int send_rr_app(int equalize, int segmentNumber, char* buf) {
int i = 0;
if(equalize == 0) {
for(i = 0; i < ll.sequenceNumber; i++)
ll.compFrame[i] = buf[i];
return llwrite(equalize,buf,0);
}
else if (equalize == 1) {
if(checkFrames(buf) == 0) {
if(segmentNumber > 0)
saveChunk(buf,ll.sequenceNumber);
}
return llwrite(equalize,buf,0);
}
return -1;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "oculus_image_viewer");
ros::NodeHandle node;
image_transport::ImageTransport image_transport(node);
std::string camera_topic = "/ardrone/front/image_raw";
ros::NodeHandle local_node("~");
local_node.getParam("camera_topic", camera_topic);
ros::Subscriber sub_hmd_info = node.subscribe("/oculus/hmd_info", 1,
&HMDInfoCallback);
if (SDL_Init(SDL_INIT_VIDEO) < 0) { // Initialize SDL's Video subsystem
std::cout << "Unable to initialize SDL";
return 1;
}
// Request opengl 4.4 context.
SDL_GL_SetAttribute(SDL_GL_ACCELERATED_VISUAL, 1);
SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 3);
SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 3);
if (hmd_connected) {
mainwindow = SDL_CreateWindow("oculus_viewer",
SDL_WINDOWPOS_CENTERED_DISPLAY(hmd_info->DisplayId),
SDL_WINDOWPOS_CENTERED_DISPLAY(hmd_info->DisplayId),
hmd_info->HResolution, hmd_info->VResolution,
SDL_WINDOW_FULLSCREEN_DESKTOP | SDL_WINDOW_OPENGL);
} else {
// Create our window centered
mainwindow = SDL_CreateWindow("oculus_viewer", SDL_WINDOWPOS_CENTERED,
SDL_WINDOWPOS_CENTERED, 1280, 800,
SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN); // | SDL_WINDOW_RESIZABLE
}
if (!mainwindow) { // Die if creation failed
std::cout << "SDL Error: " << SDL_GetError() << std::endl;
SDL_Quit();
return 1;
}
bool quit = false;
// image_transport::Subscriber sub_camera_image = image_transport.subscribe(
// "/ardrone/front/image_raw", 1, &CameraImageCallback);
image_transport::Subscriber sub_camera_image = image_transport.subscribe(
camera_topic, 1, &CameraImageCallback);
if (hmd_connected) {
renderView = new Render::RenderView(mainwindow, maincontext,
hmd_info->HResolution, hmd_info->VResolution);
} else {
renderView = new Render::RenderView(mainwindow, maincontext, 1280, 800);
}
ros::Rate rate(60);
SDL_Event event;
while (!quit && ros::ok()) {
#if SHOWFPS==1
checkFrames();
#endif
// if (hmd_connected) {
// renderView->display();
// } else {
// renderView->display();
// }
renderView->display();
SDL_GL_SwapWindow(mainwindow);
while (SDL_PollEvent(&event)) {
switch (event.type) {
case SDL_QUIT:
quit = true;
break;
/*case SDL_WINDOWEVENT:
if (event.window.event == SDL_WINDOWEVENT_RESIZED)
renderView->reshape(event.window.data1, event.window.data2);
break;
*/
case SDL_KEYDOWN:
switch (event.key.keysym.sym) {
case SDLK_UP:
renderView->increaseScale(0.05);
break;
case SDLK_DOWN:
renderView->increaseScale(-0.05);
break;
case SDLK_LEFT:
renderView->increaseDistortionConstant(-0.05);
break;
case SDLK_RIGHT:
renderView->increaseDistortionConstant(0.05);
break;
case SDLK_j:
renderView->increaseInterpupillarDistance(-0.01);
break;
case SDLK_k:
renderView->increaseInterpupillarDistance(0.01);
break;
}
break;
}
}
#if SHOWFPS==1
renderedFrames++;
#endif
ros::spinOnce();
rate.sleep();
}
// Delete our opengl context, destroy our window, and shutdown SDL
SDL_GL_DeleteContext(maincontext);
SDL_DestroyWindow(mainwindow);
SDL_Quit();
delete (renderView);
return 0;
}
