void
BWCopy(Widget w, Position at_x, Position at_y, int value)
{
BitmapWidget BW = (BitmapWidget) w;
XImage *storage;
char *storage_data;
Dimension width, height;
if (QuerySet(BW->bitmap.mark.from_x, BW->bitmap.mark.from_y)) {
width = BW->bitmap.mark.to_x - BW->bitmap.mark.from_x + 1;
height = BW->bitmap.mark.to_y - BW->bitmap.mark.from_y + 1;
storage_data = CreateCleanData(Length(width, height));
storage = CreateBitmapImage(BW, storage_data, width, height);
CopyImageData(BW->bitmap.image, storage,
BW->bitmap.mark.from_x, BW->bitmap.mark.from_y,
BW->bitmap.mark.to_x, BW->bitmap.mark.to_y,
0, 0);
DrawImageData(BW, storage, at_x, at_y, value);
DestroyBitmapImage(&storage);
}
}
void
BWRestore(Widget w, Position at_x, Position at_y, int value)
{
BitmapWidget BW = (BitmapWidget) w;
if (BW->bitmap.storage) {
DrawImageData(BW, BW->bitmap.storage, at_x, at_y, value);
/*DestroyBitmapImage(&BW->bitmap.storage);*/
}
}
void Run() {
std::vector<pangolin::GlTexture> gl_tex;
// pangolin::Timer timer;
bool capture_success = false;
std::shared_ptr<pb::ImageArray> images = pb::ImageArray::Create();
camera_device.Capture(*images);
while (!pangolin::ShouldQuit()) {
capture_success = false;
const bool go = is_stepping;
if (!is_running) {
is_stepping = false;
}
// usleep(20000);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
if (go) {
capture_success = camera_device.Capture(*images);
}
if (capture_success) {
gl_tex.resize(images->Size());
for (uint32_t cam_id = 0; cam_id < images->Size(); ++cam_id) {
if (!gl_tex[cam_id].tid) {
camera_img = images->at(cam_id);
GLint internal_format =
(camera_img->Format() == GL_LUMINANCE ? GL_LUMINANCE : GL_RGBA);
// Only initialise now we know format.
gl_tex[cam_id].Reinitialise(
camera_img->Width(), camera_img->Height(), internal_format, false,
0, camera_img->Format(), camera_img->Type(), 0);
}
}
camera_img = images->at(0);
image_width = camera_img->Width();
image_height = camera_img->Height();
gui_vars.handler->image_height = image_height;
gui_vars.handler->image_width = image_width;
std::vector<cv::Mat> cvmat_images;
for (int ii = 0; ii < images->Size(); ++ii) {
cvmat_images.push_back(images->at(ii)->Mat());
}
ProcessImage(cvmat_images);
}
if (camera_img && camera_img->data()) {
for (uint32_t cam_id = 0;
cam_id < rig.cameras_.size() && cam_id < images->Size(); ++cam_id) {
camera_img = images->at(cam_id);
gui_vars.camera_view[cam_id]->ActivateAndScissor();
gl_tex[cam_id].Upload(camera_img->data(), camera_img->Format(),
camera_img->Type());
gl_tex[cam_id].RenderToViewportFlipY();
DrawImageData(cam_id);
}
gui_vars.grid_view->ActivateAndScissor(gui_vars.gl_render3d);
if (draw_landmarks) {
DrawLandmarks(min_lm_measurements_for_drawing, poses, rig,
gui_vars.handler, selected_track_id);
}
}
pangolin::FinishFrame();
}
}
