diff --git a/doc/~$软件开发项目的团队自评报告.xlsx b/doc/~$软件开发项目的团队自评报告.xlsx new file mode 100644 index 00000000..4a1a51ee Binary files /dev/null and b/doc/~$软件开发项目的团队自评报告.xlsx differ diff --git a/doc/~$软件开发项目的成员自评报告.xlsx b/doc/~$软件开发项目的成员自评报告.xlsx new file mode 100644 index 00000000..4a1a51ee Binary files /dev/null and b/doc/~$软件开发项目的成员自评报告.xlsx differ diff --git a/doc/~$需求规格说明书.docx b/doc/~$需求规格说明书.docx new file mode 100644 index 00000000..c29611fc Binary files /dev/null and b/doc/~$需求规格说明书.docx differ diff --git a/doc/软件开发项目的团队自评报告.xlsx b/doc/软件开发项目的团队自评报告.xlsx new file mode 100644 index 00000000..382ee126 Binary files /dev/null and b/doc/软件开发项目的团队自评报告.xlsx differ diff --git a/doc/软件开发项目的成员自评报告.xlsx b/doc/软件开发项目的成员自评报告.xlsx new file mode 100644 index 00000000..51a9fcb7 Binary files /dev/null and b/doc/软件开发项目的成员自评报告.xlsx differ diff --git a/doc/软件需求规格说明书.docx b/doc/软件需求规格说明书.docx index 6bee155c..eb75cc5f 100644 Binary files a/doc/软件需求规格说明书.docx and b/doc/软件需求规格说明书.docx differ diff --git a/mediamodule/CMakeLists.txt b/mediamodule/CMakeLists.txt new file mode 100644 index 00000000..c229cab6 --- /dev/null +++ b/mediamodule/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.5) +project(mediamodule LANGUAGES CXX) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +find_package(Qt5 REQUIRED COMPONENTS Core Widgets) +find_package(OpenCV REQUIRED) + +add_library(mediamodule + camera_streamer.cpp +) + +target_include_directories(mediamodule PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${OpenCV_INCLUDE_DIRS}) + +target_link_libraries(mediamodule PUBLIC Qt5::Core Qt5::Widgets ${OpenCV_LIBS}) + +add_executable(example_viewer example_viewer.cpp) + +target_link_libraries(example_viewer PRIVATE mediamodule) \ No newline at end of file diff --git a/mediamodule/CMakeLists.txt:Zone.Identifier b/mediamodule/CMakeLists.txt:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/camera_streamer.cpp b/mediamodule/camera_streamer.cpp new file mode 100644 index 00000000..af6ca29f --- /dev/null +++ b/mediamodule/camera_streamer.cpp @@ -0,0 +1,105 @@ +#include "camera_streamer.h" + +#include +#include +#include +#include + +CameraStreamer::CameraStreamer(QObject *parent) + : QObject(parent) +{ +} + +CameraStreamer::~CameraStreamer() +{ + stopStreaming(); +} + +bool CameraStreamer::startStreaming(const QString &remoteUser, + const QString &remoteHost, + const QString &remoteCommand, + int localPort) +{ + if (m_running.load()) + return true; // already running + + // 启动 ssh 进程，在远端开始推流 + if (!m_sshProcess) { + m_sshProcess = new QProcess(this); + // 使 ssh 保持会话 & 不读取stdin，-T 禁用伪终端 + QStringList args; + args << QString("%1@%2").arg(remoteUser, remoteHost) + << "-T" << remoteCommand; + m_sshProcess->start("ssh", args); + if (!m_sshProcess->waitForStarted(3000)) { + qWarning() << "Failed to start ssh process:" << m_sshProcess->errorString(); + delete m_sshProcess; + m_sshProcess = nullptr; + return false; + } + } + + // 启动本地接收线程 + m_running = true; + m_captureThread = std::thread(&CameraStreamer::captureLoop, this, localPort); + return true; +} + +void CameraStreamer::stopStreaming() +{ + if (!m_running.load()) + return; + + // 停止读取线程 + m_running = false; + if (m_captureThread.joinable()) + m_captureThread.join(); + + // 结束远端 ssh 进程 + if (m_sshProcess) { + m_sshProcess->terminate(); + if (!m_sshProcess->waitForFinished(3000)) { + m_sshProcess->kill(); + m_sshProcess->waitForFinished(); + } + delete m_sshProcess; + m_sshProcess = nullptr; + } +} + +void CameraStreamer::captureLoop(int localPort) +{ + // GStreamer UDP pipeline + QString pipeline = QString("udpsrc address=0.0.0.0 port=%1 ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! appsink max-buffers=1 drop=true").arg(localPort); + + cv::VideoCapture cap(pipeline.toStdString(), cv::CAP_GSTREAMER); + if (!cap.isOpened()) { + qWarning() << "Failed to open capture pipeline" << pipeline; + return; + } + + cv::Mat frame; + while (m_running.load()) { + if (!cap.read(frame) || frame.empty()) { + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + continue; + } + + cv::Mat rgb; + if (frame.channels() == 3) { + cv::cvtColor(frame, rgb, cv::COLOR_BGR2RGB); + } else if (frame.channels() == 4) { + cv::cvtColor(frame, rgb, cv::COLOR_BGRA2RGB); + } else { + rgb = frame; + } + + QImage image(rgb.data, rgb.cols, rgb.rows, static_cast(rgb.step), QImage::Format_RGB888); + emit newFrame(image.copy()); // copy to detach from cv::Mat memory + + // 控制帧率：根据需要调整 + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + + cap.release(); +} \ No newline at end of file diff --git a/mediamodule/camera_streamer.cpp:Zone.Identifier b/mediamodule/camera_streamer.cpp:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/camera_streamer.h b/mediamodule/camera_streamer.h new file mode 100644 index 00000000..ad58de0d --- /dev/null +++ b/mediamodule/camera_streamer.h @@ -0,0 +1,35 @@ +#pragma once + +#include +#include +#include +#include +#include + +class CameraStreamer : public QObject +{ + Q_OBJECT +public: + explicit CameraStreamer(QObject *parent = nullptr); + ~CameraStreamer(); + + // remoteUser@remoteHost 远程 ssh 登录信息；remoteCommand 为远端启动摄像头流的命令 + // localPort 本机接收 UDP 端口（SDK 默认 9201） + bool startStreaming(const QString &remoteUser, + const QString &remoteHost, + const QString &remoteCommand = "cd ~/UnitreecameraSDK && ./bins/example_putImagetrans", + int localPort = 9201); + + void stopStreaming(); + +signals: + // 每当收到一帧图像时发射，供 Qt 前端显示 + void newFrame(const QImage &image); + +private: + void captureLoop(int localPort); + + QProcess *m_sshProcess {nullptr}; + std::thread m_captureThread; + std::atomic m_running {false}; +}; \ No newline at end of file diff --git a/mediamodule/camera_streamer.h:Zone.Identifier b/mediamodule/camera_streamer.h:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/example_viewer.cpp b/mediamodule/example_viewer.cpp new file mode 100644 index 00000000..603e6576 --- /dev/null +++ b/mediamodule/example_viewer.cpp @@ -0,0 +1,39 @@ +#include +#include +#include +#include +#include "camera_streamer.h" + +int main(int argc, char *argv[]) +{ + QCoreApplication::setAttribute(Qt::AA_EnableHighDpiScaling); + QApplication app(argc, argv); + + // 主窗口 + QWidget window; + window.setWindowTitle("Unitree Camera Viewer"); + auto *layout = new QVBoxLayout(&window); + + QLabel *label = new QLabel(&window); + label->setAlignment(Qt::AlignCenter); + layout->addWidget(label); + + CameraStreamer streamer; + + QObject::connect(&streamer, &CameraStreamer::newFrame, &window, [label](const QImage &img){ + label->setPixmap(QPixmap::fromImage(img).scaled(label->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation)); + }); + + // 根据实际情况修改远端用户名、IP、端口 + QString remoteUser = "unitree"; + QString remoteHost = "192.168.123.10"; // 狗端 IP + streamer.startStreaming(remoteUser, remoteHost); + + window.resize(960, 540); + window.show(); + + int ret = app.exec(); + + streamer.stopStreaming(); + return ret; +} \ No newline at end of file diff --git a/mediamodule/example_viewer.cpp:Zone.Identifier b/mediamodule/example_viewer.cpp:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/CMakeLists.txt b/mediamodule/examples/CMakeLists.txt new file mode 100644 index 00000000..4b753642 --- /dev/null +++ b/mediamodule/examples/CMakeLists.txt @@ -0,0 +1,66 @@ + +add_executable(example_getRawFrame ./example_getRawFrame.cc) +target_link_libraries(example_getRawFrame ${SDKLIBS}) + +add_executable(example_getDepthFrame ./example_getDepthFrame.cc) +target_link_libraries(example_getDepthFrame ${SDKLIBS}) + +add_executable(example_getRectFrame ./example_getRectFrame.cc) +target_link_libraries(example_getRectFrame ${SDKLIBS}) + +add_executable(example_getCalibParamsFile ./example_getCalibParamsFile.cc) +target_link_libraries(example_getCalibParamsFile ${SDKLIBS}) + +add_executable(example_putImagetrans ./example_putImagetrans.cc) +target_link_libraries(example_putImagetrans ${SDKLIBS}) + +add_executable(example_getimagetrans ./example_getimagetrans.cc) +target_link_libraries(example_getimagetrans ${SDKLIBS}) + +# add_executable(example_share ./example_share.cc) +# target_link_libraries(example_share ${SDKLIBS}) + +find_package(OpenGL REQUIRED) +if(OpenGL_FOUND) + include_directories(${OPENGL_INCLUDE_DIR}) + message(STATUS ${OPENGL_INCLUDE_DIR}) + message(STATUS ${OPENGL_LIBRARIES}) +else() + message(WARNING "OpenGL Library Not Found") +endif() + +find_package(GLUT REQUIRED) +if(GLUT_FOUND) + include_directories(${GLUT_INCLUDE_DIR}) + message(STATUS ${GLUT_INCLUDE_DIR}) + message(STATUS ${GLUT_LIBRARY}) +else() + message(WARNING "GLUT Library Not Found") +endif() + +find_package(X11 REQUIRED) +if(X11_FOUND) + include_directories(${X11_INCLUDE_DIR}) + message(${X11_INCLUDE_DIR}) + message(${X11_LIBRARIES}) +else() + message(WARNING "X11 Library Not Found") +endif() + +if(X11_FOUND AND OpenGL_FOUND AND GLUT_FOUND) + set(ShowPointCloud true) + message(STATUS "Point Cloud Example Enabled") +else() + set(ShowPointCloud false) + message(WARNING "Point Cloud Example Disabled") +endif() + +if(${ShowPointCloud}) +add_executable(example_getPointCloud ./example_getPointCloud.cc ./glViewer/glwindow_x11.cpp ./glViewer/scenewindow.cpp) +target_link_libraries(example_getPointCloud ${SDKLIBS} ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${X11_LIBRARIES} ) +endif() + + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread") + + diff --git a/mediamodule/examples/CMakeLists.txt:Zone.Identifier b/mediamodule/examples/CMakeLists.txt:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_getCalibParamsFile.cc b/mediamodule/examples/example_getCalibParamsFile.cc new file mode 100644 index 00000000..afdf0d22 --- /dev/null +++ b/mediamodule/examples/example_getCalibParamsFile.cc @@ -0,0 +1,27 @@ +/** + * @file example_getCalibParamsFile.cc + * @brief This file is part of UnitreeCameraSDK. + * @details This example that how to get camera internal parameters + * @author ZhangChunyang + * @date 2021.07.31 + * @version 1.0.1 + * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. + */ + +#include +#include + +int main(int argc, char *argv[]){ + + UnitreeCamera cam("stereo_camera_config.yaml"); ///< init UnitreeCamera object by config file + if(!cam.isOpened()) ///< get camera open state + exit(EXIT_FAILURE); + + cam.startCapture(); ///< disable image h264 encoding and share memory sharing + usleep(100000); ///< wait parameters initialization finished + cam.saveCalibParams("output_camCalibParams.yaml"); ///< save parameters to output_camCalibParams.yaml + std::cout << cam.getSerialNumber() << " " << cam.getPosNumber() << std::endl; + usleep(100000); + cam.stopCapture(); ///< stop camera capturing + return 0; +} diff --git a/mediamodule/examples/example_getCalibParamsFile.cc:Zone.Identifier b/mediamodule/examples/example_getCalibParamsFile.cc:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_getCalibParamsFile.cc:Zone.Identifier:Zone.Identifier b/mediamodule/examples/example_getCalibParamsFile.cc:Zone.Identifier:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_getDepthFrame.cc b/mediamodule/examples/example_getDepthFrame.cc new file mode 100644 index 00000000..3eae096d --- /dev/null +++ b/mediamodule/examples/example_getDepthFrame.cc @@ -0,0 +1,42 @@ +/** + * @file example_getDepthFrame.cc + * @brief This file is part of UnitreeCameraSDK. + * @details This example that how to get depth frame + * @author SunMingzhe + * @date 2021.12.07 + * @version 1.1.0 + * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. + */ + +#include +#include + +int main(int argc, char *argv[]){ + + UnitreeCamera cam("stereo_camera_config.yaml"); ///< init UnitreeCamera object by config file + if(!cam.isOpened()) ///< get camera open state + exit(EXIT_FAILURE); + + cam.startCapture(); ///< disable image h264 encoding and share memory sharing + cam.startStereoCompute(); ///< start disparity computing + + while(cam.isOpened()){ + cv::Mat depth; + std::chrono::microseconds t; + if(!cam.getDepthFrame(depth, true, t)){ ///< get stereo camera depth image + usleep(1000); + continue; + } + if(!depth.empty()){ + cv::imshow("UnitreeCamera-Depth", depth); + } + char key = cv::waitKey(10); + if(key == 27) // press ESC key + break; + } + + cam.stopStereoCompute(); ///< stop disparity computing + cam.stopCapture(); ///< stop camera capturing + + return 0; +} diff --git a/mediamodule/examples/example_getDepthFrame.cc:Zone.Identifier b/mediamodule/examples/example_getDepthFrame.cc:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_getPointCloud.cc b/mediamodule/examples/example_getPointCloud.cc new file mode 100644 index 00000000..0dd9889d --- /dev/null +++ b/mediamodule/examples/example_getPointCloud.cc @@ -0,0 +1,97 @@ +/** + * @file example_getPointCloud.cc + * @brief This file is part of UnitreeCameraSDK. + * @details This example that how to get camera point cloud. + * @author ZhangChunyang + * @date 2021.07.31 + * @version 1.0.1 + * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. + */ + +#include +#include +#include +#include +#include +#include "glViewer/scenewindow.hpp" +#include + +#define RGB_PCL true ///< Color Point Cloud Enable Flag + +void DrawScene(const std::vector& pcl_vec) { + glBegin(GL_POINTS); + for (uint i = 0; i < pcl_vec.size(); ++i) { + PCLType pcl = pcl_vec[i]; + glColor3ub(pcl.clr(2), pcl.clr(1), pcl.clr(0)); + glVertex3f(-pcl.pts(0), -pcl.pts(1), pcl.pts(2)); + } + glEnd(); +} + +void DrawScene(const std::vector& pcl_vec) { + glBegin(GL_POINTS); + for (uint i = 0; i < pcl_vec.size(); ++i) { + cv::Vec3f pcl = pcl_vec[i]; + glColor3ub(255, 255, 0); + glVertex3f(-pcl(0), -pcl(1), pcl(2)); + } + glEnd(); +} + +bool killSignalFlag = false; +void ctrl_c_handler(int s){ + killSignalFlag = true; + return ; +} + +int main(int argc, char *argv[]){ + + UnitreeCamera cam("stereo_camera_config.yaml"); + if(!cam.isOpened()) + exit(EXIT_FAILURE); + + cam.startCapture(); + cam.startStereoCompute(); + + struct sigaction sigIntHandler; + sigIntHandler.sa_handler = ctrl_c_handler; + sigemptyset(&sigIntHandler.sa_mask); + sigIntHandler.sa_flags = 0; + sigaction(SIGINT, &sigIntHandler, NULL); + + std::cout << cam.getSerialNumber() << " " << cam.getPosNumber() << std::endl; + + glwindow::SceneWindow scene(960, 720, "Panorama 3D Scene"); + + while(cam.isOpened()){ + + if(killSignalFlag){ + break; + } + + std::chrono::microseconds t; +#if RGB_PCL + std::vector pcl_vec; + if(!cam.getPointCloud(pcl_vec, t)){ + usleep(1000); + continue; + } +#else + std::vector pcl_vec; + if(!cam.getPointCloud(pcl_vec, t)){ + usleep(1000); + continue; + } +#endif + if (scene.win.alive()) { + if (scene.start_draw()) { + DrawScene(pcl_vec); + scene.finish_draw(); + } + } + } + + cam.stopStereoCompute(); + cam.stopCapture(); + return 0; +} diff --git a/mediamodule/examples/example_getPointCloud.cc:Zone.Identifier b/mediamodule/examples/example_getPointCloud.cc:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_getRawFrame.cc b/mediamodule/examples/example_getRawFrame.cc new file mode 100644 index 00000000..987cb41d --- /dev/null +++ b/mediamodule/examples/example_getRawFrame.cc @@ -0,0 +1,63 @@ +/** + * @file example_getRawFrame.cc + * @brief This file is part of UnitreeCameraSDK. + * @details This example that how to get camera raw frame. + * @author ZhangChunyang + * @date 2021.07.31 + * @version 1.0.1 + * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. + */ + +#include +#include + +int main(int argc, char *argv[]){ + + int deviceNode = 0; // default 0 -> /dev/video0 + cv::Size frameSize(1856, 800); // defalut image size: 1856 X 800 + int fps = 30; + + if(argc >= 2){ + deviceNode = std::atoi(argv[1]); + if(argc >= 4){ + frameSize = cv::Size(std::atoi(argv[2]), std::atoi(argv[3])); + } + if(argc >=5) + fps = std::atoi(argv[4]); + } + + UnitreeCamera cam(deviceNode); ///< init camera by device node number + if(!cam.isOpened()) + exit(EXIT_FAILURE); + + cam.setRawFrameSize(frameSize); ///< set camera frame size + cam.setRawFrameRate(fps); ///< set camera frame rate + + std::cout << "Device Position Number:" << cam.getPosNumber() << std::endl; + + cam.startCapture(); ///< start camera capturing + + while(cam.isOpened()) + { + + cv::Mat frame; + std::chrono::microseconds t; + if(!cam.getRawFrame(frame, t)){ ///< get camera raw image + usleep(1000); + continue; + } + + cv::Mat left,right; + frame(cv::Rect(0, 0, frame.size().width/2, frame.size().height)).copyTo(right); + frame(cv::Rect(frame.size().width/2,0, frame.size().width/2, frame.size().height)).copyTo(left); + cv::hconcat(left, right, frame); + cv::imshow("UnitreeCamera_Left-Right", frame); + char key = cv::waitKey(10); + if(key == 27) // press ESC key + break; + } + + cam.stopCapture(); ///< stop camera capturing + + return 0; +} diff --git a/mediamodule/examples/example_getRawFrame.cc:Zone.Identifier b/mediamodule/examples/example_getRawFrame.cc:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_getRawFrame.cc:Zone.Identifier:Zone.Identifier b/mediamodule/examples/example_getRawFrame.cc:Zone.Identifier:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_getRectFrame.cc b/mediamodule/examples/example_getRectFrame.cc new file mode 100644 index 00000000..b9000e47 --- /dev/null +++ b/mediamodule/examples/example_getRectFrame.cc @@ -0,0 +1,60 @@ +/** + * @file example_getRectFrame.cc + * @brief This file is part of UnitreeCameraSDK. + * @details This example that how to get depth frame + * @author ZhangChunyang + * @date 2021.07.31 + * @version 1.0.1 + * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. + */ + +#include +#include + +int main(int argc, char *argv[]){ + + int deviceNode = 0; ///< default 0 -> /dev/video0 + cv::Size frameSize(1856, 800); ///< default frame size 1856x800 + int fps = 30; ///< default camera fps: 30 + + if(argc >= 2){ + deviceNode = std::atoi(argv[1]); + if(argc >= 4){ + frameSize = cv::Size(std::atoi(argv[2]), std::atoi(argv[3])); + } + if(argc >=5) + fps = std::atoi(argv[4]); + } + + UnitreeCamera cam("stereo_camera_config.yaml"); ///< init camera by device node number + if(!cam.isOpened()) ///< get camera open state + exit(EXIT_FAILURE); + + cam.setRawFrameSize(frameSize); ///< set camera frame size + cam.setRawFrameRate(fps); ///< set camera camera fps + cam.setRectFrameSize(cv::Size(frameSize.width >> 2, frameSize.height >> 1)); ///< set camera rectify frame size + cam.startCapture(); ///< disable image h264 encoding and share memory sharing + + usleep(500000); + while(cam.isOpened()){ + cv::Mat left,right; + if(!cam.getRectStereoFrame(left,right)){ ///< get rectify left,right frame + usleep(1000); + continue; + } + + cv::Mat stereo; + // cv::flip(left,left, -1); + // cv::flip(right,right, -1); + cv::hconcat(left, right, stereo); + cv::flip(stereo,stereo, -1); + cv::imshow("Longlat_Rect", stereo); + char key = cv::waitKey(10); + if(key == 27) // press ESC key + break; + } + + cam.stopCapture(); ///< stop camera capturing + + return 0; +} diff --git a/mediamodule/examples/example_getRectFrame.cc:Zone.Identifier b/mediamodule/examples/example_getRectFrame.cc:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_getimagetrans.cc b/mediamodule/examples/example_getimagetrans.cc new file mode 100644 index 00000000..c3612a42 --- /dev/null +++ b/mediamodule/examples/example_getimagetrans.cc @@ -0,0 +1,63 @@ +/** + * @file example_getRectFrame.cc + * @brief This file is part of UnitreeCameraSDK. + * @details This example that how to Transmission picture + * @author SunMingzhe + * @date 2021.12.07 + * @version 1.1.0 + * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. + */ + +/* +接收端： +方法概述：采用定向udp方法接收图片，在应用其之前，需要先发送图片，例子:example_putImagetrans.cc +端口9201~9205分别对应前方，下巴，左，右，腹部 +本机ip需要是192.168.123.IpLastSegment，IpLastSegment被设置在发送端cofigure yaml- +*/ + +/* +listener +Introduction: This program uses directed UDP methods to get pictures,whitch requires sending pictures on other programs. for example:example_putImagetrans.cc +port:9201~9205 -> Front,chin,left,right,abdomen +local ip must be set to 192.168.123.IpLastSegment and IpLastSegment musb be set in cofigure yaml +*/ + +/* +local ip config +ip 192.168.123.IpLastSegment +netmask 255.255.255.0 +gateway 192.168.123.1 +*/ + + + +#include +#include +int main(int argc,char** argv) +{ + std::string IpLastSegment = "161"; + int cam = 1; + if (argc>=2) + cam = std::atoi(argv[1]); + std::string udpstrPrevData = "udpsrc address=192.168.123."+ IpLastSegment + " port="; + //端口：前方，下巴，左，右，腹部 + std::array udpPORT = std::array{9201, 9202, 9203, 9204, 9205}; + //std::string udpstrBehindData = " ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! appsink"; + std::string udpstrBehindData = " ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! appsink"; + std::string udpSendIntegratedPipe = udpstrPrevData + std::to_string(udpPORT[cam-1]) + udpstrBehindData; + std::cout<<"udpSendIntegratedPipe:"<> frame; + if(frame.empty()) + break; + imshow("video", frame); + cv::waitKey(20); + } + cap.release();//释放资源 + return 0; +} diff --git a/mediamodule/examples/example_getimagetrans.cc:Zone.Identifier b/mediamodule/examples/example_getimagetrans.cc:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_getimagetrans.cc:Zone.Identifier:Zone.Identifier b/mediamodule/examples/example_getimagetrans.cc:Zone.Identifier:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_putImagetrans.cc b/mediamodule/examples/example_putImagetrans.cc new file mode 100644 index 00000000..71b5cdfd --- /dev/null +++ b/mediamodule/examples/example_putImagetrans.cc @@ -0,0 +1,118 @@ +/** + * @file example_getRectFrame.cc + * @brief This file is part of UnitreeCameraSDK. + * @details This example that how to Transmission picture + * @author SunMingzhe + * @date 2021.12.07 + * @version 1.1.0 + * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. + */ + +#include +#include + + +/* +发送端： +方法概述：采用udp方法输出图片，传输方式已写入程序，由StereoCameraCommon::startCapture(true,false)中第一个参数控制定向udp传输，当其为true时打开udp264硬编码传输模式 +参数：配置文件中IpLastSegment是接收端ip，接收端地址必须是192.168.123.IpLastSegment。 + 配置文件中Transmode决定传输模式 + 配置文件中Transrate决定传输速率，限制了传输速率小于图片速率 + 端口9201~9205分别对应前方，下巴，左，右，腹部 + 启动自定义图传时需使用kill.sh文件关闭Unitree/autostart/02camerarosnode程序来解除相机占用，Unitree/autostart/04imageai来释放算力。 + （也可使用以下几条指令 + ps -A | grep point | awk '{print $1}' | xargs kill -9 + ps -aux|grep mqttControlNode|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9 + ps -aux|grep live_human_pose|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9 + ） +传输图片模式：由配置文件中Transmode决定，该值只可通过读取配置文件方式写入 +0：传输左目原始图片 +1：传输双目原始图片 +2：传输左目畸变校正后图片，视野范围角度可调60~140 +3：传输双目畸变校正后图片 +※※※注意，双目图的最后的左右目输出位置是反的。左目->右图，右目->左图 +4：不建议使用！！，Depthmode = 2时 可输出深度图和对应左目图片，不建议使用。 +*/ + +/* +sender: +Introduction: This program uses directed UDP methods to output pictures, transfer method written in programs. StereoCameraCommon::startCapture(true,false) the first parameter is a switch. +parameter:IpLastSegment is listener ip. listener ip:192.168.123.IpLastSegment + Transrate(config yaml) Transmission rate.it must lower than FrameRate + port:9201~9205 -> Front,chin,left,right,abdomen + If you start this file, you must bash "kill.sh" to turn off automatic startup program. "Unitree/autostart/02camerarosnode/kill.sh" and "Unitree/autostart/04imageai/kill.sh". + （You can also use the following instructions: + ps -A | grep point | awk '{print $1}' | xargs kill -9 + ps -aux|grep mqttControlNode|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9 + ps -aux|grep live_human_pose|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9 + ） +Transfer picture mode: Decided by Transmode in the configuration yaml, which only writes in programs by reading the configuration yaml. +0：ori left +1：ori stereo +2：rect left +3：rect stereo +※※※warning:The last left and right output position of the stereo picture is reversed left cam-> right picture right cam -> left picture +4：Not recommended for use!!，set Depthmode = 2 , rect left && depthimage +*/ + +/* +local ip config +ip 192.168.123.x +netmask 255.255.255.0 +gateway 192.168.123.1 +*/ +int main(int argc, char *argv[]) +{ + + UnitreeCamera cam("trans_rect_config.yaml"); ///< init camera by device node number + if(!cam.isOpened()) ///< get camera open state + exit(EXIT_FAILURE); + cam.startCapture(true,false); ///< disable share memory sharing and able image h264 encoding + + usleep(500000); + while(cam.isOpened()) + { + cv::Mat left,right,feim; + if(!cam.getRectStereoFrame(left,right)) + { + usleep(1000); + continue; + } + char key = cv::waitKey(10); + if(key == 27) // press ESC key + break; + } + + cam.stopCapture(); ///< stop camera capturing + + return 0; +} +/* +int main(int argc, char *argv[]) +{ + + UnitreeCamera cam("trans_rect_config.yaml"); ///< init camera by device node number + if(!cam.isOpened()) ///< get camera open state + exit(EXIT_FAILURE); + + cam.startCapture(true,false); ///< disable share memory sharing and able image h264 encoding + + usleep(500000); + while(cam.isOpened()) + { + cv::Mat frame; + std::chrono::microseconds t; + if(!cam.getRawFrame(frame, t)){ ///< get camera raw image + usleep(1000); + continue; + } + char key = cv::waitKey(10); + if(key == 27) // press ESC key + break; + } + + cam.stopCapture(); ///< stop camera capturing + + return 0; +} +*/ diff --git a/mediamodule/examples/example_putImagetrans.cc:Zone.Identifier b/mediamodule/examples/example_putImagetrans.cc:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_putImagetrans.cc:Zone.Identifier:Zone.Identifier b/mediamodule/examples/example_putImagetrans.cc:Zone.Identifier:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/example_share.cc b/mediamodule/examples/example_share.cc new file mode 100644 index 00000000..339101cb --- /dev/null +++ b/mediamodule/examples/example_share.cc @@ -0,0 +1,29 @@ +#include +#include + +int main(int argc, char *argv[]) +{ + + UnitreeCamera cam("trans_rect_config.yaml"); ///< init camera by device node number + if(!cam.isOpened()) ///< get camera open state + exit(EXIT_FAILURE); + cam.startCapture(false, true); + + usleep(500000); + while(cam.isOpened()) + { + cv::Mat left,right,feim; + if(!cam.getRectStereoFrame(left,right)) + { + usleep(1000); + continue; + } + char key = cv::waitKey(10); + if(key == 27) // press ESC key + break; + } + + cam.stopCapture(); ///< stop camera capturing + + return 0; +} \ No newline at end of file diff --git a/mediamodule/examples/example_share.cc:Zone.Identifier b/mediamodule/examples/example_share.cc:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/glViewer/glwindow.hpp b/mediamodule/examples/glViewer/glwindow.hpp new file mode 100644 index 00000000..a4ee2369 --- /dev/null +++ b/mediamodule/examples/glViewer/glwindow.hpp @@ -0,0 +1,124 @@ +// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow + +#pragma once + +#include + +namespace glwindow { + + namespace ButtonEvent { + enum Buttons { + LEFT=1, MIDDLE=2, RIGHT=4, WHEEL=8, + MODKEY_CTRL=16, MODKEY_SHIFT=32, + }; + }; + + namespace KeyCode { + enum Codes { + BACKSPACE=0x8, + TAB=0x9, + ENTER=0xD, + ESCAPE=0x1B, + DEL=0x7F, + + SHIFT=0xFF00, + CTRL, + ALT, + SUPER, + CAPSLOCK, + LEFT, + UP, + RIGHT, + DOWN, + }; + }; + + + class GLWindow; + + struct EventHandler + { + public: + virtual ~EventHandler() {} + virtual bool on_key_down(GLWindow& win, int key) { return false; } + virtual bool on_key_up(GLWindow& win, int key) { return false; } + virtual bool on_text(GLWindow& win, const char *text, int len) { return false; } + virtual bool on_button_down(GLWindow& win, int btn, int state, int x, int y) { return false; } + virtual bool on_button_up(GLWindow& win, int btn, int state, int x, int y) { return false; } + virtual bool on_mouse_move(GLWindow& win, int state, int x, int y) { return false; } + virtual bool on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy) { return false; } + virtual bool on_resize(GLWindow& win, int x, int y, int w, int h) { return false; } + virtual bool on_close(GLWindow& win) { return false; } + }; + + // Dispatches to each handler in reverse order until one returns true + class EventDispatcher : public EventHandler + { + public: + const std::vector &handlers; + EventDispatcher(const std::vector &h) : + handlers(h) {} + bool on_key_down(GLWindow& win, int key); + bool on_key_up(GLWindow& win, int key); + bool on_text(GLWindow& win, const char *text, int len); + bool on_button_down(GLWindow& win, int btn, int state, int x, int y); + bool on_button_up(GLWindow& win, int btn, int state, int x, int y); + bool on_mouse_move(GLWindow& win, int state, int x, int y); + bool on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy); + bool on_resize(GLWindow& win, int x, int y, int w, int h); + bool on_close(GLWindow& win); + }; + + class GLWindow + { + public: + GLWindow(int w=-1, int h=-1, const char *title=0); + virtual ~GLWindow(); + + int width() const; + int height() const; + bool visible() const; + bool alive() const; + + bool make_current(); + bool push_context(); + void pop_context(); + + struct ScopedContext { + GLWindow &win; + ScopedContext(GLWindow &w) : win(w) { + win.push_context(); + } + ~ScopedContext() { + win.pop_context(); + } + }; + + void swap_buffers(); + + void set_size(int w, int h); + void set_position(int x, int y); + + void set_title(const char* title); + + void add_handler(EventHandler* handler); + bool remove_handler(EventHandler *handler); + void handle_events(); + static void handle_all_events(); + + void destroy(); + + void draw_text(double x, double y, const char *text, int xywh[4]=0); + protected: + struct SystemState; + SystemState *sys_state; + + std::vector handlers; + GLWindow *prev_active; + + static GLWindow *active_context; + static std::vector all_windows; + static void add_window(GLWindow *win); + static bool remove_window(GLWindow *win); + }; +} diff --git a/mediamodule/examples/glViewer/glwindow.hpp:Zone.Identifier b/mediamodule/examples/glViewer/glwindow.hpp:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/glViewer/glwindow.hpp:Zone.Identifier:Zone.Identifier b/mediamodule/examples/glViewer/glwindow.hpp:Zone.Identifier:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/glViewer/glwindow_x11.cpp b/mediamodule/examples/glViewer/glwindow_x11.cpp new file mode 100644 index 00000000..ec661f1c --- /dev/null +++ b/mediamodule/examples/glViewer/glwindow_x11.cpp @@ -0,0 +1,518 @@ +// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow + +#include "glwindow.hpp" + +#include +#include +#include +#include + +using namespace glwindow; + +std::vector GLWindow::all_windows; + +void GLWindow::add_window(GLWindow *win) +{ + all_windows.push_back(win); +} + +bool GLWindow::remove_window(GLWindow *win) +{ + for (size_t i=0; ihandle_events(); +} + +GLWindow *GLWindow::active_context = 0; + +bool GLWindow::push_context() +{ + prev_active = active_context; + return make_current(); +} + +void GLWindow::pop_context() +{ + if (active_context != this) + return; + + if (prev_active) { + prev_active->make_current(); + } else { + active_context = 0; + } +} + +void GLWindow::add_handler(EventHandler* handler) +{ + handlers.push_back(handler); +} + +bool GLWindow::remove_handler(EventHandler* handler) +{ + std::vector::reverse_iterator it; + for (it = handlers.rbegin(); it != handlers.rend(); ++it) { + if (*it == handler) { + handlers.erase(it.base()); + return true; + } + } + return false; +} + +bool EventDispatcher::on_key_down(GLWindow& win, int key) { + for (int i=handlers.size()-1; i>=0; --i) + if (handlers[i]->on_key_down(win, key)) + return true; + return false; +} +bool EventDispatcher::on_key_up(GLWindow& win, int key) { + for (int i=handlers.size()-1; i>=0; --i) + if (handlers[i]->on_key_up(win, key)) + return true; + return false; +} +bool EventDispatcher::on_text(GLWindow& win, const char *text, int len) { + for (int i=handlers.size()-1; i>=0; --i) + if (handlers[i]->on_text(win, text, len)) + return true; + return false; +} + +bool EventDispatcher::on_button_down(GLWindow& win, int btn, int state, int x, int y) { + for (int i=handlers.size()-1; i>=0; --i) + if (handlers[i]->on_button_down(win, btn, state, x, y)) + return true; + return false; +} + +bool EventDispatcher::on_button_up(GLWindow& win, int btn, int state, int x, int y) { + for (int i=handlers.size()-1; i>=0; --i) + if (handlers[i]->on_button_up(win, btn, state, x, y)) + return true; + return false; +} + +bool EventDispatcher::on_mouse_move(GLWindow& win, int state, int x, int y) { + for (int i=handlers.size()-1; i>=0; --i) + if (handlers[i]->on_mouse_move(win, state, x, y)) + return true; + return false; +} + +bool EventDispatcher::on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy) { + for (int i=handlers.size()-1; i>=0; --i) + if (handlers[i]->on_mouse_wheel(win, state, x, y, dx, dy)) + return true; + return false; +} + +bool EventDispatcher::on_resize(GLWindow &win, int x, int y, int w, int h) { + for (int i=handlers.size()-1; i>=0; --i) + if (handlers[i]->on_resize(win, x, y, w, h)) + return true; + return false; +} + +bool EventDispatcher::on_close(GLWindow &win) { + for (int i=handlers.size()-1; i>=0; --i) + if (handlers[i]->on_close(win)) + return true; + return false; +} + +static XVisualInfo *makeVisualInfo(Display *display) +{ + int visualAttributes[] = { + GLX_RED_SIZE, 8, + GLX_GREEN_SIZE, 8, + GLX_BLUE_SIZE, 8, + GLX_DEPTH_SIZE, 16, + GLX_STENCIL_SIZE, 8, + GLX_RGBA, + GLX_DOUBLEBUFFER, + None + }; + XVisualInfo *vi = glXChooseVisual(display, DefaultScreen(display), visualAttributes); + return vi; +} + +static Window makeWindow(Display *display, XVisualInfo *vi, int width, int height) +{ + Window rootWindow = RootWindow(display, vi->screen); + + XSetWindowAttributes attributes; + attributes.border_pixel = 0; + attributes.colormap = XCreateColormap(display, rootWindow, vi->visual, AllocNone); + attributes.event_mask = (KeyPressMask | KeyReleaseMask | + ButtonPressMask | ButtonReleaseMask | + PointerMotionMask | + VisibilityChangeMask | + StructureNotifyMask | + ExposureMask); + + Window window = XCreateWindow(display, + rootWindow, + 0, 0, width, height, + 0, vi->depth, + InputOutput, + vi->visual, + CWBorderPixel | CWColormap | CWEventMask, + &attributes); + return window; +} + +struct GLWindow::SystemState +{ + Display* display; + Window window; + GLXContext context; + Atom delete_atom; + Cursor cursor; + + int width, height; + bool visible; + + SystemState() { + display = 0; + window = 0; + width = 0; + height = 0; + visible = false; + } + ~SystemState() { + if (!display) + return; + + if (context) { + destroy(); + + glXMakeCurrent(display, None, 0); + glXDestroyContext(display, context); + } + + XCloseDisplay(display); + } + + bool init(int w, int h, const char *title) + { + display = XOpenDisplay(0); + if (!display) + return false; + XVisualInfo *vi = makeVisualInfo(display); + if (!vi) + return false; + + context = glXCreateContext(display, vi, 0, True); + if (!context) + return false; + + width = w; + height = h; + window = makeWindow(display, vi, width, height); + if (!window) + return false; + + XStoreName(display, window, title); + + { + XClassHint classHint; + classHint.res_name = const_cast(title); + char classname[] = "glwindow"; + classHint.res_class = classname; + XSetClassHint(display, window, &classHint); + XMapWindow(display, window); + } + + XEvent ev; + do { + XNextEvent(display, &ev); + } while (ev.type != MapNotify); + + visible = true; + delete_atom = XInternAtom(display, "WM_DELETE_WINDOW", True); + XSetWMProtocols(display, window, &delete_atom, 1); + + cursor = XCreateFontCursor(display, ' '); + return true; + } + + void destroy() + { + if (window) { + XUnmapWindow(display, window); + XDestroyWindow(display, window); + window = 0; + } + } + + void swap_buffers() + { + if (window) { + glXSwapBuffers(display, window); + } + } + + void set_title(const char *title) + { + if (window) { + XStoreName(display, window, title); + } + } + + bool make_current() + { + if (!window) + return false; + glXMakeCurrent(display, window, context); + return true; + } +}; + +GLWindow::GLWindow(int w, int h, const char *title) +{ + sys_state = new SystemState(); + sys_state->init(w, h, title); + all_windows.push_back(this); +} + +GLWindow::~GLWindow() +{ + for (size_t i=0; iwidth; +} + +int GLWindow::height() const +{ + return sys_state->height; +} + +bool GLWindow::visible() const +{ + return sys_state->visible; +} + +bool GLWindow::alive() const +{ + return 0 != sys_state->window; +} + +bool GLWindow::make_current() +{ + if (!sys_state->make_current()) + return false; + + active_context = this; + return true; +} + +void GLWindow::swap_buffers() +{ + sys_state->swap_buffers(); +} + +void GLWindow::set_size(int w, int h) +{ + if (!alive()) + return; + + XWindowChanges c; + c.width = w; + c.height = h; + XConfigureWindow(sys_state->display, + sys_state->window, + CWWidth | CWHeight, + &c); +} + +void GLWindow::set_position(int x, int y) +{ + if (!alive()) + return; + + XWindowChanges c; + c.x = x; + c.y = y; + XConfigureWindow(sys_state->display, + sys_state->window, + CWX | CWY, + &c); +} + +void GLWindow::set_title(const char* title) +{ + if (!alive()) + return; + + sys_state->set_title(title); +} + +static int convert_button_state(unsigned int state) +{ + int s = 0; + if (state & Button1Mask) s |= ButtonEvent::LEFT; + if (state & Button2Mask) s |= ButtonEvent::MIDDLE; + if (state & Button3Mask) s |= ButtonEvent::RIGHT; + if (state & ControlMask) s |= ButtonEvent::MODKEY_CTRL; + if (state & ShiftMask) s |= ButtonEvent::MODKEY_SHIFT; + return s; +} + +static int convert_button(int button) +{ + switch (button) { + case Button1: return ButtonEvent::LEFT; + case Button2: return ButtonEvent::MIDDLE; + case Button3: return ButtonEvent::RIGHT; + default: return 0; + } +} + +static int convert_keycode(int key) +{ + switch (key) { + case XK_BackSpace: return KeyCode::BACKSPACE; + case XK_Tab: return KeyCode::TAB; + case XK_Return: return KeyCode::ENTER; + case XK_Shift_L: return KeyCode::SHIFT; + case XK_Shift_R: return KeyCode::SHIFT; + case XK_Control_L: return KeyCode::CTRL; + case XK_Control_R: return KeyCode::CTRL; + case XK_Alt_L: return KeyCode::ALT; + case XK_Alt_R: return KeyCode::ALT; + case XK_Super_L: return KeyCode::SUPER; + case XK_Super_R: return KeyCode::SUPER; + case XK_Caps_Lock: return KeyCode::CAPSLOCK; + case XK_Delete: return KeyCode::DEL; + case XK_Escape: return KeyCode::ESCAPE; + case XK_Left: return KeyCode::LEFT; + case XK_Up: return KeyCode::UP; + case XK_Right: return KeyCode::RIGHT; + case XK_Down: return KeyCode::DOWN; + } + return key; +} + +void GLWindow::handle_events() +{ + if (!alive()) + return; + + XEvent event; + KeySym key; + const int text_size = 64; + char text[text_size]; + int len; + EventDispatcher dispatcher(handlers); + + int btn, state; + + while (XPending(sys_state->display)) + { + XNextEvent(sys_state->display, &event); + //std::cerr << "event " << event.type << std::endl; + switch (event.type) { + case ButtonPress: + state = convert_button_state(event.xbutton.state); + if (event.xbutton.button == Button4) { + // MouseWheel down + dispatcher.on_mouse_wheel(*this, state, event.xbutton.x, event.xbutton.y, 0, 1); + } else if (event.xbutton.button == Button5) { + // MouseWheel up + dispatcher.on_mouse_wheel(*this, state, event.xbutton.x, event.xbutton.y, 0, -1); + } else { + btn = convert_button(event.xbutton.button); + dispatcher.on_button_down(*this, btn, state, event.xbutton.x, event.xbutton.y); + } + break; + + case ButtonRelease: + if (event.xbutton.button == Button4 || + event.xbutton.button == Button5) + break; + btn = convert_button(event.xbutton.button); + state = convert_button_state(event.xbutton.state); + dispatcher.on_button_up(*this, btn, state, event.xbutton.x, event.xbutton.y); + break; + + case MotionNotify: + state = convert_button_state(event.xbutton.state); + dispatcher.on_mouse_move(*this, state, event.xmotion.x, event.xmotion.y); + break; + + case KeyPress: + len = XLookupString(&event.xkey, text, text_size-1, &key, 0); + dispatcher.on_key_down(*this, convert_keycode(key)); + if (len > 0) { + text[len] = 0; + dispatcher.on_text(*this, text, len); + } + break; + + case KeyRelease: + XLookupString(&event.xkey, 0, 0, &key, 0); + dispatcher.on_key_up(*this, convert_keycode(key)); + break; + + case ConfigureNotify: + sys_state->width = event.xconfigure.width; + sys_state->height = event.xconfigure.height; + dispatcher.on_resize(*this, event.xconfigure.x, event.xconfigure.y, + sys_state->width, sys_state->height); + break; + + case VisibilityNotify: + if (event.xvisibility.state == VisibilityFullyObscured) + sys_state->visible = false; + else + sys_state->visible = true; + break; + + case DestroyNotify: + //std::cerr << "DestroyNotify" << std::endl; + //sys_state->window = 0; + break; + + case Expose: + //std::cerr << "Expose" << std::endl; + break; + + case ClientMessage: + if (event.xclient.data.l[0] == (int)sys_state->delete_atom) { + if (!dispatcher.on_close(*this)) + destroy(); + } + break; + + default: + break; + } + } +} + +void GLWindow::destroy() +{ + sys_state->destroy(); +} diff --git a/mediamodule/examples/glViewer/glwindow_x11.cpp:Zone.Identifier b/mediamodule/examples/glViewer/glwindow_x11.cpp:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/glViewer/scenewindow.cpp b/mediamodule/examples/glViewer/scenewindow.cpp new file mode 100644 index 00000000..2b6e8546 --- /dev/null +++ b/mediamodule/examples/glViewer/scenewindow.cpp @@ -0,0 +1,181 @@ +// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow + +#include "scenewindow.hpp" +#include +#include +#include + +using namespace glwindow; + +SceneWindow::SceneWindow(int width, int height, const char *title) + : win(width, height, title) +{ + dragging = false; + drawing = false; + win.add_handler(this); +} + +SceneWindow::~SceneWindow() +{ +} + +void SceneWindow::update() +{ + win.handle_events(); +} + +SceneWindow::Viewpoint::Viewpoint() +{ + target[0] = -0.05; + target[1] = -0.75; + target[2] = 0.; + azimuth = 0.; + elevation = 0.0; + distance = 8.0; +} + +static void set_viewpoint(const SceneWindow::Viewpoint &vp) +{ + const double RAD_TO_DEG = 180.0 / 3.141592653589793; + glTranslated(0,0,vp.distance); + glRotated(vp.elevation * RAD_TO_DEG, 1, 0, 0); + glRotated(vp.azimuth * RAD_TO_DEG, 0, 1, 0); + glTranslated(-vp.target[0], -vp.target[1], -vp.target[2]); +} + +bool SceneWindow::start_draw() +{ + if (!win.alive() || drawing) + return false; + + drawing = true; + + win.push_context(); + glPushAttrib(GL_COLOR_BUFFER_BIT | GL_CURRENT_BIT | GL_ENABLE_BIT); + + glViewport(0, 0, win.width(), win.height()); + double aspect = (double)win.width() / (double)std::max(win.height(),1); + + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + double znear = 0.01; + double zfar = 100.0; + double fy = 0.6 * znear; + double fx = aspect * fy; + glFrustum(-fx,fx,-fy,fy, znear, zfar); + + glMatrixMode(GL_MODELVIEW); + glLoadIdentity(); + glScaled(1, -1, -1); + + set_viewpoint(viewpoint); + + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + glEnable(GL_DEPTH_TEST); + glDepthFunc(GL_LEQUAL); + glDisable(GL_LIGHTING); + + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + + return true; +} + + +void SceneWindow::finish_draw() +{ + if (!drawing) + return; + + glPopAttrib(); + glFlush(); + win.swap_buffers(); + win.handle_events(); + + win.pop_context(); + drawing = false; +} + +bool SceneWindow::on_key_down(GLWindow& win, int key) +{ + return true; +} + +bool SceneWindow::on_button_down(GLWindow& win, int btn, int state, int x, int y) +{ + if (dragging) + return false; + + //std::cerr << "down " << btn << std::endl; + drag_btn = btn; + x0 = x; + y0 = y; + vp0 = viewpoint; + inv_w0 = 1.0 / win.width(); + inv_h0 = 1.0 / win.height(); + dragging = true; + + return true; +} + +bool SceneWindow::on_button_up(GLWindow& win, int btn, int state, int x, int y) +{ + //std::cerr << "up " << btn << std::endl; + dragging = false; + return true; +} + +bool SceneWindow::on_mouse_move(GLWindow& win, int state, int x, int y) +{ + int idx = x - x0; + int idy = y - y0; + double dx = idx * inv_w0; + double dy = idy * inv_w0; + + //std::cerr << dx << ", " << dy << std::endl; + + if (!dragging) + return false; + + if (drag_btn == ButtonEvent::LEFT) { + viewpoint.azimuth = vp0.azimuth - dx * 4.0; + viewpoint.elevation = vp0.elevation + dy * 4.0; + return true; + } else if (drag_btn == ButtonEvent::RIGHT) { + viewpoint.distance = ::exp(dy * 4.0) * vp0.distance; + return true; + } else if (drag_btn == ButtonEvent::MIDDLE) { + double sa = ::sin(-vp0.azimuth); + double ca = ::cos(-vp0.azimuth); + double se = ::sin(vp0.elevation); + double ce = ::cos(vp0.elevation); + + double tx = -idx * 0.003; + double ty = -idy * 0.003; + + double dtx = ca * tx - se*sa*ty; + double dty = ce * ty; + double dtz = -sa*tx - se*ca*ty; + double r = vp0.distance; + + viewpoint.target[0] = vp0.target[0] + r*dtx; + viewpoint.target[1] = vp0.target[1] + r*dty; + viewpoint.target[2] = vp0.target[2] + r*dtz; + return true; + } + + return false; +} + +bool SceneWindow::on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy) +{ + viewpoint.distance *= ::exp(dy * -0.08); + return true; +} + +bool SceneWindow::on_resize(GLWindow& win, int x, int y, int w, int h) +{ + return false; +} + diff --git a/mediamodule/examples/glViewer/scenewindow.cpp:Zone.Identifier b/mediamodule/examples/glViewer/scenewindow.cpp:Zone.Identifier new file mode 100644 index 00000000..e69de29b diff --git a/mediamodule/examples/glViewer/scenewindow.hpp b/mediamodule/examples/glViewer/scenewindow.hpp new file mode 100644 index 00000000..6984f1c1 --- /dev/null +++ b/mediamodule/examples/glViewer/scenewindow.hpp @@ -0,0 +1,49 @@ +// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow + +#pragma once + +#include "glwindow.hpp" + +namespace glwindow +{ + + class SceneWindow : public EventHandler + { + public: + + struct Viewpoint + { + double target[3]; + double azimuth, elevation, distance; + Viewpoint(); + }; + + SceneWindow(int width, int height, const char *title); + virtual ~SceneWindow(); + + void update(); + + bool start_draw(); + void finish_draw(); + + GLWindow win; + Viewpoint viewpoint; + + protected: + bool on_key_down(GLWindow& win, int key); + bool on_button_down(GLWindow& win, int btn, int state, int x, int y); + bool on_button_up(GLWindow& win, int btn, int state, int x, int y); + bool on_mouse_move(GLWindow& win, int state, int x, int y); + bool on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy); + bool on_resize(GLWindow& win, int x, int y, int w, int h); + + bool dragging; + int drag_btn; + int x0, y0; + double inv_w0, inv_h0; + Viewpoint vp0; + + bool drawing; + }; + +} diff --git 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