multigl.cpp File Reference

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

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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.

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Function Documentation

bool drawBackground (  IplTexture *  tex  )  [static]

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

void emptyWindow (   )  [static]

Definition at line 136 of file multigl.cpp. Referenced by main().

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. Definition at line 205 of file multigl.cpp. References MultiGrab::cams, PyrImage::convCoordf(), current_cam, drawBackground(), frameTexture, and multi. Referenced by geom_calib_start().

void geom_calib_end (   )  [static]

Called when geometric calibration ends. It makes sure that the CamAugmentation object is ready to work. Definition at line 253 of file multigl.cpp. References CalibModel::augm, calib, CamAugmentation::LoadOptimalStructureFromFile(), MultiGrab::model, and multi. Referenced by geom_calib_idle().

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. Definition at line 272 of file multigl.cpp. References add_detected_homography(), CamCalibration::AddHomography(), calib, CamCalibration::Calibrate(), MultiGrab::cams, current_cam, frameTexture, geom_calib_end(), geom_calib_nb_homography, MultiGrab::grabFrames(), multi, photo_start(), CamCalibration::PrintOptimizedResultsToFile1(), and IplTexture::setImage(). Referenced by geom_calib_start().

void geom_calib_start (  bool  cache  )  [static]

Start geometric calibration. If the calibration can be loaded from disk, continue directly with photometric calibration. Definition at line 327 of file multigl.cpp. References CamCalibration::AddCamera(), CalibModel::augm, calib, MultiGrab::cams, geom_calib_draw(), geom_calib_idle(), geom_calib_nb_homography, CamAugmentation::LoadOptimalStructureFromFile(), MultiGrab::model, multi, and photo_start(). Referenced by init().

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. Definition at line 71 of file multigl.cpp. References cacheLight, geom_calib_start(), MultiGrab::init(), modelFile, multi, and usage(). Referenced by main().

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. Definition at line 117 of file multigl.cpp. References MultiGrab::cams, current_cam, dynamicLight, multi, and sphereObject. Referenced by main().

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

Definition at line 140 of file multigl.cpp. References emptyWindow(), init(), and keyboard().

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. Definition at line 351 of file multigl.cpp. References CalibModel::augm, CalibModel::corners, current_cam, cvmGet(), LightMap::disableShader(), IplTexture::disableTexture(), drawBackground(), LightMap::enableShader(), PerspectiveProjection::flip(), frameTexture, LightMap::getBias(), LightMap::getGain(), CamAugmentation::GetObjectToWorld(), CamAugmentation::GetProjectionMatrix(), PerspectiveCamera::getWorldToEyeMat(), CalibModel::image, LightMap::isReady(), PerspectiveCamera::loadTdir(), IplTexture::loadTexture(), Mat3x4::m, M_PI, LightMap::map, CalibModel::map, CamCalibration::Mat3x4Mul(), MultiGrab::model, Mat3x4::mul(), multi, LightMap::readMap(), PerspectiveCamera::setGlModelView(), PerspectiveProjection::setGlProjection(), Mat3x4::setInverseByTranspose(), PerspectiveProjection::setPlanes(), Mat3x4::setRotate(), Mat3x4::setTranslate(), PerspectiveCamera::setWorldToEyeMat(), and Mat3x4::transform(). Referenced by photo_start().

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. Definition at line 548 of file multigl.cpp. References CamAugmentation::Accomodate(), add_detected_homography(), CamAugmentation::AddHomography(), LightMap::addNormal(), CalibModel::augm, MultiGrab::cams, CamAugmentation::Clear(), LightMap::computeLightParams(), current_cam, frameOK, frameTexture, CamAugmentation::GetObjectToWorld(), MultiGrab::grabFrames(), LightMap::isReady(), CalibModel::map, MultiGrab::model, multi, nbLightMeasures, LightMap::nbNormals(), LightMap::save(), and IplTexture::setImage(). Referenced by photo_start().

void photo_start (   )  [static]

Starts photometric calibration. Definition at line 606 of file multigl.cpp. References MultiGrab::allocLightCollector(), LightMap::load(), CalibModel::map, MultiGrab::model, multi, nbLightMeasures, photo_draw(), and photo_idle(). Referenced by geom_calib_idle(), and geom_calib_start().

void reshape (  int  width, int  height )  [static]

GLUT callback on window size change. Definition at line 43 of file multigl.cpp.

void usage (  const char *  s  )  [static]

Print a command line help and exit. Definition at line 52 of file multigl.cpp.

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Variable Documentation

bool cacheLight = false

Definition at line 34 of file multigl.cpp. Referenced by init().

CamCalibration* calib = 0

Definition at line 29 of file multigl.cpp. Referenced by add_detected_homography(), geom_calib_end(), geom_calib_idle(), geom_calib_start(), geometric_calibration(), and main().

int current_cam = 0

Definition at line 30 of file multigl.cpp. Referenced by geom_calib_draw(), geom_calib_idle(), keyboard(), photo_draw(), and photo_idle().

bool dynamicLight = false

Definition at line 35 of file multigl.cpp. Referenced by keyboard().

bool frameOK = false

Definition at line 32 of file multigl.cpp. Referenced by photo_idle(), and photometric_calibration().

IplTexture* frameTexture = 0

Definition at line 31 of file multigl.cpp. Referenced by geom_calib_draw(), geom_calib_idle(), photo_draw(), and photo_idle().

int geom_calib_nb_homography

Definition at line 28 of file multigl.cpp. Referenced by geom_calib_idle(), and geom_calib_start().

MultiGrab* multi = 0

Definition at line 26 of file multigl.cpp. Referenced by geom_calib_draw(), geom_calib_end(), geom_calib_idle(), geom_calib_start(), geometric_calibration(), init(), keyboard(), main(), photo_draw(), photo_idle(), photo_start(), and photometric_calibration().

int nbLightMeasures = 0

Definition at line 33 of file multigl.cpp. Referenced by photo_idle(), photo_start(), and photometric_calibration().

bool sphereObject = false

Definition at line 36 of file multigl.cpp. Referenced by keyboard().

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