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Some ARToolKit bugfixes and cleanup (makes it work on Mac OS X)

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rdb 2013-01-19 19:32:51 +00:00
parent 29871ed63a
commit 0303166a35
1 changed files with 104 additions and 40 deletions
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144
panda/src/vision/arToolKit.cxx
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@ -121,12 +121,14 @@ make(NodePath camera, const Filename &paramfile, double marker_size) {
if (AR_DEFAULT_PIXEL_FORMAT != AR_PIXEL_FORMAT_BGRA &&
AR_DEFAULT_PIXEL_FORMAT != AR_PIXEL_FORMAT_RGBA &&
AR_DEFAULT_PIXEL_FORMAT != AR_PIXEL_FORMAT_ARGB &&
AR_DEFAULT_PIXEL_FORMAT != AR_PIXEL_FORMAT_ABGR &&
AR_DEFAULT_PIXEL_FORMAT != AR_PIXEL_FORMAT_RGB &&
AR_DEFAULT_PIXEL_FORMAT != AR_PIXEL_FORMAT_BGR) {
vision_cat.error() <<
"The copy of ARToolKit that you are using is not compiled "
"for RGB, BGR, RGBA or BGRA input. Panda3D cannot use "
"this copy of ARToolKit. Please modify the ARToolKit's "
"for RGB, BGR, RGBA, BGRA, ARGB or ABGR input. Panda3D cannot "
"use this copy of ARToolKit. Please modify the ARToolKit's "
"config file and compile it again.\n";
return 0;
}
@ -191,7 +193,7 @@ cleanup() {
// Description: Use ARToolKit::make to create an ARToolKit.
////////////////////////////////////////////////////////////////////
ARToolKit::
ARToolKit() {
ARToolKit() : _have_prev_conv(false) {
}
////////////////////////////////////////////////////////////////////
@ -268,7 +270,7 @@ detach_patterns() {
void ARToolKit::
analyze(Texture *tex, bool do_flip_texture) {
// We shouldn't assert on has_ram_image since it also returns false
// when there is a ram image but its not updated for this frame.
// when there is a ram image but it's not updated for this frame.
//nassertv(tex->has_ram_image());
nassertv(tex->get_ram_image_compression() == Texture::CM_off);
nassertv(tex->get_component_type() == Texture::T_unsigned_byte);
@ -286,94 +288,156 @@ analyze(Texture *tex, bool do_flip_texture) {
//int pagesize = xsize * ysize * 4;
nassertv((xsize > 0) && (ysize > 0));
// row length in bytes
int srclen = tex->get_x_size() * tex->get_num_components();
ARParam cparam;
change_size( (ARParam*)_camera_param, xsize, ysize, &cparam );
arInitCparam( &cparam );
change_size((ARParam*)_camera_param, xsize, ysize, &cparam);
arInitCparam(&cparam);
// Pack the data into a buffer with no padding and invert the video
// vertically (panda's representation is upside down from ARToolKit)
// Note: ARToolKit treats the images as grayscale, so the order of
// the individual R, G and B components does not matter.
CPTA_uchar ri = tex->get_ram_image();
const unsigned char *ram = ri.p();
if (ram == NULL) {
vision_cat.warning() << "No data in texture!\n";
return;
}
unsigned char *data;
unsigned char *dstrow;
const unsigned char *srcrow;
if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB ||
AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR) {
data = new unsigned char[xsize * ysize * 3];
int dstlen = xsize * 3;
if (tex->get_num_components() == 3) {
int srclen = (xsize + padx) * 3;
if (do_flip_texture) {
for (int y=0; y<ysize; y++) {
for (int y = 0; y < ysize; ++y) {
int invy = (ysize - y - 1);
memcpy(data + invy * dstlen, ram + y * srclen, dstlen);
}
} else if (dstlen == srclen) {
memcpy(data, ram, ysize * srclen);
} else {
for (int y=0; y<ysize; y++) {
for (int y = 0; y < ysize; ++y) {
memcpy(data + y * dstlen, ram + y * srclen, dstlen);
}
}
} else {
// Chop off the alpha component.
int srclen = (xsize + padx) * 4;
if (do_flip_texture) {
for (int y=0; y<ysize; y++) {
int invy = (ysize - y - 1);
for (int x=0; x<xsize; x++) {
memcpy(data + invy * dstlen + x * 3, ram + y * srclen + x * 4, 3);
for (int y = 0; y < ysize; ++y) {
dstrow = data + dstlen * (ysize - y - 1);
srcrow = ram + srclen * y;
for (int x = 0; x < xsize; ++x) {
memcpy(dstrow + x * 3, srcrow + x * 4, 3);
}
}
} else {
for (int y=0; y<ysize; y++) {
for (int x=0; x<xsize; x++) {
memcpy(data + y * dstlen + x * 3, ram + y * srclen + x * 4, 3);
for (int y = 0; y < ysize; y++) {
dstrow = data + dstlen * y;
srcrow = ram + srclen * y;
for (int x = 0; x < xsize; x++) {
memcpy(dstrow + x * 3, srcrow + x * 4, 3);
}
}
}
}
} else { // ARToolKit wants RGBA.
} else if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGBA ||
AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA) {
data = new unsigned char[xsize * ysize * 4];
int dstlen = xsize * 4;
if (tex->get_num_components() == 3) {
// Until we find a better solution, we'll need to add the Alpha component ourselves.
int srclen = (xsize + padx) * 3;
// We'll have to add an alpha component.
if (do_flip_texture) {
for (int y=0; y<ysize; y++) {
int invy = (ysize - y - 1);
memcpy(data + invy * dstlen, ram + y * srclen, dstlen - 1);
for (int x=0; x<xsize; x++) {
data[invy * dstlen + x * 4 + 3] = -1;
for (int y = 0; y < ysize; ++y) {
dstrow = data + dstlen * (ysize - y - 1);
srcrow = ram + srclen * y;
for (int x = 0; x < xsize; ++x) {
memcpy(dstrow + x * 4, srcrow + x * 3, 3);
dstrow[x * 4 + 3] = 255;
}
}
} else {
for (int y=0; y<ysize; y++) {
memcpy(data + y * dstlen, ram + y * srclen, dstlen - 1);
for (int x=0; x<xsize; x++) {
data[y * dstlen + x * 4 + 3] = -1;
for (int y = 0; y < ysize; ++y) {
dstrow = data + dstlen * y;
srcrow = ram + srclen * y;
for (int x = 0; x < xsize; ++x) {
memcpy(dstrow + x * 4, srcrow + x * 3, 3);
dstrow[x * 4 + 3] = 255;
}
}
}
} else {
int srclen = (xsize + padx) * 4;
if (do_flip_texture) {
for (int y=0; y<ysize; y++) {
for (int y = 0; y < ysize; ++y) {
int invy = (ysize - y - 1);
memcpy(data + invy * dstlen, ram + y * srclen, dstlen);
}
} else if (dstlen == srclen) {
memcpy(data, ram, ysize * srclen);
} else {
for (int y=0; y<ysize; y++) {
for (int y = 0; y < ysize; ++y) {
memcpy(data + y * dstlen, ram + y * srclen, dstlen);
}
}
}
} else { // ARToolKit wants ARGB / ABGR.
data = new unsigned char[xsize * ysize * 4];
int dstlen = xsize * 4;
if (tex->get_num_components() == 3) {
// We'll have to add an alpha component.
if (do_flip_texture) {
for (int y = 0; y < ysize; ++y) {
dstrow = data + dstlen * (ysize - y - 1);
srcrow = ram + srclen * y;
for (int x = 0; x < xsize; ++x) {
memcpy(dstrow + x * 4 + 1, srcrow + x * 3, 3);
dstrow[x * 4] = 255;
}
}
} else {
for (int y = 0; y < ysize; ++y) {
dstrow = data + dstlen * y;
srcrow = ram + srclen * y;
for (int x = 0; x < xsize; ++x) {
memcpy(dstrow + x * 4 + 1, srcrow + x * 3, 3);
dstrow[x * 4] = 255;
}
}
}
} else {
if (do_flip_texture) {
for (int y = 0; y < ysize; ++y) {
dstrow = data + dstlen * (ysize - y - 1);
srcrow = ram + srclen * y;
for (int x = 0; x < xsize; ++x) {
memcpy(dstrow + x * 4 + 1, srcrow + x * 4, 3);
dstrow[x * 4] = srcrow[x * 4 + 3];
}
}
} else {
for (int y = 0; y < ysize; ++y) {
dstrow = data + dstlen * y;
srcrow = ram + srclen * y;
for (int x = 0; x < xsize; ++x) {
memcpy(dstrow + x * 4 + 1, srcrow + x * 4, 3);
dstrow[x * 4] = srcrow[x * 4 + 3];
}
}
}
}
}
// Activate the patterns.
Controls::const_iterator ctrli;
for (ctrli=_controls.begin(); ctrli!=_controls.end(); ctrli++) {
for (ctrli = _controls.begin(); ctrli != _controls.end(); ++ctrli) {
arActivatePatt((*ctrli).first);
}
@ -386,13 +450,13 @@ analyze(Texture *tex, bool do_flip_texture) {
return;
}
for (ctrli=_controls.begin(); ctrli!=_controls.end(); ctrli++) {
for (ctrli = _controls.begin(); ctrli != _controls.end(); ++ctrli) {
NodePath np = (*ctrli).second;
int pattern = (*ctrli).first;
arDeactivatePatt(pattern);
double conf = -1;
int best = -1;
for (int i=0; i<marker_num; i++) {
for (int i = 0; i < marker_num; ++i) {
if (marker_info[i].id == pattern) {
if (marker_info[i].cf >= conf) {
conf = marker_info[i].cf;
@ -412,11 +476,11 @@ analyze(Texture *tex, bool do_flip_texture) {
_have_prev_conv = true;
}
LMatrix4 mat;
for (int i=0; i<4; i++) {
mat(i,0) = _prev_conv[0][i];
mat(i,1) = _prev_conv[2][i];
mat(i,2) = -_prev_conv[1][i];
mat(i,3) = 0.0;
for (int i = 0; i < 4; ++i) {
mat(i, 0) = _prev_conv[0][i];
mat(i, 1) = _prev_conv[2][i];
mat(i, 2) = -_prev_conv[1][i];
mat(i, 3) = 0.0;
}
mat(3,3) = 1.0;
LVecBase3 scale, shear, hpr, pos;