void draw()
{
drawVideo(0 ,0 ,textures[0],clips[0]);
drawVideo(400,0 ,textures[1],clips[1]);
drawVideo(0 ,300,textures[2],clips[2]);
drawVideo(400,300,textures[3],clips[3]);
}
//--------------------------------------------------------------
void testApp::draw(){
if(streamer.wantsNewFrame()) {
streamer.beginGrab();
drawVideo();
streamer.endGrab();
}
drawVideo();
}
void CAR::ARDraw(unsigned char * dat,int len)
{
if(!bAR)return; //控制AR是否显示
if(len>1200)return;
for(int i=0; i<AR_WIDTH && i<len;i++)
{
video_data[i]=dat[i]>gate?dat[i]:gate;
}
drawVideo(ARcolor);//画线
hasLine1 = true;
}
void CAR::ARDraw()
{
VIDEODATATYPE * p;
//fprintf(debugfp,"bAR=%s\n",(bAR? "true":"false"));
//fprintf(debugfp,"gate=%d\n",gate);
if(!bAR)return; //控制AR是否显示
videoCount += 1;
if(videoCount<oncevn)return;// 视频数目不够，直接返回
videoCount %= oncevn;
p = dispdat->videodata;
float tmp = 0;
/* if(distance == range)
{*/
for(int i=0;i<AR_WIDTH;i++)
{
video_data[i]=*(p+(int)tmp)>gate?*(p+(int)tmp):gate;
tmp += 2 * (float)distance/range;
// p+=int(tmp);// 抽取
}
//}
//else
//{
// int tmp[SAMPLE_NUM];
// for(int i=0;i<AR_WIDTH;i++)
// {
// tmp[i]=*p;
// p+=2;// 抽取
// }
// for(int i=0;i<AR_WIDTH;i++)
// {
// video_data[i]=tmp[int((float)i/range*distance)];
// }
//}
drawVideo(ARcolor);//画线
hasLine1 = true;
}
// OpenGL callback which updates all video images on the screen
void display(void)
{
glClear(GL_COLOR_BUFFER_BIT);
glPushMatrix();
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0.0, 640.0, 0.0, 241.0, 1.0, -1.0); // Window size is 640x241
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// Update each video stream on the display
for (size_t i = 0; i < streamVector.size(); ++i) {
drawVideo(streamVector[i]);
}
glPopMatrix();
glutSwapBuffers();
glutPostRedisplay();
}
void NavigationGUI::display() {
glClearColor(1, 1, 1, 0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
drawVideo();
if (displayOverlay) {
drawFeedStatus();
drawGPS();
if(displayTilt) {
drawTilt();
}
drawBattery();
drawSignal();
drawUltrasonic();
drawVolts();
drawADC();
drawLidarTilt();
}
glutSwapBuffers();
}
void MyGlWindow::draw()
{ // the draw method must be private
glClearColor(0,0,0,0); // clear the window to black
glClear(GL_COLOR_BUFFER_BIT); // clear the window
showAndHide();
glDisable(GL_LIGHTING);
switch (_windowMode) {
case MODE_VIDEO:
drawVideo(false);
break;
case MODE_3D_MAP:
glEnable(GL_LIGHTING);
draw3DMap();
break;
case MODE_2D_MAP:
draw2DMap();
break;
case MODE_SPHERE:
drawSphere();
break;
case MODE_CALIBRATION:
drawCalibration();
break;
case MODE_ROTATIONS:
drawRotations();
break;
default:
exit(0);
}
//if ( snapshot->value() )
// drawSnapshotScreen();
//redraw();
};
void Galvanic::draw(){
if(video.isLoaded())
drawVideo();
drawMeasures();
}
void playVideo(const string &file) {
//myFillRect(screen, NULL, 0);
//SDL_GL_SwapBuffers();
SMPEG *mpeg;
SMPEG_Info info;
mpeg = SMPEG_new(file.c_str(), &info, false);
bool hasAudio = (info.has_audio > 0);
if ( SMPEG_error(mpeg) ) {
dout << "MPEG error: " << SMPEG_error(mpeg) << endl;
exit(1);
}
int done = 0;
SDL_Surface *videoSurface = SDL_AllocSurface( SDL_SWSURFACE,
nearestPow2(info.width),
nearestPow2(info.height),
32,
0x000000FF,
0x0000FF00,
0x00FF0000,
0xFF000000 );
if ( !videoSurface ) {
dout << "Failed to allocate memory for video playback" << endl;
exit(1);
}
SMPEG_enablevideo(mpeg, 1);
SDL_mutex *mutex = SDL_CreateMutex();
SMPEG_setdisplay(mpeg, videoSurface, mutex, videoUpdate );
SMPEG_scaleXY(mpeg, info.width, info.height);
//SMPEG_setdisplayregion(mpeg, 0, 0, info.width, info.height);
//SMPEG_setdisplay(mpeg, screen, NULL, update);
if(hasAudio) {
SDL_AudioSpec audiofmt;
Uint16 format;
int freq, channels;
/* Tell SMPEG what the audio format is */
Mix_QuerySpec(&freq, &format, &channels);
audiofmt.format = format;
audiofmt.freq = freq;
audiofmt.channels = channels;
SMPEG_actualSpec(mpeg, &audiofmt);
/* Hook in the MPEG music mixer */
Mix_HookMusic(SMPEG_playAudioSDL, mpeg);
SMPEG_enableaudio(mpeg, 1);
SMPEG_setvolume(mpeg, 100);
} else {
Mix_PauseMusic();
SMPEG_enableaudio(mpeg, 0);
}
glBlendFunc(GL_ONE, GL_ZERO);
glEnable(GL_TEXTURE_2D);
SMPEG_play(mpeg);
while( !done && SMPEG_status( mpeg ) == SMPEG_PLAYING ) {
SDL_Event event;
while ( SDL_PollEvent(&event) ) {
switch (event.type) {
case SDL_KEYDOWN:
{
if ( event.key.keysym.sym == SDLK_SPACE ) {
done = 1;
}
break;
}
case SDL_QUIT:
{
exit(1);
}
default:
break;
}
}
if(drawVideoFrame) {
SDL_mutexP(mutex);
drawVideoFrame = false;
drawVideo(videoSurface, info.width, info.height);
//printf("draw in %i\n", time(NULL));
SDL_mutexV(mutex);
SDL_GL_SwapBuffers();
}
}
SMPEG_stop(mpeg);
if(hasAudio) {
Mix_HookMusic(NULL, NULL);
} else {
Mix_ResumeMusic();
}
SDL_FreeSurface(videoSurface);
myFillRect(screen, NULL, 0);
SDL_GL_SwapBuffers();
SMPEG_delete(mpeg);
}
void Scene::paintGL()
{
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glMatrixMode( GL_PROJECTION );
glLoadIdentity();
glOrtho( 0, RESOLUTION_WIDTH, 0, RESOLUTION_HEIGHT, 1, 1000 );
glMatrixMode( GL_MODELVIEW );
glLoadIdentity();
// Inicio: Gráfico de cámara
glEnable( GL_TEXTURE_2D );
glColor3f( 1, 1, 1 );
glBindTexture( GL_TEXTURE_2D, textures->at( 0 )->id );
glBegin( GL_QUADS );
glTexCoord2f( 0, 0 ); glVertex3f( 0, RESOLUTION_HEIGHT, -999 );
glTexCoord2f( 1, 0 ); glVertex3f( RESOLUTION_WIDTH, RESOLUTION_HEIGHT, -999 );
glTexCoord2f( 1, 1 ); glVertex3f( RESOLUTION_WIDTH, 0, -999 );
glTexCoord2f( 0, 1 ); glVertex3f( 0, 0, -999 );
glEnd();
glDisable( GL_TEXTURE_2D );
// Fin: Gráfico de cámara
glMatrixMode( GL_PROJECTION );
double projectionMatrix[16];
cv::Size2i sceneSize( RESOLUTION_WIDTH, RESOLUTION_HEIGHT );
cv::Size2i openGlSize( RESOLUTION_WIDTH, RESOLUTION_HEIGHT );
cameraParameters->glGetProjectionMatrix( sceneSize, openGlSize, projectionMatrix, 0.05, 10 );
glLoadMatrixd( projectionMatrix );
glMatrixMode( GL_MODELVIEW );
double modelview_matrix[16];
// Inicio: Gráfico en marcadores
bool musicDetected = false;
ThreeDWriter textoParaCredencial(80, "Arial", -0.04f, 0.045f, -0.001f, 0.3f, 0.02f, 0.0001f);
QString comando_sql;
QString textoParaMostrar;
QVector<QStringList> vDatos;
for( int i = 0 ; i < detectedMarkers.size() ; i++ )
{
detectedMarkers.operator []( i ).glGetModelViewMatrix( modelview_matrix );
glLoadMatrixd( modelview_matrix );
glTranslatef( xTranslationOption, yTranslationOption, zTranslationOption );
if( rotateOption )
{
emit message( "Rotando" );
zRotationOption += rotationVelocityOption;
}
glRotatef( xRotationOption, 1, 0, 0 );
glRotatef( yRotationOption, 0, 1, 0 );
glRotatef( zRotationOption, 0, 0, 1 );
/*
||**************************************************************************************************************||
|| ||
|| MÉTODOS LISTOS PARA USAR EN MARCADORES: ||
|| ||
|| DrawSheet - DrawBox - DrawCamera - DrawCameraBox - DrawModel - DrawVideo - DrawWebImage - ListenWebMusic ||
|| Siempre agregar "+ scaleOption" al parámetro percentage para que la escala pueda ser modificada ||
|| ||
|| *************************************************************************************************************||
|| ||
|| RECORDAR: Ajustar la escala que se envía como parámetro ( percentage ). ||
|| IMPORTANTE: Para que los modelos se vean bien, las imagenes y el sonido, agregar antes de usar: ||
|| ||
|| DrawBox: glRotatef( -90, 0, 1, 0 ); ||
|| DrawCamera: glRotatef( 90, 0, 1, 0 ); ||
|| DrawCameraBox: glRotatef( 90, 0, 1, 0 ); ||
|| DrawSheet: glRotatef( 90, 0, 1, 0 ); ||
|| DrawWebImage: glRotatef( 180, 0, 0, 1 ); glRotatef( -90, 0, 1, 0 ); ||
|| DrawVideo: glRotatef( 90, 0, 1, 0 ); glRotatef( 180, 0, 0, 1 ); ||
|| ListenWebMusic: glRotatef( 180, 0, 0, 1 ); drawWebImage(); ||
|| musicDetected = true; webMusicPlayer->setVolume( detectedMarkers.at( i ).getArea() / 1000 ); ||
|| ||
|| House: glRotatef( -90, 0, 1, 0 ); ||
|| IPhone: glTranslatef( 0.032, 0, -0.025 ); glRotatef( 90, 1, 0, 0 ); ||
|| Man: glTranslatef( 0, 0, -0.012 ); glRotatef( -90, 1, 0, 0 ); glRotatef( 90, 0, 0, 1 ); ||
|| Oil: glRotatef( 90, 1, 0, 0 ); ||
|| Wagen: glRotatef( 90, 1, 0, 0 ); glRotatef( 90, 0, 0, 1 ); ||
|| Woman: glRotatef( 90, 1, 0, 0 ); glRotatef( 90, 0, 0, 1 ); ||
|| ||
|| *************************************************************************************************************||
*/
switch( detectedMarkers.at( i ).id )
{
case 0: { glRotatef( 270, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawCamera( 130 + scaleOption );
emit message( "Dibujando Cámara" );
break; }
case 1: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawCameraBox( 130 + scaleOption );
emit message( "Dibujando Cubo de la Cámara" );
break; }
case 2: { glRotatef( 90+180, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawWebImage( 150 + scaleOption );
break; }
case 3: { glRotatef( -90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawWebMusicImage( 150 + scaleOption );
musicDetected = true;
int volume = detectedMarkers.at( i ).getArea() / 150;
if( volume > 100 ) volume = 100;
webMusicPlayer->setVolume( volume );
emit message( "Volumen audio: " + QString::number( volume ) );
listenWebMusic(); break; }
case 4: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "Danger.jpg", 100 + scaleOption );
emit message( "Dibujando la Famosa Caja Danger" );
break; }
case 5: { glRotatef( 180, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
glTranslatef( -0.03, 0.05, 0);
drawModel( "IPhone.3ds", 70 + scaleOption );
emit message( "Dibujando Modelo 3d: IPhone" );
break;}
case 6: { glTranslatef( 0, 0.02, 0 );
glRotatef( -90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
glRotatef( 90+180, 1, 0, 0 );
drawModel( "Man.3ds", 3 + scaleOption );
emit message( "Dibujando Modelo 3d: Man" );
break; }
case 7: { glRotatef( 90, 0, 1, 0 );
glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawModel( "Oil.3ds", 150 + scaleOption );
emit message( "Dibujando Modelo 3d: Oil" );
break; }
case 8: { glRotatef( 270, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
int volume = detectedMarkers.at( i ).getArea() / 150;
if( volume > 100 ) volume = 100;
emit message( "Volumen video: " + QString::number( volume ) );
drawVideo( "trailer-RF7.mp4", volume, 200 + 2*scaleOption );
break; }
case 9: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "Ubp.png", 150 + scaleOption );
emit message( "Dibujando Cubo de la UBP" );
break; }
case 10: {
if ( ! seguirRostroOption)
actualizaServoSiCorresponde(detectedMarkers.at( i ).getCenter().x, 50);
glBegin(GL_LINES);
glColor3f (1, 0, 0);
glVertex3f( 0, 0, 0);
glVertex3f( 0, 100, 0);
glColor3f (0, 0, 1);
glVertex3f( 0, 0, 0);
glVertex3f( -100, 0, 0);
glEnd();
emit message( "Control de Servo" );
break; }
case 11: { glRotatef( 270, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
int volume = detectedMarkers.at( i ).getArea() / 150;
if( volume > 100 ) volume = 100;
emit message( "Volumen video: " + QString::number( volume ) );
drawVideo( "stic.mp4", volume, 200 + 2*scaleOption );
break; }
case 12: { glRotatef( 270, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
int volume = detectedMarkers.at( i ).getArea() / 150;
if( volume > 100 ) volume = 100;
emit message( "Volumen video: " + QString::number( volume ) );
drawVideo( "trailer-relato.mp4", volume, 200 + 2*scaleOption );
break; }
case 13:
comando_sql = "SELECT sorteo FROM invitados WHERE apellido = 'House'";
vDatos = adminDB.ejecutarComandoSelect(comando_sql);
for (int i=0 ; i<vDatos.size() ; i++) {
textoParaMostrar = vDatos.at(i).at(0);
}
glRotatef( 90, 1, 0, 0 );
glRotatef( 270, 0, 1, 0 );
glTranslatef( 0, 0, 0.005 );
drawSheet( "drhouse.jpg", 130 + scaleOption );
glLoadMatrixd( modelview_matrix ); // Cargamos la matriz inicial
glRotatef( 90, 0, 0, 1 );
glRotated(180, 0, 0, 5);
textoParaCredencial.writeText(textoParaMostrar);
break;
case 14:
comando_sql = "SELECT sorteo FROM invitados WHERE apellido = 'Messi'";
vDatos = adminDB.ejecutarComandoSelect(comando_sql);
for (int i=0 ; i<vDatos.size() ; i++) {
textoParaMostrar = vDatos.at(i).at(0);
}
glRotatef( 90, 1, 0, 0 );
glRotatef( 270, 0, 1, 0 );
glTranslatef( 0, 0, 0.005 );
drawSheet( "messi.png", 130 + scaleOption );
glLoadMatrixd( modelview_matrix ); // Cargamos la matriz inicial
glRotatef( 90, 0, 0, 1 );
glRotated(180, 0, 0, 5);
textoParaCredencial.writeText(textoParaMostrar);
break;
case 17: {
glRotatef( -90, 0, 0, 1 );
glRotatef( 90, 1, 0, 0 );
drawModel( "House.3ds", 40 + scaleOption );
emit message( "Dibujando Modelo 3d: Casa" );
break; }
case 15: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "caja.bmp", 100 + scaleOption );
emit message( "Dibujando Cubo de la UBP" );
break; }
case 16: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "caja.bmp", 100 + scaleOption );
emit message( "Dibujando Cubo de la UBP" );
break; }
case 18: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "caja.bmp", 100 + scaleOption );
emit message( "Dibujando Cubo de la UBP" );
break; }
case 19: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "caja.bmp", 100 + scaleOption );
emit message( "Dibujando Cubo de la UBP" );
break; }
default: { break; }
}
}
if( musicDetected ) musicActive = true;
else if( musicActive )
{
emit message( "<div style=\"color:red;\">Marcador no detectado, la música se pausará</div>" );
webMusicPlayer->setVolume( webMusicPlayer->volume() - 1 );
if( webMusicPlayer->volume() <= 0 )
{
emit message( "Musica pausada" );
webMusicPlayer->pause();
musicActive = false;
}
}
// La siguiente linea se ejecuta siempre. Habria que ingeniarsela de otra forma para bajar el volumen
decreaseVideosVolume();
// Fin: Gráfico en marcadores
glFlush();
}
int main(int argc, char *argv[])
{
AVCodecContext* video_dec_ctx = NULL;
AVCodec* video_dec = NULL;
AVPacket pkt;
AVFrame *frame = NULL;
int read_eos = 0;
int decode_count = 0;
int render_count = 0;
int video_stream_index = -1, i;
uint8_t *frame_copy = NULL;
FILE *dump_yuv = NULL;
// parse command line parameters
process_cmdline(argc, argv);
if (!input_file) {
ERROR("no input file specified\n");
return -1;
}
// libav* init
av_register_all();
// open input file
AVFormatContext* pFormat = NULL;
if (avformat_open_input(&pFormat, input_file, NULL, NULL) < 0) {
ERROR("fail to open input file: %s by avformat\n", input_file);
return -1;
}
if (avformat_find_stream_info(pFormat, NULL) < 0) {
ERROR("fail to find out stream info\n");
return -1;
}
av_dump_format(pFormat,0,input_file,0);
// find out video stream
for (i = 0; i < pFormat->nb_streams; i++) {
if (pFormat->streams[i]->codec->codec_type == AVMEDIA_TYPE_VIDEO) {
video_dec_ctx = pFormat->streams[i]->codec;
video_stream_index = i;
break;
}
}
ASSERT(video_dec_ctx && video_stream_index>=0);
// open video codec
video_dec = avcodec_find_decoder(video_dec_ctx->codec_id);
video_dec_ctx->coder_type = render_mode ? render_mode -1 : render_mode; // specify output frame type
if (avcodec_open2(video_dec_ctx, video_dec, NULL) < 0) {
ERROR("fail to open codec\n");
return -1;
}
// decode frames one by one
av_init_packet(&pkt);
while (1) {
if(read_eos == 0 && av_read_frame(pFormat, &pkt) < 0) {
read_eos = 1;
}
if (read_eos) {
pkt.data = NULL;
pkt.size = 0;
}
if (pkt.stream_index == video_stream_index) {
frame = av_frame_alloc();
int got_picture = 0,ret = 0;
ret = avcodec_decode_video2(video_dec_ctx, frame, &got_picture, &pkt);
if (ret < 0) { // decode fail (or decode finished)
DEBUG("exit ...\n");
break;
}
if (read_eos && ret>=0 && !got_picture) {
DEBUG("ret=%d, exit ...\n", ret);
break; // eos has been processed
}
decode_count++;
if (got_picture) {
switch (render_mode) {
case 0: // dump raw video frame to disk file
case 1: { // draw raw frame data as texture
// assumed I420 format
int height[3] = {video_dec_ctx->height, video_dec_ctx->height/2, video_dec_ctx->height/2};
int width[3] = {video_dec_ctx->width, video_dec_ctx->width/2, video_dec_ctx->width/2};
int plane, row;
if (render_mode == 0) {
if (!dump_yuv) {
char out_file[256];
sprintf(out_file, "./dump_%dx%d.I420", video_dec_ctx->width, video_dec_ctx->height);
dump_yuv = fopen(out_file, "ab");
if (!dump_yuv) {
ERROR("fail to create file for dumped yuv data\n");
return -1;
}
}
for (plane=0; plane<3; plane++) {
for (row = 0; row<height[plane]; row++)
fwrite(frame->data[plane]+ row*frame->linesize[plane], width[plane], 1, dump_yuv);
}
} else {
// glTexImage2D doesn't handle pitch, make a copy of video data
frame_copy = malloc(video_dec_ctx->height * video_dec_ctx->width * 3 / 2);
unsigned char* ptr = frame_copy;
for (plane=0; plane<3; plane++) {
for (row=0; row<height[plane]; row++) {
memcpy(ptr, frame->data[plane]+row*frame->linesize[plane], width[plane]);
ptr += width[plane];
}
}
drawVideo((uintptr_t)frame_copy, 0, video_dec_ctx->width, video_dec_ctx->height, 0);
}
}
break;
case 2: // draw video frame as texture with drm handle
case 3: // draw video frame as texture with dma_buf handle
drawVideo((uintptr_t)frame->data[0], render_mode -1, video_dec_ctx->width, video_dec_ctx->height, (uintptr_t)frame->data[1]);
break;
default:
break;
}
render_count++;
}
}
}
if (frame)
av_frame_free(&frame);
if (frame_copy)
free(frame_copy);
if (dump_yuv)
fclose(dump_yuv);
deinit_egl();
PRINTF("decode %s ok, decode_count=%d, render_count=%d\n", input_file, decode_count, render_count);
return 0;
}
void Optical::draw(){
if(video.isLoaded())
drawVideo();
drawMeasures();
}