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[Fortran2003]ARToolKit で Lorenz attractor

ARToolkit

しばらくぶりに、ARToolKitをいじってみます。
ローレンツ・アトラクターは複雑な三次元図形なので、ARToolKit で任意方向から眺め回せれば愉快かなとふと思う。去年作ったプログラムの描画部分を数行ばかり変えることで実現できるはず。

アトラクター部分は『C言語による　最新　アルゴリズム事典』を参照しました。

新たな環境にインストール　
必要条件　チラシ裏

  1. F90GL が動いていること。
  2. ARToolKit 展開。インストールはいらない。展開だけでおｋ。
    • 実行ファイルは展開ディレクトリ下の bin に置かないと、初期ファイルが読めない。
  3. LIB Path に、展開ディレクトリ下の lib を指定。
    • 必要ライブラリ glut32.lib f90gl.lib f90glu.lib f90glut.lib libAR.lib libARgsub.lib libARvideo.lib
  4. Fortran のコンソールアプリとして製作する。
  5. ESCで終了しないとゴミプロセスが溜まる。




インターフェースでのポインター定義などを微妙に修正。

MODULE m_ART
USE, INTRINSIC :: ISO_C_BINDING 
USE opengl_gl
USE opengl_glu
USE opengl_glut
IMPLICIT NONE
!---- TYPE definitions ---------------------------------
TYPE, BIND(C) :: t_ARParam
 INTEGER(C_INT) :: ixsize, iysize
 REAL(C_DOUBLE) :: dmat(4, 3)
 REAL(C_DOUBLE) :: dist_factor(4)
END TYPE
!
TYPE, BIND(C) :: t_ARMarkerInfo 
 INTEGER(C_INT) :: iarea
 INTEGER(C_INT) :: id
 INTEGER(C_INT) :: dir
 REAL(C_DOUBLE)  :: cf
 REAL(C_DOUBLE)  :: pos(2)
 REAL(C_DOUBLE)  :: dline(3, 4)
 REAL(C_DOUBLE)  :: vertex(2, 4)
END TYPE
!---- global variables ---------------------------------
INTEGER(C_INT) :: ithresh = 100
INTEGER(C_INT) :: icount = 0
INTEGER(C_INT) :: ipatt_id
REAL(C_DOUBLE) :: patt_width = 80.0_c_double
REAL(C_DOUBLE) :: patt_center(2) = (/0.0_c_double, 0.0_c_double/)
REAL(C_DOUBLE) :: patt_trans(3, 4)
INTEGER(C_INT) :: ixsize, iysize
TYPE(t_ARParam) :: cparam
!---- INTERFACE BLOCK -----------------------------------
INTERFACE
 SUBROUTINE arVideoCapStop() BIND(C, NAME = 'arVideoCapStop')
 END SUBROUTINE arVideoCapStop
! 
 SUBROUTINE arVideoClose() BIND(C, NAME = 'arVideoClose')
 END SUBROUTINE arVideoClose
!
 SUBROUTINE argCleanup() BIND(C, NAME = 'argCleanup')
 END SUBROUTINE argCleanup
! 
 INTEGER(C_INT) FUNCTION arVideoGetImage() BIND(C, NAME = 'arVideoGetImage')
 USE, INTRINSIC :: ISO_C_BINDING 
 END
!
 SUBROUTINE arUtilSleep(i) BIND(C, NAME = 'arUtilSleep')
 USE, INTRINSIC :: ISO_C_BINDING 
 INTEGER(C_INT), VALUE :: i 
 END
!
 SUBROUTINE arUtilTimerReset() BIND(C, NAME = 'arUtilTimerReset')
 USE, INTRINSIC :: ISO_C_BINDING 
 END
!
 SUBROUTINE argDrawMode2D() BIND(C, NAME = 'argDrawMode2D')
 END 
!
 SUBROUTINE argDispImage( iptr, i, j ) BIND(C, NAME = 'argDispImage')
 USE, INTRINSIC :: ISO_C_BINDING 
 INTEGER(C_INTPTR_T), VALUE :: iptr
 INTEGER, VALUE :: i, j
 END 
!
 INTEGER(C_INT) FUNCTION arDetectMarker( iptr, i, mark, k ) BIND(C, NAME = 'arDetectMarker')
 USE, INTRINSIC :: ISO_C_BINDING 
 IMPORT :: t_ARMarkerInfo
 INTEGER(C_INTPTR_T), VALUE :: iptr
 INTEGER(C_INT)     , VALUE :: i
 TYPE(t_ARMarkerInfo), POINTER :: mark(:)
 INTEGER(C_INT) :: k
 END 
!
 SUBROUTINE arVideoCapNext() BIND(C, NAME = 'arVideoCapNext')
 END 
!
 SUBROUTINE argSwapBuffers() BIND(C, NAME = 'argSwapBuffers')
 END 
!
 SUBROUTINE arGetTransMat(ptr, d1, d, d2) BIND(C, NAME = 'arGetTransMat')
 USE, INTRINSIC :: ISO_C_BINDING 
 TYPE(C_PTR), VALUE :: ptr
 REAL(C_DOUBLE), VALUE :: d
 REAL(C_DOUBLE):: d1(2), d2(3, 4)
 END 
!
 SUBROUTINE argDrawMode3D() BIND(C, NAME = 'argDrawMode3D')
 END SUBROUTINE argDrawMode3D
 !
 SUBROUTINE argDraw3dCamera(ix, iy) BIND(C, NAME = 'argDraw3dCamera')
 USE, INTRINSIC :: ISO_C_BINDING 
 INTEGER(C_INT), VALUE :: ix, iy 
 END
 !
 SUBROUTINE argConvGlpara(x, y) BIND(C, NAME = 'argConvGlpara')
 USE, INTRINSIC :: ISO_C_BINDING 
 REAL(C_DOUBLE) :: x(4, 3), y(4, 4) 
 END
! 
 SUBROUTINE arVideoCapStart() BIND(C, NAME = 'arVideoCapStart')
 END
!
 SUBROUTINE argMainLoop( i, j, k ) BIND(C, NAME = 'argMainLoop')
 USE, INTRINSIC :: ISO_C_BINDING 
 INTEGER, VALUE :: i
 TYPE(C_FUNPTR), VALUE :: j, k
 END
!
 INTEGER(4) FUNCTION arVideoOpen(text) BIND(C, NAME = 'arVideoOpen')
 USE, INTRINSIC :: ISO_C_BINDING
 CHARACTER(C_CHAR) :: text(*)
 END
!
 INTEGER(C_INT) FUNCTION arVideoInqSize(ix, iy) BIND(C, NAME = 'arVideoInqSize')
 USE, INTRINSIC :: ISO_C_BINDING
 INTEGER(C_INT) :: ix, iy
 END
! 
 INTEGER(C_INT) FUNCTION arParamLoad(text, i, xparam) BIND(C, NAME = 'arParamLoad')
 USE, INTRINSIC :: ISO_C_BINDING
 IMPORT :: t_ARParam
 CHARACTER(C_CHAR) :: text(*)
 TYPE(t_ARParam) :: xparam
 INTEGER(C_INT), VALUE :: i
 END
!
 SUBROUTINE arParamChangeSize(xparam, i, j, yparam) BIND(C, NAME = 'arParamChangeSize')
 USE, INTRINSIC :: ISO_C_BINDING
 IMPORT :: t_ARParam
 TYPE(t_ARParam) :: xparam, yparam
 INTEGER(C_INT), VALUE :: i, j
 END
! 
 SUBROUTINE arInitCparam(xparam) BIND(C, NAME = 'arInitCparam' )
 IMPORT :: t_ARParam
 TYPE(t_ARParam) :: xparam
 END
! 
 SUBROUTINE arParamDisp(xparam) BIND(C, NAME = 'arParamDisp')
 IMPORT :: t_ARParam
 TYPE(t_ARParam) :: xparam
 END
!
 INTEGER(4) FUNCTION arLoadPatt(text) BIND(C, NAME = 'arLoadPatt')
 USE, INTRINSIC :: ISO_C_BINDING
 CHARACTER(C_CHAR) :: text(*)
 END
!
 SUBROUTINE argInit(iptr, d, i1, i2, i3, i4) BIND(C, NAME = 'argInit')
 USE, INTRINSIC :: ISO_C_BINDING
 TYPE(C_PTR), VALUE :: iptr
 REAL(C_DOUBLE)      , VALUE :: d
 INTEGER(C_INT)     , VALUE :: i1, i2, i3, i4
 END
!
 REAL(8) FUNCTION arUtilTimer() BIND(C, NAME = 'arUtilTimer')
 END FUNCTION arUtilTimer
END INTERFACE
CONTAINS
!-------------------------------------------------
SUBROUTINE init() BIND(C)
USE, INTRINSIC :: ISO_C_BINDING 
USE opengl_gl
USE opengl_glu
USE opengl_glut
IMPLICIT NONE
TYPE(t_ARParam) :: wparam
CHARACTER (LEN = 35) :: vconf = "Data\\WDM_camera_flipV.xml" // c_null_char
CHARACTER (LEN = 35) :: cparam_name = "Data\\camera_para.dat" // c_null_char
CHARACTER (LEN = 35) :: patt_name   = "Data\\patt.hiro"       // c_null_char
!   /* open the video path */
IF( arVideoOpen( vconf ) < 0 ) STOP
!    /* find the size of the window */
IF( arVideoInqSize( ixsize, iysize ) < 0 ) STOP
PRINT *, "Image size (x,y) = ", ixsize, iysize
!    /* set the initial camera parameters */
IF ( arParamLoad( cparam_name, 1, wparam ) < 0 ) THEN
 PRINT *, "Camera parameter load error !!"
 STOP
END IF
CALL arParamChangeSize( wparam, ixsize, iysize, cparam )
CALL arInitCparam( cparam )
PRINT *, "*** Camera Parameter ***"
CALL arParamDisp( cparam )
ipatt_id = arLoadPatt( patt_name )
IF ( ipatt_id < 0 ) THEN
 PRINT *, "pattern load error !!"
 STOP
END IF
!    /* open the graphics window */
CALL argInit( C_LOC(cparam), 1.0_c_double, 0, 0, 0, 0 )
RETURN
END SUBROUTINE init
!-------------------------------------------------
SUBROUTINE mainLoop() BIND(C, NAME = 'mainLoop')
IMPLICIT NONE
INTEGER(C_INTPTR_T) :: dataPtr
TYPE(t_ARMarkerInfo), POINTER:: marker_info(:)
INTEGER(C_INT) :: marker_num
INTEGER(C_INT) :: j, k
LOGICAL, SAVE :: qfirst = .TRUE.
IF (qfirst) THEN 
 ALLOCATE(marker_info(50)) ! ?
 qfirst = .FALSE.
END IF
dataPtr = arVideoGetImage()
IF (dataPtr == 0) THEN
 CALL arUtilSleep(2)
 RETURN
END IF
IF (icount == 0) CALL arUtilTimerReset()
icount = icount + 1
CALL argDrawMode2D()
CALL argDispImage( dataPtr, 0, 0 )
IF ( arDetectMarker( dataPtr, ithresh, marker_info, marker_num ) < 0 ) THEN
 CALL cleanup()
 RETURN
END IF
CALL arVideoCapNext()
k = -1
DO j = 1, marker_num
 IF (ipatt_id == marker_info(j)%id) THEN
  IF (k == -1) THEN 
   k = j
  ELSE 
   IF (marker_info(k)%cf < marker_info(j)%cf ) k = j
  END IF
 END IF
END DO
IF ( k == -1 ) THEN 
 CALL argSwapBuffers()
 RETURN
END IF
! draw-main 
CALL arGetTransMat( C_LOC(marker_info(k)), patt_center, patt_width, patt_trans )
CALL draw()
CALL argSwapBuffers()
RETURN
END SUBROUTINE mainLoop
!-------------------------------------------------
SUBROUTINE cleanup() BIND(C)
USE, INTRINSIC :: ISO_C_BINDING
USE opengl_gl
USE opengl_glu
USE opengl_glut
IMPLICIT NONE 
CALL arVideoCapStop()
CALL arVideoClose()
CALL argCleanup()
RETURN
END SUBROUTINE cleanup
!-------------------------------------------------
SUBROUTINE keyEvent( key, ix, iy ) BIND(C, NAME = 'keyEvent')
USE, INTRINSIC :: ISO_C_BINDING 
USE opengl_gl
USE opengl_glu
USE opengl_glut
IMPLICIT NONE
INTEGER(C_SIGNED_CHAR), VALUE :: key
INTEGER(C_INT)        , VALUE :: ix, iy
IF (key == 27) THEN
  PRINT *, "*** ", icount / arUtilTimer(), "(frame/sec)"
  CALL cleanup()
  STOP
END IF
RETURN
END SUBROUTINE keyEvent
!---------------------------------------------------------------
SUBROUTINE draw() BIND(C)
USE, INTRINSIC :: ISO_C_BINDING 
USE opengl_gl
USE opengl_glu
USE opengl_glut
IMPLICIT NONE
REAL(gldouble) :: gl_para(4, 4)
REAL(glfloat ) :: mat_ambient(4) = (/0.0_glfloat, 0.0_glfloat, 1.0_glfloat, 1.0_glfloat/)
REAL(glfloat ) :: mat_flash(4)   = (/0.0_glfloat, 0.0_glfloat, 1.0_glfloat, 1.0_glfloat/)
REAL(glfloat ) :: mat_flash_shiny(1) = (/50.0/)
REAL(glfloat ) :: light_position(4)  = (/100.0_glfloat, -200.0_glfloat, 200.0_glfloat, 0.0_glfloat/)
REAL(glfloat ) :: ambi(4)            = (/0.1_glfloat, 0.1_glfloat, 0.1_glfloat, 0.1_glfloat/)
REAL(glfloat ) :: lightZeroColor(4)  = (/1.0_glfloat, 0.0_glfloat, 0.0_glfloat, 0.1_glfloat/)
REAL(glfloat ), PARAMETER :: a = 10.0_glfloat, b = 28.0_glfloat, &
                              c =  8.0_glfloat / 3.0_glfloat, d = 0.01_glfloat
REAL(glfloat ) :: x, y, z
REAL(glfloat ), SAVE :: dx(3000), dy(3000), dz(3000)
INTEGER :: i
LOGICAL, SAVE :: first = .TRUE.
!   
! Lorenz attractor
IF (first) THEN
 first = .FALSE.
 x = 1.0_glfloat
 y = 1.0_glfloat
 z = 1.0_glfloat
 DO i = 1, 3000
  dx(i) = a * (y - x)
  dy(i) = x * (b - z) - y
  dz(i) = x * y - c * z
  x = x + d * dx(i)
  y = y + d * dy(i)
  z = z + d * dz(i)
 END DO
END IF
! 
CALL argDrawMode3D()
CALL argDraw3dCamera( 0, 0 )
CALL glClearDepth( 1.0_gldouble )
CALL glClear(GL_DEPTH_BUFFER_BIT)
CALL glEnable(GL_DEPTH_TEST)
CALL glDepthFunc(GL_LEQUAL)
!    /* load the camera transformation matrix */
CALL argConvGlpara(patt_trans, gl_para)
CALL glMatrixMode(GL_MODELVIEW)
CALL glLoadMatrixd( gl_para )
CALL glEnable(GL_LIGHTING)
CALL glEnable(GL_LIGHT0)
CALL glLightfv(GL_LIGHT0, GL_POSITION, light_position)
CALL glLightfv(GL_LIGHT0, GL_AMBIENT, ambi)
CALL glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor)
CALL glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash)
CALL glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny)	
CALL glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient)
CALL glMatrixMode(GL_MODELVIEW)

!--- from here -------------------
CALL glTranslatef( 0.0_glfloat, 0.0_glfloat, 30.0_glfloat )
DO i = 1, 3000
 CALL glTranslatef( dx(i) / 35.0, dy(i) / 35.0, dz(i) / 35.0 )
 IF (i > 100) THEN
  CALL glutSolidCube(2.0_gldouble )
 END IF 
END DO
!--- till here ----------------------

CALL glDisable( GL_LIGHTING )
CALL glDisable( GL_DEPTH_TEST )
RETURN
END SUBROUTINE draw
!-------------------------------------------------------------
END MODULE m_ART
!=====================================================
PROGRAM main1
USE m_art
IMPLICIT NONE
CALL glutInit()
CALL init()
CALL arVideoCapStart()
CALL argMainLoop( 0, C_FUNLOC(keyEvent), C_FUNLOC(mainLoop) )
STOP
END PROGRAM main1