simpleVRML.c

Go to the documentation of this file.

/*
 *      simpleVRML.c
 *
 *      Demonstration of ARToolKit with models rendered in VRML.
 *
 *  Press '?' while running for help on available key commands.
 *
 *      Copyright (c) 2002 Mark Billinghurst (MB) grof@hitl.washington.edu
 *      Copyright (c) 2004 Raphael Grasset (RG) raphael.grasset@hitlabnz.org.
 *      Copyright (c) 2004-2007 Philip Lamb (PRL) phil@eden.net.nz. 
 *      
 *      Rev             Date            Who             Changes
 *      1.0.0   ????-??-??      MB              Original from ARToolKit
 *  1.0.1   2004-10-29  RG              Fix for ARToolKit 2.69.
 *  1.0.2   2004-11-30  PRL     Various fixes.
 *
 */
/*
 * 
 * This file is part of ARToolKit.
 * 
 * ARToolKit is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 
 * ARToolKit is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with ARToolKit; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 * 
 */


// ============================================================================
//      Includes
// ============================================================================

#ifdef _WIN32
#  include <windows.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#ifdef __APPLE__
#  include <GLUT/glut.h>
#else
#  include <GL/glut.h>
#endif

#include <AR/config.h>
#include <AR/video.h>
#include <AR/param.h>                   // arParamDisp()
#include <AR/ar.h>
#include <AR/gsub_lite.h>
#include <AR/arvrml.h>

#include "object.h"

// ============================================================================
//      Constants
// ============================================================================

#define VIEW_SCALEFACTOR                1.0                     // 1.0 ARToolKit unit becomes 1.0 of my OpenGL units.
#define VIEW_DISTANCE_MIN               10.0            // Objects closer to the camera than this will not be displayed.
#define VIEW_DISTANCE_MAX               10000.0         // Objects further away from the camera than this will not be displayed.


// ============================================================================
//      Global variables
// ============================================================================

// Preferences.
static int prefWindowed = TRUE;
static int prefWidth = 640;                                     // Fullscreen mode width.
static int prefHeight = 480;                            // Fullscreen mode height.
static int prefDepth = 32;                                      // Fullscreen mode bit depth.
static int prefRefresh = 0;                                     // Fullscreen mode refresh rate. Set to 0 to use default rate.

// Image acquisition.
static ARUint8          *gARTImage = NULL;

// Marker detection.
static int                      gARTThreshhold = 100;
static long                     gCallCountMarkerDetect = 0;

// Drawing.
static ARParam          gARTCparam;
static ARGL_CONTEXT_SETTINGS_REF gArglSettings = NULL;

// Object Data.
static ObjectData_T     *gObjectData;
static int                      gObjectDataCount;

// ============================================================================
//      Functions
// ============================================================================

static int setupCamera(const char *cparam_name, char *vconf, ARParam *cparam)
{       
    ARParam                     wparam;
        int                             xsize, ysize;

    // Open the video path.
    if (arVideoOpen(vconf) < 0) {
        fprintf(stderr, "setupCamera(): Unable to open connection to camera.\n");
        return (FALSE);
        }
        
    // Find the size of the window.
    if (arVideoInqSize(&xsize, &ysize) < 0) return (FALSE);
    fprintf(stdout, "Camera image size (x,y) = (%d,%d)\n", xsize, ysize);
        
        // Load the camera parameters, resize for the window and init.
    if (arParamLoad(cparam_name, 1, &wparam) < 0) {
                fprintf(stderr, "setupCamera(): Error loading parameter file %s for camera.\n", cparam_name);
        return (FALSE);
    }
    arParamChangeSize(&wparam, xsize, ysize, cparam);
    fprintf(stdout, "*** Camera Parameter ***\n");
    arParamDisp(cparam);
        
    arInitCparam(cparam);

        if (arVideoCapStart() != 0) {
        fprintf(stderr, "setupCamera(): Unable to begin camera data capture.\n");
                return (FALSE);         
        }
        
        return (TRUE);
}

static int setupMarkersObjects(char *objectDataFilename, ObjectData_T **objectDataRef, int *objectDataCountRef)
{       
        // Load in the object data - trained markers and associated bitmap files.
    if ((*objectDataRef = read_VRMLdata(objectDataFilename, objectDataCountRef)) == NULL) {
        fprintf(stderr, "setupMarkersObjects(): read_VRMLdata returned error !!\n");
        return (FALSE);
    }
    printf("Object count = %d\n", *objectDataCountRef);

        return (TRUE);
}

// Report state of ARToolKit global variables arFittingMode,
// arImageProcMode, arglDrawMode, arTemplateMatchingMode, arMatchingPCAMode.
static void debugReportMode(const ARGL_CONTEXT_SETTINGS_REF arglContextSettings)
{
        if (arFittingMode == AR_FITTING_TO_INPUT) {
                fprintf(stderr, "FittingMode (Z): INPUT IMAGE\n");
        } else {
                fprintf(stderr, "FittingMode (Z): COMPENSATED IMAGE\n");
        }
        
        if (arImageProcMode == AR_IMAGE_PROC_IN_FULL) {
                fprintf(stderr, "ProcMode (X)   : FULL IMAGE\n");
        } else {
                fprintf(stderr, "ProcMode (X)   : HALF IMAGE\n");
        }
        
        if (arglDrawModeGet(arglContextSettings) == AR_DRAW_BY_GL_DRAW_PIXELS) {
                fprintf(stderr, "DrawMode (C)   : GL_DRAW_PIXELS\n");
        } else if (arglTexmapModeGet(arglContextSettings) == AR_DRAW_TEXTURE_FULL_IMAGE) {
                fprintf(stderr, "DrawMode (C)   : TEXTURE MAPPING (FULL RESOLUTION)\n");
        } else {
                fprintf(stderr, "DrawMode (C)   : TEXTURE MAPPING (HALF RESOLUTION)\n");
        }
                
        if (arTemplateMatchingMode == AR_TEMPLATE_MATCHING_COLOR) {
                fprintf(stderr, "TemplateMatchingMode (M)   : Color Template\n");
        } else {
                fprintf(stderr, "TemplateMatchingMode (M)   : BW Template\n");
        }
        
        if (arMatchingPCAMode == AR_MATCHING_WITHOUT_PCA) {
                fprintf(stderr, "MatchingPCAMode (P)   : Without PCA\n");
        } else {
                fprintf(stderr, "MatchingPCAMode (P)   : With PCA\n");
        }
}

static void Quit(void)
{
        arglCleanup(gArglSettings);
        arVideoCapStop();
        arVideoClose();
#ifdef _WIN32
        CoUninitialize();
#endif
        exit(0);
}

static void Keyboard(unsigned char key, int x, int y)
{
        int mode, threshChange = 0;
        
        switch (key) {
                case 0x1B:                                              // Quit.
                case 'Q':
                case 'q':
                        Quit();
                        break;
                case 'C':
                case 'c':
                        mode = arglDrawModeGet(gArglSettings);
                        if (mode == AR_DRAW_BY_GL_DRAW_PIXELS) {
                                arglDrawModeSet(gArglSettings, AR_DRAW_BY_TEXTURE_MAPPING);
                                arglTexmapModeSet(gArglSettings, AR_DRAW_TEXTURE_FULL_IMAGE);
                        } else {
                                mode = arglTexmapModeGet(gArglSettings);
                                if (mode == AR_DRAW_TEXTURE_FULL_IMAGE) arglTexmapModeSet(gArglSettings, AR_DRAW_TEXTURE_HALF_IMAGE);
                                else arglDrawModeSet(gArglSettings, AR_DRAW_BY_GL_DRAW_PIXELS);
                        }
                        fprintf(stderr, "*** Camera - %f (frame/sec)\n", (double)gCallCountMarkerDetect/arUtilTimer());
                        gCallCountMarkerDetect = 0;
                        arUtilTimerReset();
                        debugReportMode(gArglSettings);
                        break;
                case '-':
                        threshChange = -5;
                        break;
                case '+':
                case '=':
                        threshChange = +5;
                        break;
                case 'D':
                case 'd':
                        arDebug = !arDebug;
                        break;
                case '?':
                case '/':
                        printf("Keys:\n");
                        printf(" q or [esc]    Quit demo.\n");
                        printf(" c             Change arglDrawMode and arglTexmapMode.\n");
                        printf(" - and +       Adjust threshhold.\n");
                        printf(" d             Activate / deactivate debug mode.\n");
                        printf(" ? or /        Show this help.\n");
                        printf("\nAdditionally, the ARVideo library supplied the following help text:\n");
                        arVideoDispOption();
                        break;
                default:
                        break;
        }
        if (threshChange) {
                gARTThreshhold += threshChange;
                if (gARTThreshhold < 0) gARTThreshhold = 0;
                if (gARTThreshhold > 255) gARTThreshhold = 255;
                printf("Threshhold changed to %d.\n", gARTThreshhold);
        }
}

static void Idle(void)
{
        static int ms_prev;
        int ms;
        float s_elapsed;
        ARUint8 *image;

        ARMarkerInfo    *marker_info;                                   // Pointer to array holding the details of detected markers.
    int             marker_num;                                         // Count of number of markers detected.
    int             i, j, k;
        
        // Find out how long since Idle() last ran.
        ms = glutGet(GLUT_ELAPSED_TIME);
        s_elapsed = (float)(ms - ms_prev) * 0.001;
        if (s_elapsed < 0.01f) return; // Don't update more often than 100 Hz.
        ms_prev = ms;
        
        // Update drawing.
        arVrmlTimerUpdate();
        
        // Grab a video frame.
        if ((image = arVideoGetImage()) != NULL) {
                gARTImage = image;      // Save the fetched image.
                
                gCallCountMarkerDetect++; // Increment ARToolKit FPS counter.
                
                // Detect the markers in the video frame.
                if (arDetectMarker(gARTImage, gARTThreshhold, &marker_info, &marker_num) < 0) {
                        exit(-1);
                }
                                
                // Check for object visibility.
                
                for (i = 0; i < gObjectDataCount; i++) {
                
                        // Check through the marker_info array for highest confidence
                        // visible marker matching our object's pattern.
                        k = -1;
                        for (j = 0; j < marker_num; j++) {
                                if (marker_info[j].id == gObjectData[i].id) {
                                        if( k == -1 ) k = j; // First marker detected.
                                        else if (marker_info[k].cf < marker_info[j].cf) k = j; // Higher confidence marker detected.
                                }
                        }
                        
                        if (k != -1) {
                                // Get the transformation between the marker and the real camera.
                                //fprintf(stderr, "Saw object %d.\n", i);
                                if (gObjectData[i].visible == 0) {
                                        arGetTransMat(&marker_info[k],
                                                                  gObjectData[i].marker_center, gObjectData[i].marker_width,
                                                                  gObjectData[i].trans);
                                } else {
                                        arGetTransMatCont(&marker_info[k], gObjectData[i].trans,
                                                                          gObjectData[i].marker_center, gObjectData[i].marker_width,
                                                                          gObjectData[i].trans);
                                }
                                gObjectData[i].visible = 1;
                        } else {
                                gObjectData[i].visible = 0;
                        }
                }
                
                // Tell GLUT the display has changed.
                glutPostRedisplay();
        }
}

//
//      This function is called on events when the visibility of the
//      GLUT window changes (including when it first becomes visible).
//
static void Visibility(int visible)
{
        if (visible == GLUT_VISIBLE) {
                glutIdleFunc(Idle);
        } else {
                glutIdleFunc(NULL);
        }
}

//
//      This function is called when the
//      GLUT window is resized.
//
static void Reshape(int w, int h)
{
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
        glViewport(0, 0, (GLsizei) w, (GLsizei) h);
        
        glMatrixMode(GL_PROJECTION);
        glLoadIdentity();
        glMatrixMode(GL_MODELVIEW);
        glLoadIdentity();

        // Call through to anyone else who needs to know about window sizing here.
}

//
// This function is called when the window needs redrawing.
//
static void Display(void)
{
        int i;
    GLdouble p[16];
        GLdouble m[16];
        
        // Select correct buffer for this context.
        glDrawBuffer(GL_BACK);
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
        
        arglDispImage(gARTImage, &gARTCparam, 1.0, gArglSettings);      // zoom = 1.0.
        arVideoCapNext();
        gARTImage = NULL; // Image data is no longer valid after calling arVideoCapNext().
                                
        // Projection transformation.
        arglCameraFrustumRH(&gARTCparam, VIEW_DISTANCE_MIN, VIEW_DISTANCE_MAX, p);
        glMatrixMode(GL_PROJECTION);
        glLoadMatrixd(p);
        glMatrixMode(GL_MODELVIEW);
                
        // Viewing transformation.
        glLoadIdentity();
        // Lighting and geometry that moves with the camera should go here.
        // (I.e. must be specified before viewing transformations.)
        //none
        
        for (i = 0; i < gObjectDataCount; i++) {
        
                if ((gObjectData[i].visible != 0) && (gObjectData[i].vrml_id >= 0)) {
        
                        // Calculate the camera position for the object and draw it.
                        // Replace VIEW_SCALEFACTOR with 1.0 to make one drawing unit equal to 1.0 ARToolKit units (usually millimeters).
                        arglCameraViewRH(gObjectData[i].trans, m, VIEW_SCALEFACTOR);
                        glLoadMatrixd(m);

                        // All lighting and geometry to be drawn relative to the marker goes here.
                        //fprintf(stderr, "About to draw object %i\n", i);
                        arVrmlDraw(gObjectData[i].vrml_id);
                }                       
        }
        
        // Any 2D overlays go here.
        //none
        
        glutSwapBuffers();
}

int main(int argc, char** argv)
{
        int i;
        char glutGamemode[32];
        const char *cparam_name = "Data/camera_para.dat";
        //
        // Camera configuration.
        //
#ifdef _WIN32
        char                    *vconf = "Data\\WDM_camera_flipV.xml";
#else
        char                    *vconf = "";
#endif
        char objectDataFilename[] = "Data/object_data_vrml";
        
        // ----------------------------------------------------------------------------
        // Library inits.
        //

        glutInit(&argc, argv);

        // ----------------------------------------------------------------------------
        // Hardware setup.
        //

        if (!setupCamera(cparam_name, vconf, &gARTCparam)) {
                fprintf(stderr, "main(): Unable to set up AR camera.\n");
                exit(-1);
        }
        
#ifdef _WIN32
        CoInitialize(NULL);
#endif

        // ----------------------------------------------------------------------------
        // Library setup.
        //

        // Set up GL context(s) for OpenGL to draw into.
        glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
        if (!prefWindowed) {
                if (prefRefresh) sprintf(glutGamemode, "%ix%i:%i@%i", prefWidth, prefHeight, prefDepth, prefRefresh);
                else sprintf(glutGamemode, "%ix%i:%i", prefWidth, prefHeight, prefDepth);
                glutGameModeString(glutGamemode);
                glutEnterGameMode();
        } else {
                glutInitWindowSize(prefWidth, prefHeight);
                glutCreateWindow(argv[0]);
        }

        // Setup argl library for current context.
        if ((gArglSettings = arglSetupForCurrentContext()) == NULL) {
                fprintf(stderr, "main(): arglSetupForCurrentContext() returned error.\n");
                exit(-1);
        }
        debugReportMode(gArglSettings);
        glEnable(GL_DEPTH_TEST);
        arUtilTimerReset();

        if (!setupMarkersObjects(objectDataFilename, &gObjectData, &gObjectDataCount)) {
                fprintf(stderr, "main(): Unable to set up AR objects and markers.\n");
                Quit();
        }
        
        // Test render all the VRML objects.
    fprintf(stdout, "Pre-rendering the VRML objects...");
        fflush(stdout);
    glEnable(GL_TEXTURE_2D);
    for (i = 0; i < gObjectDataCount; i++) {
                arVrmlDraw(gObjectData[i].vrml_id);
    }
    glDisable(GL_TEXTURE_2D);
        fprintf(stdout, " done\n");
        
        // Register GLUT event-handling callbacks.
        // NB: Idle() is registered by Visibility.
        glutDisplayFunc(Display);
        glutReshapeFunc(Reshape);
        glutVisibilityFunc(Visibility);
        glutKeyboardFunc(Keyboard);
        
        glutMainLoop();

        return (0);
}