void SpecificWorker::compute()
{
try
{
vector<string> names;
names.push_back("default");
RoboCompRGBDBus::ImageMap imgs;
rgbdbus_proxy->getImages(names, imgs);
Mat frame(imgs["default"].camera.colorHeight, imgs["default"].camera.colorWidth, CV_8UC3, &(imgs["default"].colorImage)[0]);
drawQtImage((const uchar *)(&(imgs["default"].colorImage)[0]), imgs["default"].camera.colorWidth, imgs["default"].camera.colorHeight, QImage::Format_RGB888, label);
/// Apply Laplace function
Mat gray, dst, abs_dst;
cvtColor( frame, gray, CV_RGB2GRAY );
Laplacian( gray, dst, CV_16S, 3, 1, 0, BORDER_DEFAULT );
convertScaleAbs( dst, abs_dst );
drawQtImage( (const uchar *)(abs_dst.data), imgs["default"].camera.colorWidth, imgs["default"].camera.colorHeight, QImage::Format_Indexed8, label_edges);
printFPS();
//imshow("img", frame);
}
catch(const Ice::Exception &e)
{
std::cout << "Error reading from Camera" << e << std::endl;
}
}
void doFPS(unsigned long int curtime, unsigned int interval)
{
countFrame();
if (curtime >= framelasttime + interval)
{
makeFPS(curtime);
printFPS();
}
}
/**
* \brief Thread method
*/
void Worker::run()
{
init();
while (!_finished)
{
if( uvcGrab() == false)
qFatal ( "Wroker:run() -> Fatal error: uvcgrab() returned error" );
printFPS();
}
}
void Engine::run()
{
QTimer simulationTimer;
connect(&simulationTimer, SIGNAL(timeout()), this, SLOT(simulationStep()));
simulationTimer.start(1000 / FPS);
QTimer fpsTimer;
connect(&fpsTimer, SIGNAL(timeout()), this, SLOT(printFPS()));
fpsTimer.start(1000);
exec();
}
/**
* Run method for thread
*/
void ieee1394capture::run( )
{
while ( !_finished )
{
// if(!sleeped)
{
if ( grab() == false )
qFatal ( "ieee1394capture::run() -> Fatal error: grab() returned error" );
printFPS();
}
}
}
// Distributes task for the "key" kind of events
// For example : cout when b key is pressed
// down is true when the key is pressed, false when released
void Application::handleKeyEvent(const SDL_keysym& keysym, bool down) {
if (down) {
switch (keysym.sym) {
case SDLK_ESCAPE:
m_bRunning = false;
break;
case SDLK_f:
printFPS();
break;
default:
break;
}
}
}
/*
WizardEntity* createWizardEntity(string name, GLfloat* vertices, float radius, float x, float y, float z) {
return new WizardEntity(new Vector(x, y, z), createTexture(name), vertices, radius);
}
// Each texture being created goes through the same method calls and is named with a number, referenced by index.
GLuint* createTexture(string name) {
GLuint* texture = new GLuint;
SDL_Surface* textureSurface = SDL_LoadBMP( ("resources\\" + name + ".bmp").c_str() );
if(textureSurface == NULL) cout << "SDL_LoadBMP: " << SDL_GetError() << endl;
glGenTextures(1, texture);
glBindTexture(GL_TEXTURE_2D, *texture);
glTexImage2D( GL_TEXTURE_2D, 0, 3,
textureSurface->w, textureSurface->h, 0,
GL_BGR, GL_UNSIGNED_BYTE, textureSurface->pixels );
glTexParameteri( GL_TEXTURE_2D,
GL_TEXTURE_MIN_FILTER,
GL_LINEAR );
glTexParameteri( GL_TEXTURE_2D,
GL_TEXTURE_MAG_FILTER,
GL_LINEAR );
SDL_FreeSurface( textureSurface );
return texture;
}
*/
void pollEventsAndDraw() {
static GLint initialTime = 0;
static GLint frames = 0;
SDL_Event event;
bool running = true;
bool keys[282] = { false };
// ========== START TEST ========== //
#ifdef cubeVertNotes
GLfloat cube[72] = { // Front face
-1.0, -1.0, 1.0,
1.0, -1.0, 1.0,
1.0, 1.0, 1.0,
-1.0, 1.0, 1.0,
// Back face
-1.0, -1.0, -1.0,
-1.0, 1.0, -1.0,
1.0, 1.0, -1.0,
1.0, -1.0, -1.0,
// Top face
-1.0, 1.0, -1.0,
-1.0, 1.0, 1.0,
1.0, 1.0, 1.0,
1.0, 1.0, -1.0,
// Bottom face
-1.0, -1.0, -1.0,
1.0, -1.0, -1.0,
1.0, -1.0, 1.0,
-1.0, -1.0, 1.0,
// Right face
1.0, -1.0, -1.0,
1.0, 1.0, -1.0,
1.0, 1.0, 1.0,
1.0, -1.0, 1.0,
// Left face
-1.0, -1.0, -1.0,
-1.0, -1.0, 1.0,
-1.0, 1.0, 1.0,
-1.0, 1.0, -1.0}; // default cube
#endif
/*bool collision[5] = {false};
LinkedList* entities = new LinkedList();
*/
PlayerEntity* player = createPlayerEntity(0, 1.0f, 0, NULL);
Level* level = new Level("TEST.txt",player);
/*GLfloat modelVert[12] = {
-1.0, -1.0, 0,
1.0, -1.0, 0,
1.0, 1.0, 0,
-1.0, 1.0, 0};
Entity* tmpModel = createEntity("1", NULL, &modelVert[0], 0, 1.0f, -10.0f, NULL);
tmpModel->incrementYOf(ROTATION, 20.0f);
GLfloat floorVert[12] = {
-6.0, 0.0, 40.0,
6.0, 0.0, 40.0,
6.0, 0.0, -40.0,
-6.0, 0.0, -40.0};
PlaneEntity* tmpFloor = createPlaneEntity("2", NULL, HORIZONTAL, &floorVert[0], 0, 0, 0);
GLuint* wallTex = createTexture("3");
GLfloat wallVert[12] = {
0.0, 0.0, 30.0,
0.0, 10.0, 30.0,
0.0, 10.0, -40.0,
0.0, 0.0, -40.0};
PlaneEntity* tmpWall1 = createPlaneEntity("", wallTex, VERTICAL_Z, &wallVert[0], -6.0f, 0, 0);
PlaneEntity* tmpWall2 = createPlaneEntity("", wallTex, VERTICAL_Z, &wallVert[0], 6.0f, 0, 0);
GLuint* stepTex = createTexture("4");
GLfloat floorVert2[12] = {
-1.0, 0.0, 3.0,
1.0, 0.0, 3.0,
1.0, 0.0, -3.0,
-1.0, 0.0, -3.0};
PlaneEntity* tmpFloor2 = createPlaneEntity("", stepTex, HORIZONTAL, floorVert2, 0, 2.0f, -7.0f);
GLfloat floorVert3[12] = {
-1.0, 2.0, 0.0,
1.0, 2.0, 0.0,
1.0, -2.0, 0.0,
-1.0, -2.0, 0.0};
PlaneEntity* tmpFloor3 = createPlaneEntity("", stepTex, VERTICAL_X, floorVert3, 0, 0.0f, -4.0f);
BlockEntity* tmpBlock = createBlockEntity("", stepTex, 0.0f, 0.25f, 7.0f, 4.0f, 0.5f, 5.0f);
//entities->add(tmpModel);
entities->add(tmpWall1);
entities->add(tmpWall2);
entities->add(tmpFloor);
entities->add(tmpFloor2);
entities->add(tmpFloor3);
entities->add(tmpBlock);*/
// ========== END TEST ========== //
while( running ) {
if( SDL_PollEvent(&event) ) {
if(event.key.keysym.sym == SDLK_ESCAPE || event.type == SDL_QUIT) {
running = false;
} else if(event.type == SDL_KEYDOWN) {
if(event.key.keysym.sym == SDLK_SPACE) player->jump();
else if(event.key.keysym.sym == SDLK_x) player->turn180();
keys[event.key.keysym.scancode] = true;
} else if(event.type == SDL_KEYUP) {
keys[event.key.keysym.scancode] = false;
}
}
movePlayer(keys, player);
// ========== START TEST ========== //
player->incrementYOf(VELOCITY, -0.2f); // gravity hack
/*
// Must be in level superclass: ******
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glLoadIdentity();
glColor3f(1, 1, 1);
GLfloat matrix[16];
glGetFloatv(GL_MODELVIEW_MATRIX, matrix);
#ifndef COLLIDED_CONSOLE_HERE
if(player->hasCollided(tmpModel)) {
if(!collision[0]) {
cout << "Collision: Model" << endl;
collision[0] = true;
}
} else if(collision[0] == true) collision[0] = false;
if(player->hasCollided(tmpWall1)) {
if(!collision[1]) {
cout << "Collision: Wall1" << endl;
collision[1] = true;
}
} else if(collision[1] == true) collision[1] = false;
if(player->hasCollided(tmpWall2)) {
if(!collision[2]) {
cout << "Collision: Wall2" << endl;
collision[2] = true;
}
} else if(collision[2] == true) collision[2] = false;
if(player->hasCollided(tmpFloor)) {
if(!collision[3]) {
cout << "Collision: Floor" << endl;
collision[3] = true;
}
} else if(collision[3] == true) collision[3] = false;
#endif
*/
//player->drawSelf(matrix, entities); // Used to adjust camera based on player position
//glLoadMatrixf(matrix);
//entities->drawSelf();
// ******************************* //
// ========== END TEST ========== //
level->drawEverything();
SDL_GL_SwapWindow(mainWindow);
printFPS(frames, initialTime);
}
// ========== START TEST ========== //
// Remember to delete all models (should be entity linked list) when done!
delete tmpModel;
delete tmpWall1;
delete tmpWall2;
delete tmpFloor;
delete player;
// ========== END TEST ========== //
}
