void HUD_Lua_Class::start_draw(void)
{
alephone::Screen *scr = alephone::Screen::instance();
m_wr = scr->window_rect();
m_opengl = (get_screen_mode()->acceleration != _no_acceleration);
m_masking_mode = _mask_disabled;
#ifdef HAVE_OPENGL
if (m_opengl)
{
glPushAttrib(GL_ALL_ATTRIB_BITS);
glEnable(GL_TEXTURE_2D);
glDisable(GL_CULL_FACE);
glDisable(GL_DEPTH_TEST);
glDisable(GL_ALPHA_TEST);
glDisable(GL_STENCIL_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glDisable(GL_FOG);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glTranslatef(m_wr.x, m_wr.y, 0.0);
m_surface = NULL;
}
else
#endif
{
if (m_surface &&
(m_surface->w != SDL_GetVideoSurface()->w ||
m_surface->h != SDL_GetVideoSurface()->h))
{
SDL_FreeSurface(m_surface);
m_surface = NULL;
}
if (!m_surface)
{
m_surface = SDL_DisplayFormatAlpha(SDL_GetVideoSurface());
SDL_SetAlpha(m_surface, SDL_SRCALPHA, 0);
}
SDL_SetClipRect(m_surface, NULL);
SDL_FillRect(m_surface, NULL, SDL_MapRGBA(m_surface->format, 0, 0, 0, 0));
SDL_SetAlpha(SDL_GetVideoSurface(), SDL_SRCALPHA, 0xff);
}
m_drawing = true;
clear_mask();
}
static int am_uart_startup(struct uart_port *port)
{
struct am_uart_port * info = &am_ports[port->line];
am_uart_t *uart = uart_addr[info->line];
unsigned long mode;
#ifdef PRINT_DEBUG
if(info->line == DEBUG_PORT_ID)
printk("%s\n", __FUNCTION__);
#endif
mutex_lock(&info->info_mutex);
set_mask(&uart->mode, UART_RXRST|UART_TXRST|UART_CLEAR_ERR);
clear_mask(&uart->mode, UART_RXRST|UART_TXRST|UART_CLEAR_ERR);
mode = readl(&uart->mode);
mode |= UART_RXENB | UART_TXENB;
writel(mode, &uart->mode);
mutex_unlock(&info->info_mutex);
return 0;
}
C_RESULT output_gtk_stage_transform( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
static int frame = 0;
static int mass = 0, x_center = -1, y_center = -1;
unsigned char mask_buf[WIDTH*HEIGHT];
uint8_t display_data[WIDTH*HEIGHT*3];
int is_hover;
static int width, height;
static int is_face = 0;
int camshift_error;
static float this_hue_buf[WIDTH*HEIGHT];
static float last_hue_buf[WIDTH*HEIGHT];
int i;
static camshift_frames = 0;
FILE *fp;
char filename[50];
frame++;
// GET FRAME FROM VIDEO FEED
vp_os_mutex_lock(&video_update_lock);
pixbuf_data = (uint8_t*)in->buffers[0];
vp_os_mutex_unlock(&video_update_lock);
// Process frame for orange ball
// UNCOMMENT TO DETECT BALL
//process_frame_ball(pixbuf_data, mask_buf, &mass, &x_center, &y_center);
// UNCOMMENT TO DETECT FACES
if (is_face == 0) {
//printf("Detecting face...\n");
process_frame_face(pixbuf_data, &mass, &x_center, &y_center, &width, &height);
if (mass > 8) {
is_face = 1;
rgb2hue(pixbuf_data, last_hue_buf);
printf("DETECT!!! x,y = %d, %d\n", x_center, y_center);
}
} else {
rgb2hue(pixbuf_data, this_hue_buf);
camshift_error = camshift(last_hue_buf, this_hue_buf, &x_center, &y_center, width, height);
printf("camshift x,y = %d, %d\n", x_center, y_center);
// copy this buffer to last buffer
for (i=0; i<WIDTH*HEIGHT; i++) {
last_hue_buf[i] = this_hue_buf[i];
}
if (camshift_error) {
printf("CAMSHIFT ERROR\n");
is_face = 0;
x_center = -1;
y_center = -1;
}
camshift_frames++;
// about two seconds
if (camshift_frames > 30) {
printf("!!check to see if we are still tracking\n");
camshift_frames = 0;
is_face = 0;
}
}
// we did not use the mask, so make it all black
clear_mask(mask_buf);
// write pixbuf to file
sprintf(filename, "/home/a/pixbuf/pixbuf_%d.ppm", frame);
fp = fopen(filename, "w");
// write header
fprintf(fp, "P6\n320 240\n255\n");
for (i=0; i<320*240*3; i++) {
fprintf(fp, "%c", pixbuf_data[i]);
}
fclose(fp);
fp = fopen("/home/a/meanshift_log.txt", "a");
// write log
// framenum, mass, centroid_x, centroid_y, width, height
fprintf(fp, "%d %d %d %d %d %d\n", frame, mass, x_center, y_center, width, height);
// Get mask display
display_mask(mask_buf, display_data, x_center, y_center);
// Fly drone
is_hover = fly(x_center, y_center, mass);
// Print status
printf("Frame number: %d\n", frame);
printf("Mass: %d; Centroid: (%d, %d)\n", mass, x_center, y_center);
printf("Meanshift Width: %d; Height: %d\n", width, height);
printf("\033[2J");
gdk_threads_enter();
// GdkPixbuf structures to store the displayed picture
static GdkPixbuf *pixbuf = NULL;
static GdkPixbuf *maskbuf = NULL;
if (pixbuf != NULL) {
g_object_unref(pixbuf);
pixbuf=NULL;
}
// Create GdkPixbuf from color frame data
pixbuf = gdk_pixbuf_new_from_data(pixbuf_data,
GDK_COLORSPACE_RGB,
FALSE, // No alpha channel
8, // 8 bits per pixel
320, // Image width
240,
320 * 3, // new pixel every 3 bytes (3channel per pixel)
NULL, // Function pointers
NULL);
// Create the GdkPixbuf from color mask display buffer
maskbuf = gdk_pixbuf_new_from_data(display_data,
GDK_COLORSPACE_RGB,
FALSE, // No alpha channel
8, // 8 bits per pixel
320, // Image width
240,
320 * 3, // new pixel every 3 bytes (3channel per pixel)
NULL, // Function pointers
NULL);
gui_t *gui = get_gui();
// Display the image
if (gui && gui->cam) {
gtk_image_set_from_pixbuf(GTK_IMAGE(gui->cam), pixbuf);
// also display the pixbuf in a second window
if (gui->mask_cam) {
gtk_image_set_from_pixbuf(GTK_IMAGE(gui->mask_cam), maskbuf);
}
}
gdk_threads_leave();
return (SUCCESS);
}
