para);
glTranslatef(0.0, -8.0, 0.0);
glBindTexture(GL_TEXTURE_2D, tex->tex());
glBegin(GL_QUADS);
glTexCoord2f(0, 1);
glVertex3f(-30, -30, 0);
glTexCoord2f(0, 0);
glVertex3f(-30, 30, 0);
glTexCoord2f(1, 0);
glVertex3f(30, 30, 0);
glTexCoord2f(1, 1);
glVertex3f(30, -30, 0);
glEnd();
}
};
Pattern* patt;
ARParam cparam;
ARGL_CONTEXT_SETTINGS_REF argl_ctx;
SDL_Surface *surface;
static void init() {
ARParam wparam;
// Open video device.
if(arVideoOpen(NULL) < 0) {
throw(std::runtime_error("arVideoOpen() failed."));
}
// Find the size of the window.
int xsize, ysize;
if(arVideoInqSize(&xsize, &ysize) < 0) {
throw(std::runtime_error("arVideoInqSize() failed."));
}
std::cout << "Image size (x, y) = (" << xsize << ", " << ysize << ")" << std::endl;
// Set the initial camera parameters.
if(arParamLoad("camera_para.dat", 1, &wparam) < 0) {
throw(std::runtime_error("arParamLoad() failed."));
}
arParamChangeSize(&wparam, xsize, ysize, &cparam);
arInitCparam(&cparam);
std::cout << "*** Camera Parameters ***" << std::endl;
arParamDisp(&cparam);
// Initialize SDL
if(SDL_Init(SDL_INIT_VIDEO)) {
throw(std::runtime_error("SDL initialization failed"));
}
// Fetch the video info
const SDL_VideoInfo *info = SDL_GetVideoInfo();
if(!info) {
throw(std::runtime_error("SDL info query failed"));
}
// The SDL mode-flags
int flags = SDL_OPENGL; // OpenGL in SDL
flags |= SDL_GL_DOUBLEBUFFER; // Double buffering
flags |= SDL_HWPALETTE; // Hardware palette
// Check for hardware surface aviability
if(info->hw_available) {
flags |= SDL_HWSURFACE;
} else {
flags |= SDL_SWSURFACE;
}
// Check for hardware blit ability
if(info->blit_hw) {
flags |= SDL_HWACCEL;
}
// Setup double buffering
SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1);
// Get our surface
surface = SDL_SetVideoMode(xsize, ysize, 32, flags);
if(!surface) {
throw(std::runtime_error("Video mode set failed"));
}
argl_ctx = arglSetupForCurrentContext();
// Texturing
glEnable(GL_TEXTURE_2D);
// Blending
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_BLEND);
// Smooth shading
glShadeModel(GL_SMOOTH);
glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
}
static void cleanup(void) {
arVideoCapStop();
arVideoClose();
arglCleanup(argl_ctx);
}
int count = 0;
static void key_event(unsigned char key, int x, int y) {
switch(key) {
case 0x1b:
printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
cleanup();
exit(0);
}
}
static void main_loop(void) {
ARUint8 *dataPtr;
if((dataPtr = (ARUint8 *)arVideoGetImage()) == NULL) {
arUtilSleep(10);
return;
}
if(count == 0) arUtilTimerReset();
count++;
arglDispImage(dataPtr, &cparam, 1.0, argl_ctx);
ARMarkerInfo* marker_info;
int marker_num;
if(arDetectMarker(dataPtr, 100, &marker_info, &marker_num) < 0) {
throw(std::runtime_error("arDetectMarker() failed."));
}
GLdouble p[16];
arglCameraFrustum(&cparam, 0.1, 1000, p);
glMatrixMode(GL_PROJECTION);
glLoadMatrixd(p);
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
patt->update(marker_info, marker_num);
glDisable( GL_DEPTH_TEST );
arVideoCapNext();
SDL_GL_SwapBuffers();
}
int main(int argc, char **argv) {
try {
init();
patt = new Pattern();
arVideoCapStart();
while(1) {
SDL_Event event;
SDL_PollEvent(&event);
if(event.type == SDL_QUIT) {
break;
}
main_loop();
}
} catch(std::runtime_error e) {
cleanup();
std::cerr << "Exception caught: " << e.what() << std::endl;
}
return 0;
}
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