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path: root/2005/i/robert/src/ovision/ui/adjust.cc
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#include <GL/glut.h>    // Header File For The GLUT Library
#include <GL/gl.h>      // Header File For The OpenGL32 Library
#include <GL/glu.h>     // Header File For The GLu32 Library
#include <iostream>  

#include <unistd.h>
#include <fcntl.h>
#include <signal.h>

#include "adjust.hh"
#include "comm.hh"

using namespace std;

#define IMG_WIDTH 	360
#define IMG_HEIGHT 	296
#define WIDTH 1076
#define HEIGHT 591

int window;
Comm *comm;

int point[NB_POINTS_UI][2] = {{-1,-1},{-1,-1},{-1,-1},{-1,-1},{-1,-1}};
int width=538; int height=395;

int* getPpoint()
{
    return (int*)point;
}


/// Sortie du programme
void 
leave (int numSignal)
{
    exit(0);
}


/// Sortie du programme anormal
void
tooLate(int numSignal)
{
    // Affichage d'un message d'erreur
    cerr << "tooLate : Temps d'attente FIFO depasse\n";
    leave(-1);
}


/// Lecture du fifo et execution de la commande
void
executeUiCmds(int numSignal)
{
    // Reassignement du signal handler
    signal(SIGUSR1, executeUiCmds);

    char buffer[50];

    // On test si le fifo a ete initialiser
    if (numSignal == SIGUSR2)
      {
	// Permet l'envoie du message d'initialisation
	strcpy(buffer, "i\n");
      }
    else
      {
	// Timer
	signal(ALARM, tooLate);
	alarm(5);

	// Lecture du FIFO
	if (!read (comm->fifo, buffer, 50))
	  {
	    cerr << "ReadUicmds : Error FIFO is empty" << endl;
	    return;
	  }
	
	alarm(0);
      }

    // Parse de la commande recue
    comm->executeUiCmds(buffer);
    
    // Envoyer un signal de r�ponse � UI
    kill(comm->uiPid, SIGUSR1);
}


/// Chargement d'une texture a partir de donnees RGB
unsigned int 
loadImage(int width, int height, unsigned char *data, unsigned int lastTex) 
{
    GLuint tex;

    if (glIsTexture(lastTex)) glDeleteTextures(1, &lastTex);

    
    // Mode de chargement des donnees
    glPixelStorei (GL_UNPACK_ALIGNMENT, 1);
    
    // Creer une id pour stocker l'image
    glGenTextures(1, &tex);
    glBindTexture(GL_TEXTURE_2D, tex);

    // Stocke l'image
    //glTexImage2D(GL_TEXTURE_2D, 0, 3, width, height, 0, GL_RGB, GL_UNSIGNED_BYTE, data);
    gluBuild2DMipmaps(GL_TEXTURE_2D, 3, width, height, GL_RGB, GL_UNSIGNED_BYTE, data);
    
    // Config des parametres
    glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
    glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
   
    // Retourne l'id de l'image
    return tex;
}


/// Initialisation des fonctions OpenGL
void 
initGL(int width, int height)	       
{
    // Initialisation du mode d'affichage
    glClearColor(0.0f, 0.0f, 0.0f, 0.0f);	
    
    // Mode de chargement des donnees
    glPixelStorei (GL_UNPACK_ALIGNMENT, 1);
    glShadeModel(GL_FLAT);	
    glEnable(GL_TEXTURE_2D);


    // Remise a zero de la matrice de projection
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();		

    // Plan de projection en 2D
    glOrtho(0.0, WIDTH, 0.0, HEIGHT, -1.0, 1.0);
    glMatrixMode(GL_MODELVIEW);

    glPointSize(4.0f);
}



/// Redimenssionement d'une fenetre
void
reSizeGLScene(int w, int h)
{
    // Evite div par 0
    if (height==0) h=1;

    height = h;
    width = w;

    // Initialise le point de vue  
    glViewport(0, 0, w, h);
    glMatrixMode(GL_PROJECTION);

    // Remise a zero et mode 2D
    glLoadIdentity();
    glOrtho(0.0, WIDTH, 0.0, HEIGHT, -1.0, 1.0);
    glMatrixMode(GL_MODELVIEW);

}


/// Affiche une image
/// @param texId numero de la texture a afficher
void
drawImage(GLuint texId) 
{
    int wMin, wMax;
    int hMin, hMax;
   
    // Selection de l'image
    glBindTexture(GL_TEXTURE_2D, comm->getTex ()[texId]);

    // Calcul des coordonnees de l'image
    wMin = BORDER+(texId%3)*(352+BORDER);
    wMax = 352+BORDER+(texId%3)*(352+BORDER);
    hMin = HEIGHT-288-BORDER-(int)(texId/3)*(288+BORDER);
    hMax = HEIGHT-BORDER-(int)(texId/3)*(288+BORDER);

    // Dessine un carre contenant l'image	
    glBegin(GL_QUADS);
    	glNormal3f( 0.0f, 0.0f, 1.0f);
	glColor3f(1.0f,1.0f,1.0f);
	glTexCoord2f(0.0f, 0.0f); glVertex3f(wMax, hMax, -1.0f);
	glTexCoord2f(1.0f, 0.0f); glVertex3f(wMin, hMax, -1.0f);
	glTexCoord2f(1.0f, 1.0f); glVertex3f(wMin, hMin, -1.0f);
	glTexCoord2f(0.0f, 1.0f); glVertex3f(wMax, hMin, -1.0f);
    glEnd();
}


/// Dessine les images a l'ecran
void 
drawGLScene()
{
    // Efface le buffer
    glClear(GL_COLOR_BUFFER_BIT);

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);

    // Affiche toutes les images
    for (int i=0; i<NBIMG; i++)
	drawImage(i);


   
    glColor3ub(0,0,255);
    glDisable(GL_TEXTURE_2D);
    // Dessine points de calibration de la distance
    for (int i=0; i<NB_POINTS_UI; i++)
      {
	if (point[i][0] >= 0)
/*	x = (int)((double)WIDTH/width * x);
	y = height - y;
	y = (int)((double)HEIGHT/height * y);*/
	    glBegin(GL_POINTS);
		glVertex3f( (float)((point[i][0] + BORDER) * (double)352 / IMG_WIDTH), 
			    (float)((point[i][1] + BORDER) * (double)288 / IMG_HEIGHT),
			   -0.9f);
		glVertex3f( (float)((point[i][0] + BORDER) * (double)352 / IMG_WIDTH), 
			    (float)((point[i][1] + BORDER) * (double)288 / IMG_HEIGHT + 288 + BORDER),
			   -0.9f);
	    glEnd();

      }
    glEnable(GL_TEXTURE_2D);


    glFlush();

    // Affiche le buffer suivant
    glutSwapBuffers();
}


/// Interruptions du clavier
void 
keyPressed(unsigned char key, int x, int y) 
{
    // Touche Echap
    if (key == 27) 
      {
	glutDestroyWindow(window); 
	leave(0);                  
      }
    if (key == 'r')
	comm->reloadConfig ("rc/vision.conf");
}

/// Gestion souris
void
mouseFunc(int button, int state, int x, int y)
{
    if (state == GLUT_UP)
      {
	// On calcul les coordonnees de l'image
	x = (int)((double)WIDTH/width * x);
	y = (int)((double)HEIGHT/height * y);
	int imgX = -1;
	int imgY = -1;
	if ((x < 352+BORDER) && (y < BORDER+288) && (x > BORDER) && (y > BORDER))
	  {
	    imgX = x * IMG_WIDTH / 352 - BORDER;
	    imgY = y * IMG_HEIGHT / 288 - BORDER;

	  }

	if ((x < 352+BORDER) && (y < HEIGHT-BORDER) && (x > BORDER) && (y > 2*BORDER+288))
	  {
	    imgX = x * IMG_WIDTH / 352 - BORDER;
	    imgY = y * IMG_HEIGHT / 288 - 3 * BORDER - 288;
	  }	

	cout << "x " << imgX << "    y " << imgY << endl;
	int i=0;

	if (imgX >= 0)
	  {
	    imgY = IMG_HEIGHT - imgY;
	    
	    // Ajout de point
	    if (button == GLUT_LEFT_BUTTON)
	      {
		while(i < NB_POINTS_UI)
		  {
		    if (point[i][0] < 0)
		      {
			point[i][0] = imgX;
			point[i][1] = imgY;
			i=NB_POINTS_UI+3;
			cout << "Point ajoute: " << imgX << ", " << imgY << endl;
		      }
		    i++;
		  }
		if (i == NB_POINTS_UI+3) cout << "MouseFunc : 3 points sont deja selectionnes" << endl;
	      }

	    // Suppression de point
	    else if (button == GLUT_RIGHT_BUTTON)
	      {
		while(i<NB_POINTS_UI)
		  {
		    if ((abs(point[i][0] - imgX) < 5) && (abs(point[i][1] - imgY) < 5))
		      {
			point[i][0] = -1;
			point[i][1] = -1;
			i=NB_POINTS_UI+3;
		      }
		    i++;
		  }
		if (i == NB_POINTS_UI+3) cout << "MouseFunc : 0 point selectionne" << endl;
	      }
	  }
	drawGLScene();
      }
}

/// Fonction principale
int
main(int argc, char **argv) 
{
    // Initialisation de l'OpenGL    
    glutInit(&argc, argv);  
    glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE);  
    glutInitWindowSize(width, height);  
    glutInitWindowPosition(0, 0);  
    window = glutCreateWindow("adjust - APBteam");  
    glutDisplayFunc(&drawGLScene);  
    glutReshapeFunc(&reSizeGLScene);
    glutKeyboardFunc(&keyPressed);
    glutMouseFunc(&mouseFunc);
    initGL(WIDTH, HEIGHT);

    // Init de comm
    comm = new Comm("shots/test.rgb");
    comm->init ();
    
    //Initialisation des signal handlers
    signal(SIGUSR1, executeUiCmds);
    signal(SIGUSR2, executeUiCmds);
    signal(SIGQUIT, leave);
    
    // Boucle principale  
    glutMainLoop(); 

    return 1;
}