Я пытаюсь скрыть маркер im artoolkit, и в своем исследовании я нашел этот код для alvar, это бесплатный инструментарий AR, созданный исследовательским техническим центром в Финляндии.это в opencv, но я хочу сделать то же самое в примере simpleVRML.Любая помощь, как я могу изменить этот код для примера artoolkit?
#include "CvTestbed.h"
#include "MarkerDetector.h"
#include "GlutViewer.h"
#include "Shared.h"
using namespace alvar;
using namespace std;
#define GLUT_DISABLE_ATEXIT_HACK // Needed to compile with Mingw?
#include <GL/gl.h>
const double margin = 1.0;
std::stringstream calibrationFilename;
// Own drawable for showing hide-texture in OpenGL
struct OwnDrawable : public Drawable {
unsigned char hidingtex[64*64*4];
virtual void Draw() {
glPushMatrix();
glMultMatrixd(gl_mat);
glPushAttrib(GL_ALL_ATTRIB_BITS);
glEnable(GL_TEXTURE_2D);
int tex=0;
glBindTexture(GL_TEXTURE_2D, tex);
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
glTexImage2D(GL_TEXTURE_2D,0,GL_RGBA,64,64,0,GL_RGBA,GL_UNSIGNED_BYTE,hidingtex);
glDisable(GL_CULL_FACE);
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
glEnable(GL_ALPHA_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glBegin(GL_QUADS);
glTexCoord2d(0.0,0.0);
glVertex3d(-margin,-margin,0);
glTexCoord2d(0.0,1.0);
glVertex3d(-margin,margin,0);
glTexCoord2d(1.0,1.0);
glVertex3d(margin,margin,0);
glTexCoord2d(1.0,0.0);
glVertex3d(margin,-margin,0);
glEnd();
glPopAttrib();
glPopMatrix();
}
};
void videocallback(IplImage *image)
{
static bool init=true;
static const int marker_size=15;
static Camera cam;
static OwnDrawable d[32];
static IplImage *hide_texture;
bool flip_image = (image->origin?true:false);
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
static IplImage* bg_image = 0;
if(!bg_image) bg_image = cvCreateImage(cvSize(512, 512), 8, 3);
if(image->nChannels == 3)
{
bg_image->origin = 0;
cvResize(image, bg_image);
GlutViewer::SetVideo(bg_image);
}
if (init) {
init = false;
cout<<"Loading calibration: "<<calibrationFilename.str();
if (cam.SetCalib(calibrationFilename.str().c_str(), image->width, image->height)) {
cout<<" [Ok]"<<endl;
} else {
cam.SetRes(image->width, image->height);
cout<<" [Fail]"<<endl;
}
double p[16];
cam.GetOpenglProjectionMatrix(p,image->width,image->height);
GlutViewer::SetGlProjectionMatrix(p);
hide_texture = CvTestbed::Instance().CreateImage("hide_texture", cvSize(64, 64), 8, 4);
}
static MarkerDetector<MarkerData> marker_detector;\
marker_detector.Detect(image, &cam, false, false);
GlutViewer::DrawableClear();
for (size_t i=0; i<marker_detector.markers->size(); i++) {
if (i >= 32) break;
GlutViewer::DrawableAdd(&(d[i]));
}
for (size_t i=0; i<marker_detector.markers->size(); i++) {
if (i >= 32) break;
// Note that we need to mirror both the y- and z-axis because:
// - In OpenCV we have coordinates: x-right, y-down, z-ahead
// - In OpenGL we have coordinates: x-right, y-up, z-backwards
// TODO: Better option might be to use OpenGL projection matrix that matches our OpenCV-approach
Pose p = (*(marker_detector.markers))[i].pose;
BuildHideTexture(image, hide_texture, &cam, d[i].gl_mat, PointDouble(-margin, -margin), PointDouble(margin, margin));
//DrawTexture(image, hide_texture, &cam, d[i].gl_mat, PointDouble(-0.7, -0.7), PointDouble(0.7, 0.7));
p.GetMatrixGL(d[i].gl_mat);
for (int ii=0; ii<64*64; ii++) {
d[i].hidingtex[ii*4+0] = hide_texture->imageData[ii*4+2];
d[i].hidingtex[ii*4+1] = hide_texture->imageData[ii*4+1];
d[i].hidingtex[ii*4+2] = hide_texture->imageData[ii*4+0];
d[i].hidingtex[ii*4+3] = hide_texture->imageData[ii*4+3];
}
}
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
}
int main(int argc, char *argv[])
{
try {
// Output usage message
std::string filename(argv[0]);
filename = filename.substr(filename.find_last_of('\\') + 1);
std::cout << "SampleMarkerHide" << std::endl;
std::cout << "================" << std::endl;
std::cout << std::endl;
std::cout << "Description:" << std::endl;
std::cout << " This is an example of how to detect 'MarkerData' markers, similarly" << std::endl;
std::cout << " to 'SampleMarkerDetector', and hide them using the 'BuildHideTexture'" << std::endl;
std::cout << " and 'DrawTexture' classes." << std::endl;
std::cout << std::endl;
std::cout << "Usage:" << std::endl;
std::cout << " " << filename << " [device]" << std::endl;
std::cout << std::endl;
std::cout << " device integer selecting device from enumeration list (default 0)" << std::endl;
std::cout << " highgui capture devices are prefered" << std::endl;
std::cout << std::endl;
std::cout << "Keyboard Shortcuts:" << std::endl;
std::cout << " q: quit" << std::endl;
std::cout << std::endl;
// Initialise GlutViewer and CvTestbed
GlutViewer::Start(argc, argv, 640, 480, 15);
CvTestbed::Instance().SetVideoCallback(videocallback);
// Enumerate possible capture plugins
CaptureFactory::CapturePluginVector plugins = CaptureFactory::instance()->enumeratePlugins();
if (plugins.size() < 1) {
std::cout << "Could not find any capture plugins." << std::endl;
return 0;
}
// Display capture plugins
std::cout << "Available Plugins: ";
outputEnumeratedPlugins(plugins);
std::cout << std::endl;
// Enumerate possible capture devices
CaptureFactory::CaptureDeviceVector devices = CaptureFactory::instance()->enumerateDevices();
if (devices.size() < 1) {
std::cout << "Could not find any capture devices." << std::endl;
return 0;
}
// Check command line argument for which device to use
int selectedDevice = defaultDevice(devices);
if (argc > 1) {
selectedDevice = atoi(argv[1]);
}
if (selectedDevice >= (int)devices.size()) {
selectedDevice = defaultDevice(devices);
}
// Display capture devices
std::cout << "Enumerated Capture Devices:" << std::endl;
outputEnumeratedDevices(devices, selectedDevice);
std::cout << std::endl;
// Create capture object from camera
Capture *cap = CaptureFactory::instance()->createCapture(devices[selectedDevice]);
std::string uniqueName = devices[selectedDevice].uniqueName();
// Handle capture lifecycle and start video capture
// Note that loadSettings/saveSettings are not supported by all plugins
if (cap) {
std::stringstream settingsFilename;
settingsFilename << "camera_settings_" << uniqueName << ".xml";
calibrationFilename << "camera_calibration_" << uniqueName << ".xml";
cap->start();
if (cap->loadSettings(settingsFilename.str())) {
std::cout << "Loading settings: " << settingsFilename.str() << std::endl;
}
std::stringstream title;
title << "SampleMarkerHide (" << cap->captureDevice().captureType() << ")";
CvTestbed::Instance().StartVideo(cap, title.str().c_str());
if (cap->saveSettings(settingsFilename.str())) {
std::cout << "Saving settings: " << settingsFilename.str() << std::endl;
}
cap->stop();
delete cap;
}
else if (CvTestbed::Instance().StartVideo(0, argv[0])) {
}
else {
std::cout << "Could not initialize the selected capture backend." << std::endl;
}
return 0;
}
catch (const std::exception &e) {
std::cout << "Exception: " << e.what() << endl;
}
catch (...) {
std::cout << "Exception: unknown" << std::endl;
}
}