void World::drawRunningState()
{
setUpCamera();
drawBackground();
//Rotate the arena
glRotatef(xRotation + xRotationDelta, 1, 0, 0);
glRotatef(zRotation + zRotationDelta, 0, 0, 1);
glPushMatrix();
//Move to center
glTranslatef((-length / 2.0) , (-length / 2.0), 0);
arena->draw();
glPopMatrix();
}
int main()
{
Initialize();
_delay_ms(100);
setUpCamera();
_delay_ms(100);
//Set current Mode (temporary)
nextMode = CAPTURE;
sei ();
while(1)
{
switch (nextMode)
{
case IDLE:
///Don't do anything, just chill
break;
case CAPTURE:
///Turn on camera if necessary
if (cameraOn == 0)
{
turnOnCamera();
}
break;
case SENDING:
//SEND DATA CALL HERE
sendLineBuffer();
break;
case STEPPING:
//Enable stepper motor timer here
break;
}
}
}
void Model::setUp() {
setUpSettings();
setUpCamera();
}
void VideoCapture::start()
{
loadConfig();
if (useCamera) setUpCamera();
if (useVideo) setUpVideo();
if (!capture) std::cerr << "Capture error..." << std::endl;
int input_fps = cvGetCaptureProperty(capture, CV_CAP_PROP_FPS);
std::cout << "input->fps:" << input_fps << std::endl;
IplImage* frame1 = cvQueryFrame(capture);
frame = cvCreateImage(cvSize((int)((frame1->width*input_resize_percent) / 100), (int)((frame1->height*input_resize_percent) / 100)), frame1->depth, frame1->nChannels);
//cvCreateImage(cvSize(frame1->width/input_resize_factor, frame1->height/input_resize_factor), frame1->depth, frame1->nChannels);
std::cout << "input->resize_percent:" << input_resize_percent << std::endl;
std::cout << "input->width:" << frame->width << std::endl;
std::cout << "input->height:" << frame->height << std::endl;
double loopDelay = 33.333;
if (input_fps > 0)
loopDelay = (1. / input_fps)*1000.;
std::cout << "loopDelay:" << loopDelay << std::endl;
std::cout << "Press 'ESC' to stop..." << std::endl;
bool firstTime = true;
do
{
frameNumber++;
frame1 = cvQueryFrame(capture);
if (!frame1) break;
cvResize(frame1, frame);
if (enableFlip)
cvFlip(frame, frame, 0);
if (VC_ROI::use_roi == true && VC_ROI::roi_defined == false && firstTime == true)
{
VC_ROI::reset();
do
{
cv::Mat img_input(frame);
if (showOutput)
{
cv::imshow("Input", img_input);
std::cout << "Set ROI (press ESC to skip)" << std::endl;
VC_ROI::img_input1 = new IplImage(img_input);
cvSetMouseCallback("Input", VC_ROI::VideoCapture_on_mouse, NULL);
key = cvWaitKey(0);
delete VC_ROI::img_input1;
}
else
key = KEY_ESC;
if (key == KEY_ESC)
{
std::cout << "ROI disabled" << std::endl;
VC_ROI::reset();
VC_ROI::use_roi = false;
break;
}
if (VC_ROI::roi_defined)
{
std::cout << "ROI defined (" << VC_ROI::roi_x0 << "," << VC_ROI::roi_y0 << "," << VC_ROI::roi_x1 << "," << VC_ROI::roi_y1 << ")" << std::endl;
break;
}
else
std::cout << "ROI undefined" << std::endl;
} while (1);
}
if (VC_ROI::use_roi == true && VC_ROI::roi_defined == true)
{
CvRect rect = cvRect(VC_ROI::roi_x0, VC_ROI::roi_y0, VC_ROI::roi_x1 - VC_ROI::roi_x0, VC_ROI::roi_y1 - VC_ROI::roi_y0);
cvSetImageROI(frame, rect);
}
cv::Mat img_input(frame);
if (showOutput)
cv::imshow("Input", img_input);
if (firstTime)
saveConfig();
start_time = cv::getTickCount();
frameProcessor->process(img_input);
int64 delta_time = cv::getTickCount() - start_time;
freq = cv::getTickFrequency();
fps = freq / delta_time;
//std::cout << "FPS: " << fps << std::endl;
cvResetImageROI(frame);
key = cvWaitKey(loopDelay);
//std::cout << "key: " << key << std::endl;
if (key == KEY_SPACE)
key = cvWaitKey(0);
if (key == KEY_ESC)
break;
if (stopAt > 0 && stopAt == frameNumber)
key = cvWaitKey(0);
firstTime = false;
} while (1);
cvReleaseCapture(&capture);
}
void Window::dropMouse(int button, int state, int x, int y) {
if (button == GLUT_LEFT_BUTTON && state == GLUT_UP) {
eyeoffset[0] = 0; eyeoffset[1] = 0;
setUpCamera();
}
}
