VisionEngine::VisionEngine(const char* name, application_settings *config)
: error_( false )
, pause_( false )
, calibrate_( false )
, help_( false )
, display_lock_( false )
, current_fps_( 0 )
, camera_ (NULL)
, framenumber_( 0 )
#ifndef NDEBUG
, recording_( false )
#endif
, interface_ ( NULL )
, frames_( 0 )
, width_( WIDTH )
, height_( HEIGHT )
, format_( 1 )
{
app_config_ = config;
camera_config_ = CameraTool::readSettings(app_config_->camera_config);
setupCamera();
lastTime_ = currentSeconds();
cameraTime_ = processingTime_ = interfaceTime_ = totalTime_ = 0.0f;
app_name_ = std::string(name);
}
void VisionEngine::frameStatistics(long cameraTime, long processingTime, long totalTime) {
frames_++;
cameraTime_+=cameraTime;
processingTime_+=(processingTime-cameraTime);
interfaceTime_+=(totalTime-processingTime);
totalTime_+=totalTime;
long currentTime_ = currentSeconds();
long diffTime = currentTime_ - lastTime_ ;
if (diffTime >= 1) {
current_fps_ = (int)floor( (frames_ / diffTime) + 0.5 );
std::cout << current_fps_ << "fps ";
std::cout << std::fixed << std::setprecision(2)
<< "c:" << (cameraTime_/frames_)/1000.0f
<< "ms p:" << (processingTime_/frames_)/1000.0f
<< "ms i:" << (interfaceTime_/frames_)/1000.0f
<< "ms t:" << (totalTime_/frames_)/1000.0f << "ms" << std::endl;
cameraTime_ = processingTime_ = interfaceTime_ = totalTime_ = 0.0f;
lastTime_ = currentTime_;
frames_ = 0;
}
}
void display(void)
{
static double t0 /*= currentSeconds()*/;
double t1, elapsedTime;
static unsigned N;
float fps;
char cfps[256];
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(ortho_left, -ortho_left,
ortho_bottom, -ortho_bottom,
ortho_znear, ortho_zfar);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(eye_x, eye_y, eye_z, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
glPushMatrix();
glRotatef(angle, rotate_x, rotate_y, rotate_z);
drawAxes();
glPopMatrix();
glTranslatef(translate_x, translate_y, translate_z);
glPushMatrix();
glRotatef(angle, rotate_x, rotate_y, rotate_z);
drawJulia();
glPopMatrix();
/* compute FPS */
N++;
t1 = currentSeconds();
elapsedTime = t1 - t0;
if (elapsedTime > FPS_TIME_WINDOW) {
fps = (float) N / elapsedTime;
N = 0;
t0 = t1;
sprintf(cfps, "Julia Fractal GL (%d x %d): %3.1f fps", WIDTH, HEIGHT, fps);
printf("%s\n", cfps);
glutSetWindowTitle(cfps);
}
glutPostRedisplay();
glutSwapBuffers();
}
void display(void)
{
static unsigned n;
static double t0;
double t1, elapsedTime;
float fps;
char cfps[256];
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(eye_x, eye_y, eye_z, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
glRotatef(rotate_y_angle, 0.0, 1.0, 0.0);
glRotatef(rotate_x_angle, 1.0, 0.0, 0.0);
glRotatef(rotate_z_angle, 0.0, 0.0, 1.0);
drawSpace();
drawJulia(dm);
n++;
t1 = currentSeconds();
elapsedTime = t1 - t0;
if (elapsedTime > FPS_TIME_WINDOW) {
fps = (float) n / elapsedTime;
n = 0;
t0 = t1;
sprintf(cfps, "Julia Fractal GL (%d x %d): %3.1f fps", WIDTH, HEIGHT, fps);
printf("%s\n", cfps);
glutSetWindowTitle(cfps);
}
glutPostRedisplay();
glutSwapBuffers();
}
void display(void)
{
int i, j, m, n;
int color;
float deltax = (XMAX-XMIN)/JULIA_WIDTH,
deltay = (YMAX-YMIN)/JULIA_HEIGHT;
static double t0 /*= currentSeconds()*/;
double t1, elapsedTime;
static unsigned N;
float fps;
char cfps[256];
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0.0, 0.0, eye_z, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
glTranslatef(0.0, 0.0, translate_z);
glRotatef(rotate_x, 1.0, 0.0, 0.0);
glRotatef(rotate_y, 0.0, 1.0, 0.0);
/* draw the x-z plane */
glColor3f(1.0, 1.0, 1.0);
glBegin(GL_LINES);
n = JULIA_WIDTH/2;
for (i = 0; i <= JULIA_WIDTH; i += 32) {
glVertex3i(i-n, 0, 0);
glVertex3i(i-n, 0, -512);
}
for (j = 0; j <= 512; j += 32)
{
glVertex3i(-n, 0, -j);
glVertex3i( n, 0, -j);
}
glEnd();
/* draw Julia */
glBegin(GL_POINTS);
n = JULIA_WIDTH/2; m = JULIA_HEIGHT/2;
for (i = 0; i < JULIA_WIDTH; i++) {
for (j = 0; j < JULIA_HEIGHT; j++) {
color = genColorJulia(XMIN + (float)(i) * deltax,
YMIN + (float)(j) * deltay,
theta);
glColor3f((float)( color&0xff ) /128,
(float)((color&0xff00 )>> 8)/128,
(float)((color&0xff0000)>>16)/128);
glVertex3i(i-n, j-m, 0);
if (j >= 0 && j < 64)
glVertex3i(i-n, j-m, -128);
else if (j >= 64 && j < 128)
glVertex3i(i-n, j-m, -256);
else if (j >= 128 && j < 192)
glVertex3i(i-n, j-m, -384);
else
glVertex3i(i-n, j-m, -512);
}
}
glEnd();
/* compute FPS */
N++;
t1 = currentSeconds();
elapsedTime = t1 - t0;
if (elapsedTime > FPS_TIME_WINDOW) {
fps = (float) N / elapsedTime;
N = 0;
t0 = t1;
sprintf(cfps, "Julia Fractal GL (%d x %d): %3.1f fps", WIDTH, HEIGHT, fps);
printf("%s\n", cfps);
glutSetWindowTitle(cfps);
}
glutPostRedisplay();
glutSwapBuffers();
}
void display(void)
{
static unsigned N;
static double t0;
double t1, elapsedTime;
float fps;
char cfps[256];
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
/* left viewport */
glViewport(0, 0, WIDTH/2, HEIGHT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60, 1.0, 16.0, 512.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(160.0, 64.0, 160.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
glPushMatrix();
glRotatef(angle, 0.0, 1.0, 0.0);
drawPlane();
drawJulia();
glPopMatrix();
/* right viewport */
glViewport(WIDTH/2, 0, WIDTH/2, HEIGHT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(-256.0, 256.0, -256.0, 256.0, 0.0, 512.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(160.0, 64.0, 160.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
glPushMatrix();
glRotatef(angle, 0.0, 1.0, 0.0);
drawPlane();
drawJulia();
glPopMatrix();
/* calculate and show FPS */
N++;
t1 = currentSeconds();
elapsedTime = t1 - t0;
if (elapsedTime > FPS_TIME_WINDOW) {
fps = (float) N / elapsedTime;
N = 0;
t0 = t1;
sprintf(cfps, "Julia Fractal GL (%d x %d): %3.1f fps", WIDTH, HEIGHT, fps);
printf("%s\n", cfps);
glutSetWindowTitle(cfps);
}
glutPostRedisplay();
glutSwapBuffers();
}
