void draw()
{
glMatrixMode(GL_MODELVIEW);
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glPushMatrix();
glRotatef(rotX,1,0,0);
glRotatef(rotY,0,1,0);
glPushMatrix();
glTranslatef(3,0,0);
drawCoordinate();
glPopMatrix();
glScaled(zoom,zoom,zoom);
glPushMatrix();
lsys.DrawLevel(level);
glPopMatrix();
glPopMatrix();
glutSwapBuffers();
}
/**
* @brief QrSlam::showImage
* 过程显示
* 显示机器人位置 landmark 坐标系
*/
void QrSlam::showImage()
{
cout<<"robot_info "<<robot_info_.X<<" "<<robot_info_.Y<<endl;
showRobotTriangle(raw_global_map_, robot_info_,CV_RGB(0,0,0)) ;
//robot_img_cvt_->convertOnce(raw_global_map_);
showLandmark(raw_global_map_,CV_RGB(0,0,255));
// flip(raw_global_map_,raw_global_map_flip0_,0);
drawCoordinate(raw_global_map_);
slam_img_cvt_->convertOnce(raw_global_map_);
}
int main(int argc, char *argv[])
{
char eventFullPathName[100];
int eventnum;
int x,y,prex = 0,prey = 0;
int fb_fd,fp;
struct fb_var_screeninfo fbvar;
struct fb_fix_screeninfo fbfix;
unsigned char *fb_mapped;
int mem_size;
if (argc != 2)
{
printf("Usage : touchapp <event Number>\n");
printf("To see the event number, do \"cat /proc/bus/input/devices\" \n");
return 1;
}
eventnum = atoi(argv[1]);
sprintf(eventFullPathName,"%s%d",EVENT_STR,eventnum);
printf("touch input event name:%s\n", eventFullPathName);
fp = open( eventFullPathName, O_RDONLY);
if (-1 == fp)
{
printf("%s open fail\n",eventFullPathName);
return 1;
}
if( access(FBDEV_FILE, F_OK) )
{
printf("%s: access error\n", FBDEV_FILE);
close(fp);
return 1;
}
if( (fb_fd = open(FBDEV_FILE, O_RDWR)) < 0)
{
printf("%s: open error\n", FBDEV_FILE);
close(fp);
return 1;
}
if( ioctl(fb_fd, FBIOGET_VSCREENINFO, &fbvar) )
{
printf("%s: ioctl error - FBIOGET_VSCREENINFO \n", FBDEV_FILE);
goto fb_err;
}
if( ioctl(fb_fd, FBIOGET_FSCREENINFO, &fbfix) )
{
printf("%s: ioctl error - FBIOGET_FSCREENINFO \n", FBDEV_FILE);
goto fb_err;
}
screen_width = fbvar.xres;
screen_height = fbvar.yres;
bits_per_pixel = fbvar.bits_per_pixel;
line_length = fbfix.line_length;
printf("screen_width : %d\n", screen_width);
printf("screen_height : %d\n", screen_height);
printf("bits_per_pixel : %d\n", bits_per_pixel);
printf("line_length : %d\n", line_length);
mem_size = screen_width * screen_height * 4;
fb_mapped = (unsigned char *)mmap(0, mem_size,
PROT_READ|PROT_WRITE, MAP_SHARED, fb_fd, 0);
if (fb_mapped < 0)
{
printf("mmap error!\n");
goto fb_err;
}
initScreen(fb_mapped);
while(1)
{
readFirstCoordinate(fp,&x, &y);
drawCoordinate(fb_mapped,x,y, prex, prey);
prex = x;
prey = y;
}
fb_err:
close(fb_fd);
close(fp);
return 0;
}
