Real-time augmentation using OpenGL and shaders. More...

#include <iostream>
#include <vector>
#include <cv.h>
#include <highgui.h>
#include <calib/camera.h>
#include "multigrab.h"
#include <GL/glut.h>

Include dependency graph for multigl.cpp:

Go to the source code of this file.

Functions
static void	photo_start ()
	Starts photometric calibration.
static void	geom_calib_start (bool cache)
	Start geometric calibration. If the calibration can be loaded from disk, continue directly with photometric calibration.
static void	reshape (int width, int height)
	GLUT callback on window size change.
static void	usage (const char *s)
	Print a command line help and exit.
static bool	init (int argc, char **argv)
	Initialize everything.
static void	keyboard (unsigned char c, int x, int y)
static void	emptyWindow ()
int	main (int argc, char *argv[])
static bool	drawBackground (IplTexture *tex)
	Draw a frame contained in an IplTexture object on an OpenGL viewport.
static void	geom_calib_draw (void)
	A draw callback during camera calibration.
static void	geom_calib_end ()
	Called when geometric calibration ends. It makes sure that the CamAugmentation object is ready to work.
static void	geom_calib_idle (void)
static void	photo_draw (void)
static void	photo_idle ()

Variables
MultiGrab *	multi = 0
int	geom_calib_nb_homography
CamCalibration *	calib = 0
int	current_cam = 0
IplTexture *	frameTexture = 0
bool	frameOK = false
int	nbLightMeasures = 0
bool	cacheLight = false
bool	dynamicLight = false
bool	sphereObject = false

Detailed Description

Real-time augmentation using OpenGL and shaders.

This example first calibrates connected camera(s) and then uses OpenGL to augment the calibration target with a teapot, shaded by the calibrated light map.

Definition in file multigl.cpp.

Function Documentation

static bool drawBackground ( IplTexture * tex )

static

Draw a frame contained in an IplTexture object on an OpenGL viewport.

Examples:: multigl.cpp.

Definition at line 159 of file multigl.cpp.

References IplTexture::disableTexture(), IplTexture::getIm(), IplTexture::loadTexture(), IplTexture::u(), and IplTexture::v().

Referenced by geom_calib_draw(), and photo_draw().

static void emptyWindow ( )

static

Examples:: multigl.cpp.

Definition at line 136 of file multigl.cpp.

Referenced by main().

static void geom_calib_draw ( void )

static

A draw callback during camera calibration.

GLUT calls that function during camera calibration when repainting the window is required. During geometric calibration, no 3D is known: we just plot 2d points where some feature points have been recognized.

Examples:: multigl.cpp.

Definition at line 205 of file multigl.cpp.

References MultiGrab::cams, PyrImage::convCoordf(), current_cam, drawBackground(), image_object_point_match::image_point, image_object_point_match::inlier, planar_object_recognizer::match_number, planar_object_recognizer::matches, planar_object_recognizer::object_is_detected, keypoint::scale, keypoint::u, and keypoint::v.

Referenced by geom_calib_start().

static void geom_calib_end ( )

static

Called when geometric calibration ends. It makes sure that the CamAugmentation object is ready to work.

Examples:: multigl.cpp.

Definition at line 253 of file multigl.cpp.

References CalibModel::augm, calib, CamAugmentation::LoadOptimalStructureFromFile(), and MultiGrab::model.

Referenced by geom_calib_idle().

static void geom_calib_idle ( void )

static

Called by GLUT during geometric calibration when there's nothing else to do. This function grab frames from camera(s), run the 2D detection on every image, and keep the result in memory for calibration. When enough homographies have been detected, it tries to actually calibrate the cameras.

Examples:: multigl.cpp.

Definition at line 272 of file multigl.cpp.

References add_detected_homography(), CamCalibration::AddHomography(), CamCalibration::Calibrate(), MultiGrab::cams, current_cam, geom_calib_end(), geom_calib_nb_homography, MultiGrab::grabFrames(), photo_start(), CamCalibration::PrintOptimizedResultsToFile1(), and IplTexture::setImage().

Referenced by geom_calib_start().

static void geom_calib_start ( bool cache )

static

Start geometric calibration. If the calibration can be loaded from disk, continue directly with photometric calibration.

Examples:: multigl.cpp.

Definition at line 327 of file multigl.cpp.

References CamCalibration::AddCamera(), CalibModel::augm, MultiGrab::cams, geom_calib_draw(), geom_calib_idle(), geom_calib_nb_homography, CamAugmentation::LoadOptimalStructureFromFile(), MultiGrab::model, and photo_start().

Referenced by init().

static bool init	(	int	argc,
		char **	argv
	)

static

Initialize everything.

Parse the command line
Initialize all the cameras
Load or interactively build a model, with its classifier.
Set the GLUT callbacks for geometric calibration or, if already done, for photometric calibration.

Examples:: multigl.cpp.

Definition at line 71 of file multigl.cpp.

References cacheLight, geom_calib_start(), MultiGrab::init(), modelFile, and usage().

Referenced by main().

static void keyboard	(	unsigned char	c,
		int	x,
		int	y
	)

static

The keyboard callback: reacts to '+' and '-' to change the viewed cam, 'q' exits. 'o' switches between a teapot and a sphere 'd' turns on/off the dynamic lightmap update. 'f' goes fullscreen.

Examples:: multigl.cpp.

Definition at line 117 of file multigl.cpp.

References current_cam, dynamicLight, and sphereObject.

Referenced by main().

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 140 of file multigl.cpp.

References emptyWindow(), init(), and keyboard().

static void photo_draw ( void )

static

The paint callback during photometric calibration and augmentation. In this case, we have access to 3D data. Thus, we can augment the calibration target with cool stuff.

Examples:: multigl.cpp.

Definition at line 351 of file multigl.cpp.

References CalibModel::augm, MultiGrab::cams, CalibModel::corners, current_cam, cvmGet(), LightMap::disableShader(), IplTexture::disableTexture(), drawBackground(), LightMap::enableShader(), PerspectiveProjection::flip(), frameOK, LightMap::getBias(), LightMap::getGain(), CamAugmentation::GetObjectToWorld(), CamAugmentation::GetProjectionMatrix(), PerspectiveCamera::getWorldToEyeMat(), CalibModel::image, LightMap::isReady(), PerspectiveCamera::loadTdir(), IplTexture::loadTexture(), Mat3x4::m, M_PI, CalibModel::map, LightMap::map, CamCalibration::Mat3x4Mul(), MultiGrab::model, Mat3x4::mul(), LightMap::readMap(), PerspectiveCamera::setGlModelView(), PerspectiveProjection::setGlProjection(), Mat3x4::setInverseByTranspose(), PerspectiveProjection::setPlanes(), Mat3x4::setRotate(), Mat3x4::setTranslate(), PerspectiveCamera::setWorldToEyeMat(), sphereObject, and Mat3x4::transform().

Referenced by photo_start().

static void photo_idle ( )

static

GLUT calls this during photometric calibration or augmentation phase when there's nothing else to do. This function does the 2D detection and bundle adjusts the 3D pose of the calibration pattern. Then, it extracts the surface normal, and pass all the lighting measurements to the LightMap object. When enough is collected, the lightmap is computed.