ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / Examples / Linux / Protocol / video.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/Linux/Protocol/video.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/Linux/Protocol/video.c
new file mode 100644 (file)
index 0000000..113cc3b
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/Linux/Protocol/video.c
@@ -0,0 +1,92 @@
+/*
+ * AR Drone demo
+ *
+ * OpenGL video rendering
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+#include <float.h>
+#include <assert.h>
+
+#include <GLES/gl.h>
+#include <GLES/glext.h>
+#include "app.h"
+
+static uint8_t    *pixbuf = NULL;
+static GLuint      texture;
+
+static long otick = 0;
+
+void video_init(void)
+{
+    int tex_width, tex_height;
+    GLint crop[4] = { VIDEO_WIDTH, 0, -VIDEO_WIDTH, VIDEO_HEIGHT };
+
+    INFO("initializing OpenGL video rendering...\n");
+
+    // FIXME: this should be computed (smallest power of 2 > dimension)
+    tex_width = 256;
+    tex_height = 256;
+    otick = 0;
+
+    if (!pixbuf) {
+        pixbuf = malloc(tex_width * tex_height * 2);
+        assert(pixbuf);
+        memcpy(pixbuf, default_image, VIDEO_WIDTH*VIDEO_HEIGHT*2);
+    }
+
+    glEnable(GL_TEXTURE_2D);
+    glTexEnvx(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
+    glDeleteTextures(1, &texture);
+    glGenTextures(1, &texture);
+    glBindTexture(GL_TEXTURE_2D, texture);
+    // Call glTexImage2D only once, and use glTexSubImage2D later
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, tex_width, tex_height, 0, GL_RGB,
+                 GL_UNSIGNED_SHORT_5_6_5, pixbuf);
+    glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_CROP_RECT_OES, crop);
+    // use NEAREST instead of LINEAR for faster (but uglier) results
+    glTexParameterx(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameterx(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    glTexParameterx(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+    glTexParameterx(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+    glTexEnvx(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
+    glDisable(GL_BLEND);
+    glDisable(GL_DITHER);
+    glDisable(GL_DEPTH_TEST);
+    glDepthMask(GL_FALSE);
+    glDisable(GL_CULL_FACE);
+    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
+    glShadeModel(GL_FLAT);
+    glClear(GL_COLOR_BUFFER_BIT);
+}
+
+// Called from the app framework.
+void video_deinit()
+{
+    INFO("terminating OpenGL video rendering...\n");
+    //glDeleteTextures(1, &texture);
+    if (pixbuf) {
+        free(pixbuf);
+        pixbuf = NULL;
+    }
+}
+
+void video_render(long tick, int width, int height)
+{
+       static int num = 0;
+
+    glBindTexture(GL_TEXTURE_2D, texture);
+
+       if (num_picture_decoded != num) {
+        /* a new frame is available, update texture */
+        glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, VIDEO_WIDTH,VIDEO_HEIGHT,
+                        GL_RGB, GL_UNSIGNED_SHORT_5_6_5, picture_buf);
+               num = num_picture_decoded;
+    }
+    /* and draw it on the screen */
+    glDrawTexiOES(0, 0, 0, width, height);
+}
+