int main(int argc, char** argv)
{
unsigned char dx = 0;
unsigned char dy = 0;
const char* arg_format = NULL;
const char* arg_src = NULL;
const char* arg_dst = NULL;
if(argc == 6)
{
dx = (unsigned char) strtoul(argv[2], (char**) NULL, 10);
dy = (unsigned char) strtoul(argv[3], (char**) NULL, 10);
arg_format = argv[1];
arg_src = argv[4];
arg_dst = argv[5];
}
else if(argc == 4)
{
arg_format = argv[1];
arg_src = argv[2];
arg_dst = argv[3];
if(check_ext(arg_src, "mgm"))
{
usage(argv[0]);
return EXIT_FAILURE;
}
}
else
{
usage(argv[0]);
return EXIT_FAILURE;
}
// parse format
int type;
int format;
if(strcmp(arg_format, "RGBA-8888") == 0)
{
type = TEXGZ_UNSIGNED_BYTE;
format = TEXGZ_RGBA;
}
else if(strcmp(arg_format, "BGRA-8888") == 0)
{
type = TEXGZ_UNSIGNED_BYTE;
format = TEXGZ_BGRA;
}
else if(strcmp(arg_format, "RGB-565") == 0)
{
type = TEXGZ_UNSIGNED_SHORT_5_6_5;
format = TEXGZ_RGB;
}
else if(strcmp(arg_format, "RGBA-4444") == 0)
{
type = TEXGZ_UNSIGNED_SHORT_4_4_4_4;
format = TEXGZ_RGBA;
}
else if(strcmp(arg_format, "RGB-888") == 0)
{
type = TEXGZ_UNSIGNED_BYTE;
format = TEXGZ_RGB;
}
else if(strcmp(arg_format, "RGBA-5551") == 0)
{
type = TEXGZ_UNSIGNED_SHORT_5_5_5_1;
format = TEXGZ_RGBA;
}
else if(strcmp(arg_format, "LUMINANCE") == 0)
{
type = TEXGZ_UNSIGNED_BYTE;
format = TEXGZ_LUMINANCE;
}
else if(strcmp(arg_format, "LUMINANCE-F") == 0)
{
type = TEXGZ_FLOAT;
format = TEXGZ_LUMINANCE;
}
else
{
LOGE("invalid format=%s", arg_format);
return EXIT_FAILURE;
}
// import src
texgz_tex_t* tex = NULL;
if(check_ext(arg_src, "texgz"))
{
tex = texgz_tex_import(arg_src);
}
else if(check_ext(arg_src, "jpg"))
{
tex = texgz_jpeg_import(arg_src);
}
else if(check_ext(arg_src, "png"))
{
tex = texgz_png_import(arg_src);
}
else if(check_ext(arg_src, "mgm"))
{
tex = texgz_mgm_import(arg_src, dx, dy);
}
else
{
LOGE("invalid src=%s", arg_src);
return EXIT_FAILURE;
}
if(tex == NULL)
{
return EXIT_FAILURE;
}
// convert to format
if(texgz_tex_convert(tex, type, format) == 0)
{
goto fail_convert;
}
// export dst
int ret = 0;
if(check_ext(arg_dst, "texgz"))
{
ret = texgz_tex_export(tex, arg_dst);
}
else if(check_ext(arg_dst, "jpg"))
{
ret = texgz_jpeg_export(tex, arg_dst);
}
else if(check_ext(arg_dst, "png"))
{
ret = texgz_png_export(tex, arg_dst);
}
else
{
LOGE("invalid dst=%s", arg_dst);
goto fail_dst;
}
if(ret == 0)
{
goto fail_export;
}
texgz_tex_delete(&tex);
// success
return EXIT_SUCCESS;
// failure
fail_export:
fail_dst:
fail_convert:
texgz_tex_delete(&tex);
return EXIT_FAILURE;
}
void lzs_renderer_draw(lzs_renderer_t* self)
{
assert(self);
LOGD("debug");
double t0 = a3d_utime();
// stretch screen to 800x480
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrthof(0.0f, SCREEN_W, SCREEN_H, 0.0f, 0.0f, 2.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// draw camera
glEnable(GL_TEXTURE_EXTERNAL_OES);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glBindTexture(GL_TEXTURE_EXTERNAL_OES, self->texid);
glVertexPointer(3, GL_FLOAT, 0, VERTEX);
glTexCoordPointer(2, GL_FLOAT, 0, COORDS);
glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
glDisable(GL_TEXTURE_EXTERNAL_OES);
utime_update("setup", &t0);
// capture buffers
GLint format = TEXGZ_BGRA;
GLint type = GL_UNSIGNED_BYTE;
glGetIntegerv(GL_IMPLEMENTATION_COLOR_READ_FORMAT_OES, &format);
glGetIntegerv(GL_IMPLEMENTATION_COLOR_READ_TYPE_OES, &type);
if((format == TEXGZ_BGRA) && (type == GL_UNSIGNED_BYTE))
{
LOGD("readpixels format=0x%X, type=0x%X", format, type);
// TODO - check for texgz errors
// process buffers
texgz_tex_t* bc = self->buffer_color;
texgz_tex_t* bg = self->buffer_gray;
texgz_tex_t* bsx = self->buffer_sx;
texgz_tex_t* bsy = self->buffer_sy;
glReadPixels(self->sphero_x - RADIUS_BALL, (SCREEN_H - self->sphero_y - 1) - RADIUS_BALL,
bc->width, bc->height, bc->format, bc->type, (void*) bc->pixels);
#ifdef DEBUG_BUFFERS
texgz_tex_export(bc, "/sdcard/laser-shark/color.texgz");
#endif
utime_update("readpixels", &t0);
texgz_tex_computegray(bc, bg);
utime_update("computegray", &t0);
texgz_tex_computeedges3x3(bg, bsx, bsy);
utime_update("computeedges", &t0);
// compute peak
{
int x;
int y;
int peak_x = 0;
int peak_y = 0;
float peak = 0.0f;
float* gpixels = (float*) bg->pixels;
float* xpixels = (float*) bsx->pixels;
float* ypixels = (float*) bsy->pixels;
for(x = 0; x < bg->width; ++x)
{
for(y = 0; y < bg->height; ++y)
{
int idx = bg->width*y + x;
// compute magnitude squared
float magsq = xpixels[idx]*xpixels[idx] + ypixels[idx]*ypixels[idx];
gpixels[idx] = magsq;
if(magsq > peak)
{
peak_x = x;
peak_y = y;
peak = magsq;
}
}
}
LOGD("peak=%f, peak_x=%i, peak_y=%i", peak, peak_x, peak_y);
utime_update("computepeak", &t0);
#ifdef DEBUG_BUFFERS
texgz_tex_export(bg, "/sdcard/laser-shark/peak.texgz");
#endif
// move sphero center to match peak
self->sphero_x += (float) peak_x - (float) bg->width / 2.0f;
self->sphero_y -= (float) peak_y - (float) bg->height / 2.0f;
}
}
else
{
LOGE("unsupported format=0x%X, type=0x%X", format, type);
}
// compute phone X, Y center
compute_position(self, SCREEN_CX, SCREEN_CY, &self->phone_X, &self->phone_Y);
// compute sphero X, Y
compute_position(self, self->sphero_x, self->sphero_y, &self->sphero_X, &self->sphero_Y);
utime_update("computeposition", &t0);
// compute goal
float dx = self->phone_X - self->sphero_X;
float dy = self->phone_Y - self->sphero_Y;
float a = fix_angle(atan2f(dx, dy) * 180.0f / M_PI);
self->sphero_goal = a - self->sphero_heading_offset;
// compute speed
float dotp = cosf((a - self->sphero_heading) * M_PI / 180.0f);
if(dotp > 0.0f)
{
// linearly interpolate speed based on the turning angle
self->sphero_speed = SPEED_MAX*dotp + SPEED_MIN*(1.0f - dotp);
}
else
{
// go slow to turn around
self->sphero_speed = SPEED_MIN;
}
// draw camera cross-hair
{
float x = SCREEN_CX;
float y = SCREEN_CY;
float r = RADIUS_CROSS;
limit_position(r, &x, &y);
lzs_renderer_crosshair(y - r, x - r, y + r, x + r, 1.0f, 0.0f, 0.0f);
}
// draw sphero search box
{
float r = RADIUS_BALL;
limit_position(r, &self->sphero_x, &self->sphero_y);
float x = self->sphero_x;
float y = self->sphero_y;
lzs_renderer_drawbox(y - r, x - r, y + r, x + r, 0.0f, 1.0f, 0.0f, 0);
}
lzs_renderer_step(self);
// draw string
a3d_texstring_printf(self->string_sphero, "sphero: head=%i, x=%0.1f, y=%0.1f, spd=%0.2f, goal=%i", (int) fix_angle(self->sphero_heading + self->sphero_heading_offset), self->sphero_X, self->sphero_Y, self->sphero_speed, (int) fix_angle(self->sphero_goal));
a3d_texstring_printf(self->string_phone, "phone: heading=%i, slope=%i, x=%0.1f, y=%0.1f", (int) fix_angle(self->phone_heading), (int) fix_angle(self->phone_slope), self->phone_X, self->phone_Y);
a3d_texstring_draw(self->string_sphero, 400.0f, 16.0f, 800, 480);
a3d_texstring_draw(self->string_phone, 400.0f, 16.0f + self->string_sphero->size, 800, 480);
a3d_texstring_draw(self->string_fps, (float) SCREEN_W - 16.0f, (float) SCREEN_H - 16.0f, SCREEN_W, SCREEN_H);
utime_update("draw", &t0);
//texgz_tex_t* screen = texgz_tex_new(SCREEN_W, SCREEN_H, SCREEN_W, SCREEN_H, TEXGZ_UNSIGNED_BYTE, TEXGZ_BGRA, NULL);
//glReadPixels(0, 0, screen->width, screen->height, screen->format, screen->type, (void*) screen->pixels);
//texgz_tex_export(screen, "/sdcard/laser-shark/screen.texgz");
//texgz_tex_delete(&screen);
A3D_GL_GETERROR();
}
