SLProject  4.2.000
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Public Member Functions | Private Attributes | List of all members
AppDemoSceneVideoTrackAruco Class Reference

Class for ARUCO marker tracking test scene. More...

#include <AppDemoSceneVideoTrackAruco.h>

Inheritance diagram for AppDemoSceneVideoTrackAruco:
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Public Member Functions

 AppDemoSceneVideoTrackAruco (SLSceneID sid)
 
void registerAssetsToLoad (SLAssetLoader &al) override
 All scene specific assets have to be registered for async loading in here. More...
 
void assemble (SLAssetManager *am, SLSceneView *sv) override
 After parallel loading of the assets the scene gets assembled in here. More...
 
- Public Member Functions inherited from SLScene
 SLScene (const SLstring &name)
 
 ~SLScene () override
 
void initOculus (SLstring shaderDir)
 
void root3D (SLNode *root3D)
 
void root2D (SLNode *root2D)
 
void skybox (SLSkybox *skybox)
 
void stopAnimations (SLbool stop)
 
void info (SLstring i)
 
void loadTimeMS (SLfloat loadTimeMS)
 
SLAnimManager & animManager ()
 
SLAssetManager * assetManager ()
 
SLNode * root3D ()
 
SLNode * root2D ()
 
SLSkybox * skybox ()
 
SLstring & info ()
 
SLfloat elapsedTimeMS () const
 
SLfloat elapsedTimeSec () const
 
SLVEventHandler & eventHandlers ()
 
SLfloat loadTimeMS () const
 
SLVLight & lights ()
 
SLfloat fps () const
 
AvgFloat & frameTimesMS ()
 
AvgFloat & updateTimesMS ()
 
AvgFloat & updateAnimTimesMS ()
 
AvgFloat & updateAABBTimesMS ()
 
AvgFloat & updateDODTimesMS ()
 
SLNode * singleNodeSelected ()
 Returns the node if only one is selected. See also SLMesh::selectNodeMesh. More...
 
SLMesh * singleMeshFullSelected ()
 Returns the node if only one is selected. See also SLMesh::selectNodeMesh. More...
 
SLVNode & selectedNodes ()
 
SLVMesh & selectedMeshes ()
 
SLbool stopAnimations () const
 
SLint numSceneCameras ()
 Returns the number of camera nodes in the scene. More...
 
SLCamera * nextCameraInScene (SLCamera *activeSVCam)
 Returns the next camera in the scene if there is one. More...
 
bool onUpdate (bool renderTypeIsRT, bool voxelsAreShown, bool forceCPUSkinning)
 Updates animations and AABBs. More...
 
void init (SLAssetManager *am)
 
virtual void unInit ()
 
void selectNodeMesh (SLNode *nodeToSelect, SLMesh *meshToSelect)
 Handles the full mesh selection from double-clicks. More...
 
void deselectAllNodesAndMeshes ()
 Deselects all nodes and its meshes. More...
 
SLGLOculus * oculus ()
 
- Public Member Functions inherited from SLObject
 SLObject (const SLstring &Name="", const SLstring &url="")
 
virtual ~SLObject ()
 
void name (const SLstring &Name)
 
void url (const SLstring &url)
 
const SLstring & name () const
 
const SLstring & url () const
 

Private Attributes

SLSceneID _sceneID
 

Additional Inherited Members

- Protected Attributes inherited from SLScene
SLVLight _lights
 Vector of all lights. More...
 
SLVEventHandler _eventHandlers
 Vector of all event handler. More...
 
SLAnimManager _animManager
 Animation manager instance. More...
 
SLAssetManager * _assetManager
 Pointer to the external assetManager. More...
 
SLNode * _root3D
 Root node for 3D scene. More...
 
SLNode * _root2D
 Root node for 2D scene displayed in ortho projection. More...
 
SLSkybox * _skybox
 pointer to skybox More...
 
SLstring _info
 scene info string More...
 
SLVNode _selectedNodes
 Vector of selected nodes. See SLMesh::selectNodeMesh. More...
 
SLVMesh _selectedMeshes
 Vector of selected meshes. See SLMesh::selectNodeMesh. More...
 
SLfloat _loadTimeMS
 time to load scene in ms More...
 
SLfloat _frameTimeMS
 Last frame time in ms. More...
 
SLfloat _lastUpdateTimeMS
 Last time after update in ms. More...
 
SLfloat _fps
 Averaged no. of frames per second. More...
 
AvgFloat _frameTimesMS
 Averaged total time per frame in ms. More...
 
AvgFloat _updateTimesMS
 Averaged time for update in ms. More...
 
AvgFloat _updateAABBTimesMS
 Averaged time for update the nodes AABB in ms. More...
 
AvgFloat _updateAnimTimesMS
 Averaged time for update the animations in ms. More...
 
AvgFloat _updateDODTimesMS
 Averaged time for update the SLEntities graph. More...
 
SLbool _stopAnimations
 Global flag for stopping all animations. More...
 
std::unique_ptr< SLGLOculus > _oculus
 Oculus Rift interface. More...
 
- Protected Attributes inherited from SLObject
SLstring _name
 name of an object More...
 
SLstring _url
 uniform resource locator More...
 

Detailed Description

Class for ARUCO marker tracking test scene.

Definition at line 20 of file AppDemoSceneVideoTrackAruco.h.

Constructor & Destructor Documentation

◆ AppDemoSceneVideoTrackAruco()

AppDemoSceneVideoTrackAruco::AppDemoSceneVideoTrackAruco ( SLSceneID  sid)

Definition at line 29 of file AppDemoSceneVideoTrackAruco.cpp.

30  : SLScene("Aruco Marker Tracking"),
31  _sceneID(sid)
32 {
33  if (_sceneID == SID_VideoTrackArucoMain)
34  {
35  name("Track Aruco (main cam.)");
36  info("Hold the Aruco board dictionary 0 into the field of view of "
37  "the main camera. You can find the Aruco markers in the file "
38  "data/Calibrations. If not all markers are tracked you may have "
39  "the mirror the video horizontally. If the box is not placed precisely,"
40  "you may set the use Preferences > Video Sensor > Calibration > Undistort Image");
41  }
42  else
43  {
44  name("Track Aruco (scnd. cam.)");
45  info("Hold the Aruco board dictionary 0 into the field of view of "
46  "the secondary camera. You can find the Aruco markers in the file "
47  "data/Calibrations. If not all markers are tracked you may have "
48  "the mirror the video horizontally. If the box is not placed precisely,"
49  "you may set the use Preferences > Video Sensor > Calibration > Undistort Image");
50  }
51 }
SID_VideoTrackArucoMain
@ SID_VideoTrackArucoMain
Definition: AppDemoSceneID.h:84
SLObject::name
const SLstring & name() const
Definition: SLObject.h:38
SLScene::SLScene
SLScene(const SLstring &name)
Definition: SLScene.cpp:39
SLScene::info
SLstring & info()
Definition: SLScene.h:102

Member Function Documentation

◆ assemble()

void AppDemoSceneVideoTrackAruco::assemble ( SLAssetManager *  am,
SLSceneView *  sv 
)
overridevirtual

After parallel loading of the assets the scene gets assembled in here.

Remarks
All scene-specific assets have to be loaded async by overriding SLScene::registerAssetsToLoad and SLScene::assemble. Async loading and assembling means that it happens in a parallel thread and that in there are no OpenGL calls allowed. OpenGL calls are only allowed in the main thread. It is important that all object instantiations within SLScene::assemble do NOT call any OpenGL functions (gl*) because they happen in a parallel thread. All objects that get rendered have to do their initialization when they are used the first time during rendering in the main thread.

Reimplemented from SLScene.

Definition at line 71 of file AppDemoSceneVideoTrackAruco.cpp.

72 {
73  /*
74  The tracking of markers is done in AppDemoVideo::onUpdateVideo by calling
75  the specific CVTracked::track method. If a marker was found it overwrites
76  the linked nodes object matrix (SLNode::_om). If the linked node is the
77  active camera the found transform is additionally inversed.
78  This would be the standard augmented reality use case.
79  */
80 
81  if (_sceneID == SID_VideoTrackArucoMain)
82  CVCapture::instance()->videoType(VT_MAIN);
83  else
84  CVCapture::instance()->videoType(VT_SCND);
85 
86  // Material
87  SLMaterial* yellow = new SLMaterial(am,
88  "mY",
89  SLCol4f(1, 1, 0, 0.5f));
90  SLMaterial* cyan = new SLMaterial(am,
91  "mY",
92  SLCol4f(0, 1, 1, 0.5f));
93 
94  // Create a scene group node
95  SLNode* scene = new SLNode("scene node");
96  root3D(scene);
97 
98  // Create a camera node 1
99  SLCamera* cam1 = new SLCamera("Camera 1");
100  cam1->translation(0, 0, 5);
101  cam1->lookAt(0, 0, 0);
102  cam1->fov(CVCapture::instance()->activeCamera->calibration.cameraFovVDeg());
103  cam1->background().texture(gVideoTexture);
104  cam1->setInitialState();
105  cam1->devRotLoc(&AppCommon::devRot, &AppCommon::devLoc);
106  scene->addChild(cam1);
107 
108  // Create a light source node
109  SLLightSpot* light1 = new SLLightSpot(am, this, 0.02f);
110  light1->translation(0.12f, 0.12f, 0.12f);
111  light1->name("light node");
112  scene->addChild(light1);
113 
114  // Get the half edge length of the aruco marker
115  SLfloat edgeLen = static_cast<CVTrackedAruco*>(gVideoTracker)->params().edgeLength;
116  SLfloat he = edgeLen * 0.5f;
117 
118  // Build mesh & node that will be tracked by the 1st marker (camera)
119  SLBox* box1 = new SLBox(am,
120  -he,
121  -he,
122  0.0f,
123  he,
124  he,
125  2 * he,
126  "Box 1",
127  yellow);
128  SLNode* boxNode1 = new SLNode(box1,
129  "Box Node 1");
130  SLNode* axisNode1 = new SLNode(new SLCoordAxis(am),
131  "Axis Node 1");
132  axisNode1->setDrawBitsRec(SL_DB_MESHWIRED, false);
133  axisNode1->scale(edgeLen);
134  boxNode1->addChild(axisNode1);
135  boxNode1->setDrawBitsRec(SL_DB_CULLOFF, true);
136  scene->addChild(boxNode1);
137 
138  // The tracker moves the box node
139  gVideoTrackedNode = boxNode1;
140 
141  // Set active camera
142  sv->camera(cam1);
143 
144  // Turn on constant redraw
145  sv->doWaitOnIdle(false);
146 }
gVideoTrackedNode
SLNode * gVideoTrackedNode
Definition: AppDemoVideo.cpp:43
gVideoTexture
SLGLTexture * gVideoTexture
Definition: AppDemoVideo.cpp:33
gVideoTracker
CVTracked * gVideoTracker
Definition: AppDemoVideo.cpp:38
VT_SCND
@ VT_SCND
Selfie camera on mobile devices.
Definition: CVCapture.h:43
VT_MAIN
@ VT_MAIN
Main camera on all on all all devices.
Definition: CVCapture.h:42
SLfloat
float SLfloat
Definition: SL.h:173
SL_DB_CULLOFF
#define SL_DB_CULLOFF
Turn off face culling.
Definition: SLDrawBits.h:28
SL_DB_MESHWIRED
#define SL_DB_MESHWIRED
Draw polygons as wired mesh.
Definition: SLDrawBits.h:22
SLCol4f
SLVec4< SLfloat > SLCol4f
Definition: SLVec4.h:237
AppCommon::devRot
static SLDeviceRotation devRot
Mobile device rotation from IMU.
Definition: AppCommon.h:64
AppCommon::devLoc
static SLDeviceLocation devLoc
Mobile device location from GPS.
Definition: AppCommon.h:65
CVCapture::videoType
void videoType(CVVideoType vt)
Setter for video type also sets the active calibration.
Definition: CVCapture.cpp:866
CVCapture::instance
static CVCapture * instance()
Public static instance getter for singleton pattern.
Definition: CVCapture.h:65
CVTrackedAruco
OpenCV ArUco marker tracker class derived from CVTracked.
Definition: CVTrackedAruco.h:131
SLBackground::texture
void texture(SLGLTexture *backgroundTexture, bool fixAspectRatio=false)
If flag _repeatBlurred is true the texture is not distorted if its size does not fit to screen aspect...
Definition: SLBackground.cpp:114
SLBox
Axis aligned box mesh.
Definition: SLBox.h:31
SLCamera
Active or visible camera node class.
Definition: SLCamera.h:54
SLCamera::devRotLoc
void devRotLoc(SLDeviceRotation *devRot, SLDeviceLocation *devLoc)
Definition: SLCamera.h:120
SLCamera::background
SLBackground & background()
Definition: SLCamera.h:165
SLCamera::fov
void fov(const SLfloat fov)
vertical field of view
Definition: SLCamera.h:98
SLCoordAxis
Axis aligned coordinate axis mesh.
Definition: SLCoordAxis.h:31
SLLightSpot
SLLightSpot class for a spot light source.
Definition: SLLightSpot.h:36
SLMaterial
Defines a standard CG material with textures and a shader program.
Definition: SLMaterial.h:56
SLNode
SLNode represents a node in a hierarchical scene graph.
Definition: SLNode.h:148
SLNode::addChild
void addChild(SLNode *child)
Definition: SLNode.cpp:207
SLNode::translation
void translation(const SLVec3f &pos, SLTransformSpace relativeTo=TS_parent)
Definition: SLNode.cpp:828
SLNode::scale
void scale(SLfloat s)
Definition: SLNode.h:641
SLNode::setInitialState
void setInitialState()
Definition: SLNode.cpp:1084
SLNode::lookAt
void lookAt(SLfloat targetX, SLfloat targetY, SLfloat targetZ, SLfloat upX=0, SLfloat upY=1, SLfloat upZ=0, SLTransformSpace relativeTo=TS_world)
Definition: SLNode.h:653
SLNode::setDrawBitsRec
void setDrawBitsRec(SLuint bit, SLbool state)
Definition: SLNode.cpp:804
SLObject::name
void name(const SLstring &Name)
Definition: SLObject.h:34
SLScene::root3D
SLNode * root3D()
Definition: SLScene.h:99
SLScene::SLNode
friend class SLNode
Definition: SLScene.h:48
SLSceneView
SceneView class represents a dynamic real time 3D view onto the scene.
Definition: SLSceneView.h:69
SLSceneView::camera
void camera(SLCamera *camera)
Definition: SLSceneView.h:145
SLSceneView::doWaitOnIdle
void doWaitOnIdle(SLbool doWI)
Definition: SLSceneView.h:149

◆ registerAssetsToLoad()

void AppDemoSceneVideoTrackAruco::registerAssetsToLoad ( SLAssetLoader &  al)
overridevirtual

All scene specific assets have to be registered for async loading in here.

All assets the should be loaded in parallel must be registered in here.

Remarks
All scene sspecific assets have to be loaded async by overriding SLScene::registerAssetsToLoad and SLScene::assemble. Async loading and assembling means that it happens in a parallel thread and that in there are no OpenGL calls allowed. OpenGL calls are only allowed in the main thread.

Reimplemented from SLScene.

Definition at line 54 of file AppDemoSceneVideoTrackAruco.cpp.

55 {
56  // Create video texture on global pointer updated in AppDemoVideo
57  al.addTextureToLoad(gVideoTexture,
58  AppCommon::texturePath +
59  "LiveVideoError.png",
60  GL_LINEAR,
61  GL_LINEAR);
62 
63  // Create an ArUco tracker
64  al.addLoadTask([]()
65  {
66  gVideoTracker = new CVTrackedAruco(9, AppCommon::calibIniPath);
67  gVideoTracker->drawDetection(true); });
68 }
AppCommon::calibIniPath
static SLstring calibIniPath
That's where data/calibrations folder is located.
Definition: AppCommon.h:108
AppCommon::texturePath
static SLstring texturePath
Path to texture images.
Definition: AppCommon.h:86
CVTracked::drawDetection
void drawDetection(bool draw)
Definition: CVTracked.h:60
SLAssetLoader::addLoadTask
void addLoadTask(SLAssetLoadTask task)
Add generic task.
Definition: SLAssetLoader.cpp:304
SLAssetLoader::addTextureToLoad
void addTextureToLoad(SLGLTexture *&texture, const SLstring &path, SLint min_filter=GL_LINEAR_MIPMAP_LINEAR, SLint mag_filter=GL_LINEAR, SLTextureType type=TT_unknown, SLint wrapS=GL_REPEAT, SLint wrapT=GL_REPEAT)
Add 2D textures with internal image allocation.
Definition: SLAssetLoader.cpp:97

Member Data Documentation

◆ _sceneID

SLSceneID AppDemoSceneVideoTrackAruco::_sceneID
private

Definition at line 45 of file AppDemoSceneVideoTrackAruco.h.

The documentation for this class was generated from the following files: