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1 1 22 (2) TA: OpenGL Wii Wii OpenGL USB (3DCG) URL USB

2 TA TA TA mireport@cyber.t.u-tokyo.ac.jp abcdefgh abcdefgh C PC Wii bluetooth 2.2 Bluetooth USB Princeton PTM-UBT3S 1 1 USB 2.3 Wii Bluetooth USB USB 2.5 Wii CWiid kuni/enshu2010/cwiid tgz CWiid

3 2.5 Wii 3 tar xvzf cwiid tgz./configure make sudo make install CWiid 00:00:00:00:00:00 Wii Bluetooth cd cwiid /wmgui./wmgui 00:00:00:00:00:00 wmgui File Connect 1 Connect Connect Settings Acc Data Wii

4 Wii Wii Bluetooth Wii 3.1 Wii Wii Wii Wii Wii Fit Wii Wii 3 IC Bluetooth IC CMOS Bluetooth CWiid CWiid Linux C Wii Wiimote) API Wii API Wiimote GTK GUI Download

$html CMOS Wii wiimote command state 1 ON 0 OFF command WIIMOTE CMD RUMBLE WIIMOTE CMD LED LED wiimote_command(wiimote, command, int state); void set_report_mode(void) { uint8_t rpt_mode; rpt_mode =$

5 3.2 CWiid 5 3 Wii remote.html CMOS Wii wiimote command state 1 ON 0 OFF command WIIMOTE CMD RUMBLE WIIMOTE CMD LED LED wiimote_command(wiimote, command, int state); void set_report_mode(void) { uint8_t rpt_mode; rpt_mode = WIIMOTE_RPT_STATUS WIIMOTE_RPT_BTN; rpt_mode = WIIMOTE_RPT_ACC; wiimote_command(wiimote, WIIMOTE_CMD_RPT_MODE, rpt_mode); Wii Wii unionwiimote mesgmesg array mesg arraytype acc zero, acc one zeropoint 1Gpoint

6 6 3 void wiimote_callback(int id, int mesg_count, union wiimote_mesg *mesg_array[]) { int i; for (i=0; i < mesg_count; i++) { switch (mesg_array[i]->type) { case WIIMOTE_MESG_ACC: wiimote_acc(&mesg_array[i]->acc_mesg); break; case WIIMOTE_MESG_BTN: wiimote_btn(&mesg_array[i]->btn_mesg); break; default: break; Wii mesg > x, mesg > y, mesg > z void wiimote_acc(struct wiimote_acc_mesg *mesg) { printf("x: %d, y: %d, z: %d\t", mesg->x, mesg->y, mesg->z); double a_x, a_y, a_z; a_x = ((double)mesg->x - acc_zero.x) / (acc_one.x - acc_zero.x); a_y = ((double)mesg->y - acc_zero.y) / (acc_one.y - acc_zero.y); a_z = ((double)mesg->z - acc_zero.z) / (acc_one.z - acc_zero.z); Wii

$3.2 CWiid 7 void wiimote_btn(struct wiimote_btn_mesg *mesg){ if(mesg->buttons & WIIMOTE_BTN_UP){ WIIMOTE BTN$ WIIMOTE BTN B B WIIMOTE BTN HOME HOME WIIMOTE BTN 1 1 WIIMOTE BTN 2 2 Wii Wii 4 Wii http://wiibrew.

WIIMOTE BTN B B WIIMOTE BTN HOME HOME WIIMOTE BTN 1 1 WIIMOTE BTN 2 2 Wii Wii 4 Wii http://wiibrew.

7 3.2 CWiid 7 void wiimote_btn(struct wiimote_btn_mesg *mesg){ if(mesg->buttons & WIIMOTE_BTN_UP){ WIIMOTE BTN UP WIIMOTE BTN DOWN WIIMOTE BTN RIGHT WIIMOTE BTN LEFT WIIMOTE BTN PLUS WIIMOTE BTN MINUS WIIMOTE BTN A A WIIMOTE BTN B B WIIMOTE BTN HOME HOME WIIMOTE BTN 1 1 WIIMOTE BTN 2 2 Wii Wii 4 Wii axis2.png Yaw, Pitch, Roll Yaw, Pitch, Roll 5 CWiid CWiid Makefile cwiid /wiimote wiimote

$o CFLAGS = -Wall -I${WIIMOTE_DIR \ #-DCWIID_VERSION=\"${PACKAGE_VERSION\" LDFLAGS = -L${WIIMOTE_DIR LDLIBS = -lglut -lgl -lglu -lwiimote.c.$

8 8 3 5 Yaw,Pitch,Roll CC = g++ COMMON =. PACKAGE_VERSION = WIIMOTE_DIR =../../cwiid /wiimote ( RM = rm -f TARGET = sample OBJS = sample.o CFLAGS = -Wall -I${WIIMOTE_DIR \ #-DCWIID_VERSION=\"${PACKAGE_VERSION\" LDFLAGS = -L${WIIMOTE_DIR LDLIBS = -lglut -lgl -lglu -lwiimote.c.o: ${CC -c ${CFLAGS $< ${TARGET: ${OBJS ${CC -o ${TARGET ${OBJS ${LDLIBS ${LDFLAGS clean: ${RM ${TARGET *.o *

9 3.2 CWiid kadai.tar.gz kadai1 sample.c Bluetooth 00:00:00:00:00:00 Bluetooth Wii./sample 00:00:00:00:00:00 a Wii A B b 1! 2 Wii LED 1 2 r R] Wii c WireCube 2. kadai2 sample.c Wii Teapot a b B c d 3. kadai3 sample.c Wii.disp flag a b Wii c d

10 Wii 7 Teapot Wii 8 Wii

11 11 4 USB OpenGL Linux Linux Video for Linux(Video4Linux, v4l ) API Video4Linux USB IEEE1394 API Linux Video for Linux 2(Video4Linux2, v4l2 ) API USB (USB Video Class, UVC) USB 2.0 Linux Linux Video4Linux lsmod lsmod grep video ) uvcvideo compat_ioctl uvcvideo videodev uvcvideo v4l1_compat uvcvideo,videodev v4l2_common uvcvideo,videodev 4.1 OpenCV Video4Linux API OpenCV(Open Source Computer Vision Library) OpenCV OpenGL Video4Linux API OS OpenCV OS OS OpenCV OpenGL 3DCG 3DCG OpenCV

12 12 4 OpenCV OpenCV OpenCV IplImage OpenCV RGB 8bit RGB OpenCV B G R B G R 3 1 nsize nchannels depth origin width height imagesize imagedata widthstep IplImage 1,2,3,4 1 = widthstep * height 1 IplImage cvloadimage IplImage* cvloadimage( const char* filename, int flags=cv_load_image_color ); filename flags / cvcreateimage RGB 8 24 depth 8 IPL DEPTH 8U channels 3

13 IplImage* cvcreateimage( CvSize size, int depth, int channels ); size depth IPL_DEPTH_8U - 8 IPL_DEPTH_8S - 8 IPL_DEPTH_16U - 16 IPL_DEPTH_16S - 16 IPL_DEPTH_32S - 32 IPL_DEPTH_32F - IPL_DEPTH_64F - channels 1, 2, 3, 4 cvreleaseimage void cvreleaseimage( IplImage** image ); image OpenGL R G B OpenCV OpenGL OpenCV OpenGL (GL BGR EXT GL BGRA ) OpenCV cvcvtcolor() CV BGR2RGB BGR RGB void cvcvtcolor( const CvArr* src, CvArr* dst, int code ); src 8 8u 16 16u 32f dst code CV_<src_color_space>2<dst_color_space>

14 14 4 OpenCV CvCapture cvcreatecameracapture() OpenCV 0 cvcreatecameracapture() NULL OpenCV cvcapturefromcam() cvcreatecameracapture() CvCapture* cvcreatecameracapture( int index ); index -1 cvcreatecameracapture() cvcreatefilecapture() CvCapture* cvcreatefilecapture( const char* filename ); filename cvsetcaptureproperty() int cvsetcaptureproperty( CvCapture* capture, int property_id, double value ); capture property_id ID

15 cvgetcaptureproperty() cvqueryframe() double cvgetcaptureproperty( CvCapture* capture, int property_id ); capture property_id ID ID CV CAP PROP POS MSEC CV CAP PROP POS FRAMES CV CAP PROP POS AVI RATIO CV CAP PROP FRAME WIDTH CV CAP PROP FRAME HEIGHT CV CAP PROP FPS CV CAP PROP FOURCC CV CAP PROP FRAME COUNT / 4 2 ID 1 CvCapture 1 cvqueryframe() AVI 1 IplImage IplImage NULL IplImage* cvqueryframe( CvCapture* capture ); capture

16 16 4 cvcreatecameracapture() cvcreatefilecapture() cvreleasecapture() void cvreleasecapture( CvCapture** capture ); capture 4.2 Window 9) 9 OpenGL OpenCV /* OpenGL */ #include <GL/glut.h> /* OpenCV */ #include <opencv/cv.h> #include <opencv/highgui.h>

17 IplImage *frame; /* Capture Imege from OpenCV */ CvCapture* capture = 0; /* Video Capture Structure */ int dev_index = 0; /* Capture Device ID */ void my_init(int argc, char **argv) { // Initialization Part - OpenCV // Connect to Capture Device capture = cvcreatecameracapture(dev_index); if (capture) { frame = cvqueryframe(capture); cap_width = cvgetcaptureproperty(capture, CV_CAP_PROP_FRAME_WIDTH); cap_height = cvgetcaptureproperty(capture, CV_CAP_PROP_FRAME_HEIGHT); else { fprintf(stderr, "Found No Camera\n"); exit(-1); // Flip Captured Image if (frame->origin==0) { cvflip(frame, frame, 0); // Convert Color Alignment BGR -> RGB cvcvtcolor(frame, frame, CV_BGR2RGB); win_width = cap_width; win_height = cap_height; int my_exit(int e) { /* Release Process - OpenCV */ if (capture) cvreleasecapture(&capture); exit(e);

18 18 4 idle cvqueryframe() OpenGL cvflip() BGR RGB cvcvtcolor() void idle(void) { if (capture) { frame = cvqueryframe(capture); if (frame->origin==0) { cvflip(frame, frame, 0 ); cvcvtcolor(frame, frame, CV_BGR2RGB); glpixelstorei( GL_UNPACK_ALIGNMENT, 1 ); glutpostredisplay(); IplImage cvcloneimage() IplImage* cvcloneimage( const IplImage* image ); image gldrawpixels() void gldrawpixels(glsizei width, GLsizei height, GLenum format, GLenum type, GLvoid *pixels); void glrasterpos{234{sifd(type x, TYPE y, TYPE z, TYPE w);

$4.3 19 void display(void) { glclear(gl_color_buffer_bit); glpixelstorei(gl_unpack_alignment, 1); glpixelzoom((gldouble)(win_width-2)/(gldouble)cap_width,$

19 void display(void) { glclear(gl_color_buffer_bit); glpixelstorei(gl_unpack_alignment, 1); glpixelzoom((gldouble)(win_width-2)/(gldouble)cap_width, (GLdouble)(win_height-2)/(GLdouble)cap_height); glrasterpos2i(-win_width/2+1, -win_height/2+1); gldrawpixels(cap_width, cap_height, GL_RGB, GL_UNSIGNED_BYTE, frame->imagedata); glflush(); glutswapbuffers(); : sample-texture.c 10 3 glteximage2d() 2 gltexsubimage2d()

20 20 4 void gltexsubimage2d( GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *pixels ); idle gltexsubimage2d() void idle(void) { if (capture) { frame = cvqueryframe(capture); if (frame->origin==0) { cvflip(frame, frame, 0); cvcvtcolor(frame, frame, CV_BGR2RGB); glpixelstorei( GL_UNPACK_ALIGNMENT, 1 ); glbindtexture( GL_TEXTURE_2D, tex_index ); gltexsubimage2d( GL_TEXTURE_2D, 0, 0, 0, frame->width, frame->height, GL_RGB, GL_UNSIGNED_BYTE, frame->imagedata ); glutpostredisplay(); glvertex() gltexcoord() OpenGL gltexcoord() 0.625(=640/1024) (=480/512)

$4.3 21 void gltexcoord{1,2,3,4{s,i,d,f(type coords); void gltexcoord{1,2,3,4{s,i,d,fv(type *coords); 11 void display(void) { glclear(gl_color_buffer_bit GL_DEPTH_BUFFER_BIT); glcolor3f(1.0, 1.$

21 void gltexcoord{1,2,3,4{s,i,d,f(type coords); void gltexcoord{1,2,3,4{s,i,d,fv(type *coords); 11 void display(void) { glclear(gl_color_buffer_bit GL_DEPTH_BUFFER_BIT); glcolor3f(1.0, 1.0, 1.0); glenable(gl_texture_2d); glbindtexture( GL_TEXTURE_2D, tex_index ); glpushmatrix(); glbegin(gl_triangle_fan); gltexcoord2f(0.0, 0.0); glvertex3f(-cap_width/2, -cap_height/2, 0.0); gltexcoord2f((float)cap_width/tex_width, 0.0); glvertex3f(cap_width/2, -cap_height/2, 0.0); gltexcoord2f((float)cap_width/tex_width, (float)cap_height/tex_height); glvertex3f(cap_width/2, cap_height/2, 0.0); gltexcoord2f(0.0, (float)cap_height/tex_height); glvertex3f(-cap_width/2, cap_height/2, 0.0); glend(); glpopmatrix();

22 A 3 ( 10) 3 ( 12) 2 1. opencv-sample.tar.gz USB 2. opencv-texture.tar.gz 10 3. opencv-divtex.

22 22 A 3 ( 10) 3 ( 12) 2 1. opencv-sample.tar.gz USB 2. opencv-texture.tar.gz opencv-divtex.tar.gz TODO opencv-dynamic.tar.gz 12 3 A Wii , Vol.110, No.1069, pp

2 2 2 OpenGL Linux Linux Video for Linux(Video4Linux, v4l ) API Video4Linux USB IEEE1394 API Linux Video for Linux 2(Video4Linux2, v4l2 ) OpenCV API U

2 2 2 OpenGL Linux Linux Video for Linux(Video4Linux, v4l ) API Video4Linux USB IEEE1394 API Linux Video for Linux 2(Video4Linux2, v4l2 ) OpenCV API U 1 26 (2) 3DCG TA 2014 10 17 1 OpenGL USB (3DCG) OpenCV CG Augmented Reality ARToolKit 3DCG 1.1 http://www.cyber.t.u-tokyo.ac.jp/~tani/class/mech_enshu/ 1.2 TA 1.3 ( ) USB (2014/11/10( ),11( ),13( )) (2012/11/17(