;============================================================
; iron_ar + hspmfcam サンプル: ライブカメラで AR
;
; Media Foundation カメラから毎フレーム取得 → ArUco 検出 →
; マーカー上に立方体オーバーレイ。
;============================================================

#include "hsp3_net_64.as"
#include "hspcv4.as"
#include "hspdxlib.as"
#include "hspdxlib_const.as"
#include "hspdxlib_macro.as"
#include "hspmfcam.as"
#include "iron_ar.hsp"

	ChangeWindowMode TRUE
	SetGraphMode 1280, 720, 32
	SetMainWindowText "iron_ar Live AR"
	if DxLib_Init() == -1 : end
	SetDrawScreen DX_SCREEN_BACK

	; ---- カメラ open ----
	mf_open 0, 1280, 720, 30
	if stat < 0 : dialog "camera open failed" : end

	CAM_W = 1280 : CAM_H = 720
	CV_FRAME = 1

	ar_default_calibration K, D, CAM_W, CAM_H
	ar_make_mat_k 100, K
	ar_make_mat_d 101, D

*main
	ClearDrawScreen_1

	; フレーム取得 → ファイル経由で cv4 へ
	mf_grab_to_file 0, "__frame.png"
	if stat < 0 : goto *skip_frame
	cv4_imread CV_FRAME, "__frame.png"

	ar_detect_markers corners, ids, n_found, CV_FRAME, CV4_ARUCO_DICT_4X4_50

	; 背景描画
	bg_gh = LoadGraph("__frame.png")
	DrawExtendGraph 0, 0, 1280, 720, bg_gh, FALSE

	if n_found > 0 {
		SetCameraNearFar 0.01, 10.0
		SetupCamera_Perspective 0.8

		MARKER_SIZE = 0.05
		repeat n_found
			ar_estimate_pose_single corners, cnt, MARKER_SIZE, 100, 101, rvec, tvec
			if stat < 0 : continue
			ar_pose_to_dxmat rvec, tvec, viewmat
			SetTransformToViewD viewmat

			ddim v0, 3 : ddim v1, 3
			half = MARKER_SIZE * 0.5
			v0(0) = -half : v0(1) = -half : v0(2) = 0.0
			v1(0) =  half : v1(1) =  half : v1(2) = MARKER_SIZE
			DrawCube3DD v0, v1, GetColor(0, 255, 128), GetColor(128, 255, 180), TRUE
		loop
		SetTransformToViewIdentity
	}

	DrawString 20, 20, "markers: " + n_found, GetColor(255, 255, 255)
	DeleteGraph bg_gh

*skip_frame
	ScreenFlip
	if CheckHitKey(DX_KEY_INPUT_ESCAPE) == 1 : goto *done
	await 16
	goto *main

*done
	mf_close 0
	DxLib_End
	end