//Input: Saturation channel from HSV image
void imageToGpu(){
clock_t read_start = clock();
// Pre load pixel data
printf("starting pixel data filling\n");
for(int i = 0; i < MAIN_TEXTURE_HEIGHT; i++){
for(int j = 0; j < PIC_WIDTH; j++){
if (j < PIC_WIDTH/2)
pixelData[PIC_WIDTH/2*i + j] = image.at<uchar>(i, j);
else
pixelData2[PIC_WIDTH/2*i + (j - PIC_WIDTH/2)] = image.at<uchar>(i, j);
}
}
printf("after pixel data\n");
pic_data = (void*)pixelData;
pic_data2 = (void*)pixelData2;
printf("time passed for reading image: %f\n", (float)(clock() - read_start)/CLOCKS_PER_SEC );
//Pass data to texture
const uint8_t* data = (const uint8_t*)pic_data;
const uint8_t* data2 = (const uint8_t*)pic_data2;
ytexture.SetPixels(data);
ytexture2.SetPixels(data2);
}
void cam_update()
{
// <------------------------------------------------ Wait for new image to appear ---------------------------------------------->
while(!cam->BeginReadFrame(0,frame_data,frame_sz)) {};
digitalWrite(PIN_TCAP, HIGH) ;
// <----------------lock the chosen frame buffer, and copy it directly into the corresponding open gl texture ---------------->
data = (const uint8_t*)frame_data;
ypitch = MAIN_TEXTURE_WIDTH;
ysize = ypitch*MAIN_TEXTURE_HEIGHT;
uvpitch = MAIN_TEXTURE_WIDTH/2;
uvsize = uvpitch*MAIN_TEXTURE_HEIGHT/2;
upos = ysize;
vpos = upos+uvsize;
ytexture.SetPixels(data);
utexture.SetPixels(data+upos);
vtexture.SetPixels(data+vpos);
cam->EndReadFrame(0);
}
