ARToolkitをOgre3dで使う際のマーカ座標の変換を行う例

gistfile1.cpp

void ARListener::detectMarker(unsigned char* buffer)
{
	int           thresh = 150;
	ARMarkerInfo* marker_info;
	int           marker_num;

	arDetectMarker(const_cast<ARUint8*>(buffer), thresh, &marker_info, &marker_num);

	// check for object visibility
	for (int i = 0; i < MARKER_NUM; i ++) {
		int k = -1;
		for (int j = 0; j < marker_num; j++) {
			if (marker_info[j].cf > 0.5) {
				if (models[i].markerId == marker_info[j].id) {
					if (k == -1) k = j;
					else if (marker_info[k].cf < marker_info[j].cf) k = j;
				}
			}
		}

		if (k == -1) {
			models[i].isVisible = false;
			continue;
		}
		
		models[i].isVisible = true;	

		double	patt_trans[3][4];
		arGetTransMat(&marker_info[k], models[i].markerCenter, models[i].markerWidth, patt_trans);

		double mv[16];
		argConvGlpara(patt_trans, mv);

		// 数値にNanが含まれていないかチェック
		bool isValidNumbers = true;
		for (int j = 0; j < 16; j ++) {
			if (_isnan(mv[j])) {	
				isValidNumbers = false;
				break;
			}
		}
		if (isValidNumbers == false) continue;

		Ogre::Vector3 curPos((Ogre::Real)mv[12], (Ogre::Real)-mv[13], (Ogre::Real)-mv[14]);
		models[i].translation_ = models[i].translation_ * 0.4f + curPos * 0.6f;

		Ogre::Vector3 rx = Ogre::Vector3((Ogre::Real)mv[0], (Ogre::Real)-mv[1], (Ogre::Real)-mv[2]);
		Ogre::Vector3 ry = Ogre::Vector3((Ogre::Real)mv[4], (Ogre::Real)-mv[5], (Ogre::Real)-mv[6]);
		Ogre::Vector3 rz = Ogre::Vector3((Ogre::Real)mv[8], (Ogre::Real)-mv[9], (Ogre::Real)-mv[10]);
		Ogre::Quaternion curOri = Ogre::Quaternion(rx.normalisedCopy(), ry.normalisedCopy(), rz.normalisedCopy());
		models[i].orientation_ = Ogre::Quaternion::Slerp(0.4f, models[i].orientation_, curOri, true);
	}
}