TheCloud/panda3d
1
0
Fork 0
mirror of https://github.com/panda3d/panda3d.git synced 2025-10-03 10:22:45 -04:00
Code Issues Packages Projects Releases Wiki Activity

ARToolKit now basically functional

Browse Source
This commit is contained in:
Josh Yelon 2007-10-29 21:02:07 +00:00
parent c1e524f3da
commit b67ac42efd
9 changed files with 137 additions and 76 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
doc/makepanda/makepanda.py
View File

@ -2600,7 +2600,8 @@ EnqueueIgate(ipath=IPATH, opts=OPTS, outd='libmovies.in', obj='libmovies_igate.o
IPATH=['panda/src/grutil']
OPTS=['BUILDING_PANDA', 'FFMPEG', 'ARTOOLKIT']
EnqueueCxx(ipath=IPATH, opts=OPTS, src='multitexReducer.cxx', obj='grutil_multitexReducer.obj')
EnqueueCxx(ipath=IPATH, opts=OPTS, src='grutil_composite.cxx', obj='grutil_composite.obj')
EnqueueCxx(ipath=IPATH, opts=OPTS, src='grutil_composite1.cxx', obj='grutil_composite1.obj')
EnqueueCxx(ipath=IPATH, opts=OPTS, src='grutil_composite2.cxx', obj='grutil_composite2.obj')
EnqueueIgate(ipath=IPATH, opts=OPTS, outd='libgrutil.in', obj='libgrutil_igate.obj',
src='panda/src/grutil', module='panda', library='libgrutil',
skip=[], also=["multitexReducer.cxx","grutil_composite.cxx"])
@ -2698,7 +2699,7 @@ OBJFILES=['panda_panda.obj', 'libpanda_module.obj',
'pgraph_composite1.obj', 'pgraph_composite2.obj', 'pgraph_composite3.obj', 'pgraph_composite4.obj', 'libpgraph_igate.obj',
'cull_composite.obj',
'movies_composite1.obj', 'libmovies_igate.obj',
'grutil_multitexReducer.obj', 'grutil_composite.obj', 'libgrutil_igate.obj',
'grutil_multitexReducer.obj', 'grutil_composite1.obj', 'grutil_composite2.obj', 'libgrutil_igate.obj',
'chan_composite.obj', 'libchan_igate.obj',
'pstatclient_composite.obj', 'libpstatclient_igate.obj',
'char_composite.obj', 'libchar_igate.obj',
@ -2745,7 +2746,7 @@ EnqueueLink(opts=OPTS, dll='libpanda.dll', obj=OBJFILES, xdep=[
#
IPATH=['panda/src/skel']
OPTS=['BUILDING_PANDASKEL']
OPTS=['BUILDING_PANDASKEL', 'ARTOOLKIT']
EnqueueCxx(ipath=IPATH, opts=OPTS, src='skel_composite.cxx', obj='skel_composite.obj')
EnqueueIgate(ipath=IPATH, opts=OPTS, outd='libskel.in', obj='libskel_igate.obj',
src='panda/src/skel', module='pandaskel', library='libskel',
@ -2755,9 +2756,10 @@ EnqueueIgate(ipath=IPATH, opts=OPTS, outd='libskel.in', obj='libskel_igate.obj',
# DIRECTORY: panda/metalibs/panda
#
OPTS=['BUILDING_PANDASKEL', 'ARTOOLKIT', 'ADVAPI']
EnqueueImod(ipath=IPATH, opts=OPTS, obj='libpandaskel_module.obj',
module='pandaskel', library='libpandaskel', files=["libskel.in","libmovies.in"])
EnqueueLink(dll='libpandaskel.dll', opts=['ADVAPI'], obj=[
EnqueueLink(dll='libpandaskel.dll', opts=OPTS, obj=[
'skel_composite.obj',
'libskel_igate.obj',
'libpandaskel_module.obj',

5
panda/src/grutil/Sources.pp
View File

@ -3,12 +3,12 @@
#define USE_PACKAGES opencv ffmpeg
#begin lib_target
#begin lib_target]
#define TARGET grutil
#define LOCAL_LIBS \
display text pgraph gobj linmath putil movies audio
#define COMBINED_SOURCES $[TARGET]_composite1.cxx
#define COMBINED_SOURCES $[TARGET]_composite1.cxx $[TARGET]_composite2.cxx
#define SOURCES \
pipeOcclusionCullTraverser.I pipeOcclusionCullTraverser.h \
@ -41,7 +41,6 @@
lineSegs.cxx \
rigidBodyCombiner.cxx
#define INSTALL_HEADERS \
cardMaker.I cardMaker.h \
arToolKit.I arToolKit.h \

183
panda/src/grutil/arToolKit.cxx
View File

@ -23,6 +23,8 @@
#include "pandaNode.h"
#include "camera.h"
#include "perspectiveLens.h"
#include "lvecBase3.h"
#include "compose_matrix.h"
#include "config_grutil.h"
extern "C" {
#include "artools.h"
@ -30,63 +32,96 @@ extern "C" {
ARToolKit::PatternTable ARToolKit::_pattern_table;
static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16] )
static void change_size( ARParam *source, int xsize, int ysize, ARParam *newparam )
{
double icpara[3][4];
double trans[3][4];
double p[3][3], q[4][4];
int i, j;
int i;
if( arParamDecompMat(cparam, icpara, trans) < 0 ) {
printf("gConvGLcpara: Parameter error!!\n");
exit(0);
}
for( i = 0; i < 3; i++ ) {
for( j = 0; j < 3; j++ ) {
p[i][j] = icpara[i][j] / icpara[2][2];
}
}
q[0][0] = (2.0 * p[0][0] / width);
q[0][1] = (2.0 * p[0][1] / width);
q[0][2] = ((2.0 * p[0][2] / width) - 1.0);
q[0][3] = 0.0;
q[1][0] = 0.0;
q[1][1] = (2.0 * p[1][1] / height);
q[1][2] = ((2.0 * p[1][2] / height) - 1.0);
q[1][3] = 0.0;
q[2][0] = 0.0;
q[2][1] = 0.0;
q[2][2] = (gfar + gnear)/(gfar - gnear);
q[2][3] = -2.0 * gfar * gnear / (gfar - gnear);
q[3][0] = 0.0;
q[3][1] = 0.0;
q[3][2] = 1.0;
q[3][3] = 0.0;
newparam->xsize = xsize;
newparam->ysize = ysize;
double xscale = (double)xsize / (double)(source->xsize);
double yscale = (double)ysize / (double)(source->ysize);
for( i = 0; i < 4; i++ ) {
for( j = 0; j < 3; j++ ) {
m[i+j*4] = q[i][0] * trans[0][j]
+ q[i][1] * trans[1][j]
+ q[i][2] * trans[2][j];
}
m[i+3*4] = q[i][0] * trans[0][3]
+ q[i][1] * trans[1][3]
+ q[i][2] * trans[2][3]
+ q[i][3];
newparam->mat[0][i] = source->mat[0][i] * xscale;
newparam->mat[1][i] = source->mat[1][i] * yscale;
newparam->mat[2][i] = source->mat[2][i];
}
newparam->dist_factor[0] = source->dist_factor[0] * xscale;
newparam->dist_factor[1] = source->dist_factor[1] * yscale;
newparam->dist_factor[2] = source->dist_factor[2] / (xscale*yscale);
newparam->dist_factor[3] = source->dist_factor[3];
}
static void analyze_fov(double cparam[3][4], int width, int height, double &xfov, double &yfov)
{
double gnear = 10.0;
double gfar = 1000.0;
double icpara[3][4];
double trans[3][4];
double p[3][3], q[4][4];
double xval, yval;
int i, j;
if( arParamDecompMat(cparam, icpara, trans) < 0 ) {
printf("gConvGLcpara: Parameter error!!\n");
exit(0);
}
for( i = 0; i < 3; i++ ) {
for( j = 0; j < 3; j++ ) {
p[i][j] = icpara[i][j] / icpara[2][2];
}
}
q[0][0] = (2.0 * p[0][0] / width);
q[0][1] = (2.0 * p[0][1] / width);
q[0][2] = ((2.0 * p[0][2] / width) - 1.0);
q[0][3] = 0.0;
q[1][0] = 0.0;
q[1][1] = (2.0 * p[1][1] / height);
q[1][2] = ((2.0 * p[1][2] / height) - 1.0);
q[1][3] = 0.0;
q[2][0] = 0.0;
q[2][1] = 0.0;
q[2][2] = (gfar + gnear)/(gfar - gnear);
q[2][3] = -2.0 * gfar * gnear / (gfar - gnear);
q[3][0] = 0.0;
q[3][1] = 0.0;
q[3][2] = 1.0;
q[3][3] = 0.0;
xval =
q[0][0] * trans[0][0] +
q[0][1] * trans[1][0] +
q[0][2] * trans[2][0];
yval =
q[1][0] * trans[0][1] +
q[1][1] * trans[1][1] +
q[1][2] * trans[2][1];
xfov = 2.0 * atan(1.0/xval) * (180.0/3.141592654);
yfov = 2.0 * atan(1.0/yval) * (180.0/3.141592654);
}
////////////////////////////////////////////////////////////////////
// Function: ARToolKit::Constructor
// Function: ARToolKit::make
// Access: Private
// Description:
// Description: Create a new ARToolKit instance.
//
// Camera must be the nodepath of a panda camera object.
// The panda camera's field of view is initialized to match
// the field of view of the physical webcam. Each time
// you call analyze, all marker nodepaths will be moved
// into a position which is relative to this camera.
// The marker_size parameter indicates how large you
// printed the physical markers. You should use the same
// size units that you wish to use in the panda code.
////////////////////////////////////////////////////////////////////
ARToolKit *ARToolKit::
make(NodePath camera, const Filename &paramfile) {
make(NodePath camera, const Filename &paramfile, double marker_size) {
if (AR_DEFAULT_PIXEL_FORMAT != AR_PIXEL_FORMAT_BGRA) {
grutil_cat.error() <<
@ -120,18 +155,15 @@ make(NodePath camera, const Filename &paramfile) {
}
arParamDisp(&wparam);
double m[16];
argConvGLcpara2(wparam.mat, 640, 480, 10, 1000, m);
cerr << "Panda3D projection mat: " << lens->get_projection_mat() << "\n";
cerr << "Artoolkit mat: "
<< m[ 0] << " " << m[ 1] << " " << m[ 2] << " " << m[ 3] << "\n"
<< m[ 4] << " " << m[ 5] << " " << m[ 6] << " " << m[ 7] << "\n"
<< m[ 8] << " " << m[ 9] << " " << m[10] << " " << m[11] << "\n"
<< m[12] << " " << m[13] << " " << m[14] << " " << m[15] << "\n";
double xfov, yfov;
analyze_fov(wparam.mat, 640, 480, xfov, yfov);
lens->set_fov(xfov, yfov);
ARToolKit *result = new ARToolKit();
result->_camera = camera;
result->_camera_param = new ARParam;
result->_marker_size = marker_size;
memcpy(result->_camera_param, &wparam, sizeof(wparam));
return result;
}
@ -245,7 +277,7 @@ analyze(Texture *tex, double thresh) {
nassertv((xsize > 0) && (ysize > 0));
ARParam cparam;
arParamChangeSize( (ARParam*)_camera_param, xsize, ysize, &cparam );
change_size( (ARParam*)_camera_param, xsize, ysize, &cparam );
arInitCparam( &cparam );
// Pack the data into a buffer with no padding and invert the video
@ -276,6 +308,7 @@ analyze(Texture *tex, double thresh) {
}
for (ctrli=_controls.begin(); ctrli!=_controls.end(); ctrli++) {
NodePath np = (*ctrli).second;
int pattern = (*ctrli).first;
arDeactivatePatt(pattern);
double conf = -1;
@ -289,12 +322,40 @@ analyze(Texture *tex, double thresh) {
}
}
if (conf > 0.0) {
cerr << "Marker " << pattern
<< " " << int(marker_info[best].vertex[0][0]) << "," << int(marker_info[best].vertex[0][1])
<< " " << int(marker_info[best].vertex[1][0]) << "," << int(marker_info[best].vertex[1][1])
<< " " << int(marker_info[best].vertex[2][0]) << "," << int(marker_info[best].vertex[2][1])
<< " " << int(marker_info[best].vertex[3][0]) << "," << int(marker_info[best].vertex[3][1])
<< "\n";
ARMarkerInfo *inf = &marker_info[best];
double center[2];
center[0] = 0.0;
center[1] = 0.0;
double patt_trans[3][4];
arGetTransMat(inf, center, _marker_size, patt_trans);
LMatrix4f mat;
for (int i=0; i<4; i++) {
mat(i,0) = patt_trans[0][i];
mat(i,1) = patt_trans[2][i];
mat(i,2) = -patt_trans[1][i];
mat(i,3) = 0.0;
}
mat(3,3) = 1.0;
LVecBase3f scale, shear, hpr, pos;
decompose_matrix(mat, scale, shear, hpr, pos);
np.set_pos(pos);
np.set_hpr(hpr);
np.show();
// cerr << "Markert:\n"
// << " Id: " << inf->id << "\n"
// << " Area: " << inf->area << "\n"
// << " Dir: " << inf->dir << "\n"
// << " Cf: " << inf->cf << "\n"
// << " Pos: " << inf->pos[0] << "," << inf->pos[1] << "\n"
// << " Vtx0: " << inf->vertex[0][0] << "," << inf->vertex[0][1] << "\n"
// << " Vtx1: " << inf->vertex[1][0] << "," << inf->vertex[1][1] << "\n"
// << " Vtx2: " << inf->vertex[2][0] << "," << inf->vertex[2][1] << "\n"
// << " Vtx3: " << inf->vertex[3][0] << "," << inf->vertex[3][1] << "\n"
// << " Row0: " << patt_trans[0][0] << " " << patt_trans[0][1] << " " << patt_trans[0][2] << " " << patt_trans[0][3] << "\n"
// << " Row1: " << patt_trans[1][0] << " " << patt_trans[1][1] << " " << patt_trans[1][2] << " " << patt_trans[1][3] << "\n"
// << " Row2: " << patt_trans[2][0] << " " << patt_trans[2][1] << " " << patt_trans[2][2] << " " << patt_trans[2][3] << "\n";
} else {
np.hide();
}
}

4
panda/src/grutil/arToolKit.h
View File

@ -47,7 +47,7 @@
class EXPCL_PANDA_GRUTIL ARToolKit {
PUBLISHED:
static ARToolKit *make(NodePath camera, const Filename &paramfile);
static ARToolKit *make(NodePath camera, const Filename &paramfile, double markersize);
~ARToolKit();
void attach_pattern(const Filename &pattern, NodePath path);
@ -67,6 +67,8 @@ private:
NodePath _camera;
void *_camera_param;
double _marker_size;
};
#include "arToolKit.I"

1
panda/src/grutil/ffmpegTexture.cxx
View File

@ -24,6 +24,7 @@
#include "config_gobj.h"
#include "config_grutil.h"
#include "bamCacheRecord.h"
#include "bamReader.h"
TypeHandle FFMpegTexture::_type_handle;

1
panda/src/grutil/grutil_composite.cxx
View File

@ -1 +1,2 @@
#include "grutil_composite1.cxx"
#include "grutil_composite2.cxx"

7
panda/src/grutil/grutil_composite1.cxx
View File

@ -5,10 +5,3 @@
#include "lineSegs.cxx"
#include "fisheyeMaker.cxx"
#include "frameRateMeter.cxx"
#include "openCVTexture.cxx"
#include "ffmpegTexture.cxx"
#include "movieTexture.cxx"
#include "nodeVertexTransform.cxx"
#include "pipeOcclusionCullTraverser.cxx"
#include "rigidBodyCombiner.cxx"

1
panda/src/grutil/movieTexture.cxx
View File

@ -25,6 +25,7 @@
#include "config_gobj.h"
#include "config_grutil.h"
#include "bamCacheRecord.h"
#include "bamReader.h"
#include "math.h"
#include "audioSound.h"

1
panda/src/grutil/nodeVertexTransform.h
View File

@ -20,6 +20,7 @@
#define NODEVERTEXTRANSFORM_H
#include "pandabase.h"
#include "pandaNode.h"
#include "vertexTransform.h"
class FactoryParams;