mirror of
https://github.com/storytold/artcraft.git
synced 2026-11-03 08:57:54 +00:00
move glium stuff, going to try grr
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Brandon Thomas committed
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commit
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4 files changed
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-230
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+32
@@ -351,6 +351,14 @@ name = "downcast-rs"
|
||||
version = "1.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "draw_state"
|
||||
version = "0.8.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"bitflags 1.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "either"
|
||||
version = "1.5.3"
|
||||
@@ -422,6 +430,26 @@ dependencies = [
|
||||
"mint 0.5.4 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "gfx"
|
||||
version = "0.18.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"draw_state 0.8.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"gfx_core 0.9.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"log 0.4.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "gfx_core"
|
||||
version = "0.9.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"bitflags 1.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"draw_state 0.8.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"log 0.4.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
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||||
|
||||
[[package]]
|
||||
name = "gif"
|
||||
version = "0.10.3"
|
||||
@@ -1221,6 +1249,7 @@ version = "0.0.0"
|
||||
dependencies = [
|
||||
"enum_primitive 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"genmesh 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"gfx 0.18.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"glium 0.27.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"image 0.23.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"k4a-sys 0.2.0",
|
||||
@@ -1518,6 +1547,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
"checksum dispatch 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "bd0c93bb4b0c6d9b77f4435b0ae98c24d17f1c45b2ff844c6151a07256ca923b"
|
||||
"checksum dlib 0.4.1 (registry+https://github.com/rust-lang/crates.io-index)" = "77e51249a9d823a4cb79e3eca6dcd756153e8ed0157b6c04775d04bf1b13b76a"
|
||||
"checksum downcast-rs 1.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "52ba6eb47c2131e784a38b726eb54c1e1484904f013e576a25354d0124161af6"
|
||||
"checksum draw_state 0.8.0 (registry+https://github.com/rust-lang/crates.io-index)" = "33cf9537e2d06891448799b96d5a8c8083e0e90522a7fdabe6ebf4f41d79d651"
|
||||
"checksum either 1.5.3 (registry+https://github.com/rust-lang/crates.io-index)" = "bb1f6b1ce1c140482ea30ddd3335fc0024ac7ee112895426e0a629a6c20adfe3"
|
||||
"checksum enum_primitive 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "be4551092f4d519593039259a9ed8daedf0da12e5109c5280338073eaeb81180"
|
||||
"checksum env_logger 0.7.1 (registry+https://github.com/rust-lang/crates.io-index)" = "44533bbbb3bb3c1fa17d9f2e4e38bbbaf8396ba82193c4cb1b6445d711445d36"
|
||||
@@ -1528,6 +1558,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
"checksum fuchsia-zircon 0.3.3 (registry+https://github.com/rust-lang/crates.io-index)" = "2e9763c69ebaae630ba35f74888db465e49e259ba1bc0eda7d06f4a067615d82"
|
||||
"checksum fuchsia-zircon-sys 0.3.3 (registry+https://github.com/rust-lang/crates.io-index)" = "3dcaa9ae7725d12cdb85b3ad99a434db70b468c09ded17e012d86b5c1010f7a7"
|
||||
"checksum genmesh 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)" = "a5fd00927c1c06051d7da1a933ee87cb9edc799c0657be5449f10cf658f35883"
|
||||
"checksum gfx 0.18.2 (registry+https://github.com/rust-lang/crates.io-index)" = "01de46f9508a5c259aef105f0bff760ceddca832ea9c87ce03d1923e22ee155b"
|
||||
"checksum gfx_core 0.9.2 (registry+https://github.com/rust-lang/crates.io-index)" = "75fbddaef2e12b4995900539d7209d947b988a3d87ee8737484d049b526e5441"
|
||||
"checksum gif 0.10.3 (registry+https://github.com/rust-lang/crates.io-index)" = "471d90201b3b223f3451cd4ad53e34295f16a1df17b1edf3736d47761c3981af"
|
||||
"checksum gl_generator 0.13.1 (registry+https://github.com/rust-lang/crates.io-index)" = "ca98bbde17256e02d17336a6bdb5a50f7d0ccacee502e191d3e3d0ec2f96f84a"
|
||||
"checksum gl_generator 0.14.0 (registry+https://github.com/rust-lang/crates.io-index)" = "1a95dfc23a2b4a9a2f5ab41d194f8bfda3cabec42af4e39f08c339eb2a0c124d"
|
||||
|
||||
+2
-1
@@ -11,7 +11,8 @@ path = "src/main.rs"
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[dependencies]
|
||||
enum_primitive = "0.1.1" # c wrapper ergonomics
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genmesh = "0.6.0" # for glium example
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glium="0.27.0"
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glium="0.27.0" # high-level OpenGL abstraction (*not* vanilla OpenGL)
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gfx = "0.18.2" # another high level OpenGL / multi-API abstraction?
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image = "0.23.2"
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k4a-sys = { path = "/home/bt/dev/3rd/k4a-sys" } # k4a-sys = "0.2.0"
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libc = "0.2.68"
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@@ -0,0 +1,269 @@
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use std::borrow::BorrowMut;
|
||||
use std::ffi::{c_void, CStr, CString};
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||||
use std::io::Cursor;
|
||||
use std::os::raw::c_char;
|
||||
use std::ptr;
|
||||
use std::slice;
|
||||
use std::sync::{Arc, PoisonError, RwLockReadGuard};
|
||||
use std::sync::Mutex;
|
||||
use std::sync::RwLock;
|
||||
use std::thread;
|
||||
use std::time::Duration;
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||||
|
||||
use glium::{Display, glutin, Surface};
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use glium::glutin::event::{Event, StartCause};
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use glium::glutin::event_loop::{ControlFlow, EventLoop};
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use glium::Texture2d;
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use glium::texture::RawImage2d;
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use glium::vertex::VertexBufferAny;
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use image::{DynamicImage, ImageFormat};
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||||
use image::flat::{FlatSamples, SampleLayout};
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||||
use image::GenericImage;
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||||
use image::ImageBuffer;
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use image::ImageError;
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||||
use image::Rgb;
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||||
use image::Rgba;
|
||||
use image::RgbaImage;
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||||
use image::RgbImage;
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||||
use libc::size_t;
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||||
use opencv::core;
|
||||
use opencv::highgui;
|
||||
use opencv::imgproc;
|
||||
use opencv::prelude::*;
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||||
|
||||
use conversion::TextureData2d;
|
||||
use handwritten_wrapper::*;
|
||||
use handwritten_wrapper_test;
|
||||
use k4a_sys_wrapper::Device;
|
||||
use k4a_sys_wrapper::device_get_installed_count;
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||||
use k4a_sys_wrapper::Image;
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use sensor_control::{capture_thread, grab_single_frame};
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||||
|
||||
pub struct TextureContainer {
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pub texture: Texture2d
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}
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pub fn run_glium() {
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let frame : Arc<Mutex<Option<TextureData2d>>> = Arc::new(Mutex::new(None));
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let frame2 = frame.clone();
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|
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thread::spawn(move || {
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capture_thread(frame2);
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||||
});
|
||||
|
||||
let event_loop = glutin::event_loop::EventLoop::new();
|
||||
let wb = glutin::window::WindowBuilder::new();
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let cb = glutin::ContextBuilder::new();
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let display = glium::Display::new(wb, cb, &event_loop).unwrap();
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let imageA = image::load(Cursor::new(&include_bytes!("../sneslogo.png")[..]),
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image::ImageFormat::Png).unwrap().to_rgba();
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let imageB = image::load(Cursor::new(&include_bytes!("../n64logo.png")[..]),
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image::ImageFormat::Png).unwrap().to_rgba();
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let imageA_dimensions = imageA.dimensions();
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let imageB_dimensions = imageB.dimensions();
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let imageA = glium::texture::RawImage2d::from_raw_rgba_reversed(&imageA.into_raw(), imageA_dimensions);
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let textureA = glium::texture::Texture2d::new(&display, imageA).unwrap();
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let imageB = glium::texture::RawImage2d::from_raw_rgba_reversed(&imageB.into_raw(), imageB_dimensions);
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let textureB = glium::texture::Texture2d::new(&display, imageB).unwrap();
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/*let frame_dimensions = frame_image.dimensions();
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let frame_image = glium::texture::RawImage2d::from_raw_rgba_reversed(&frame_image.into_raw(), frame_dimensions);
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let textureFrame = glium::texture::Texture2d::new(&display, frame_image).unwrap();*/
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#[derive(Copy, Clone)]
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struct Vertex {
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position: [f32; 2],
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tex_coords: [f32; 2],
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}
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implement_vertex!(Vertex, position, tex_coords);
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let vertex1 = Vertex { position: [-0.9, -0.5], tex_coords: [0.0, 0.0] };
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let vertex2 = Vertex { position: [ 0.0, 0.7], tex_coords: [0.0, 1.0] };
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let vertex3 = Vertex { position: [ 0.5, -0.25], tex_coords: [1.0, 1.0] };
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let vertex4 = Vertex { position: [ 0.75, -0.50], tex_coords: [1.0, 0.0] };
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let shape = vec![vertex1, vertex2, vertex3, vertex4];
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|
||||
let vertex_buffer = glium::VertexBuffer::new(&display, &shape).unwrap();
|
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let indices = glium::index::NoIndices(glium::index::PrimitiveType::TrianglesList);
|
||||
|
||||
let vertex_shader_src = r#"
|
||||
#version 140
|
||||
in vec2 position;
|
||||
in vec2 tex_coords;
|
||||
out vec2 v_tex_coords;
|
||||
uniform mat4 matrix;
|
||||
void main() {
|
||||
v_tex_coords = tex_coords;
|
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gl_Position = matrix * vec4(position, 0.0, 1.0);
|
||||
}
|
||||
"#;
|
||||
|
||||
let fragment_shader_src = r#"
|
||||
#version 140
|
||||
in vec2 v_tex_coords;
|
||||
out vec4 color;
|
||||
uniform sampler2D tex;
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||||
void main() {
|
||||
color = texture(tex, v_tex_coords);
|
||||
}
|
||||
"#;
|
||||
|
||||
let program = glium::Program::from_source(&display, vertex_shader_src, fragment_shader_src, None).unwrap();
|
||||
|
||||
let mut t = -0.5;
|
||||
let mut switchTexture = false;
|
||||
let mut useTexture = 0; // 0 for 'A', 1 for 'B'
|
||||
|
||||
let mut texture_data_2d : Option<TextureData2d> = None;
|
||||
let mut texture_container : Option<TextureContainer> = None;
|
||||
|
||||
event_loop.run(move |event, _, control_flow| {
|
||||
let next_frame_time = std::time::Instant::now() +
|
||||
std::time::Duration::from_nanos(16_666_667);
|
||||
*control_flow = glutin::event_loop::ControlFlow::WaitUntil(next_frame_time);
|
||||
|
||||
match event {
|
||||
glutin::event::Event::WindowEvent { event, .. } => match event {
|
||||
glutin::event::WindowEvent::CloseRequested => {
|
||||
*control_flow = glutin::event_loop::ControlFlow::Exit;
|
||||
return;
|
||||
},
|
||||
_ => return,
|
||||
},
|
||||
glutin::event::Event::NewEvents(cause) => match cause {
|
||||
glutin::event::StartCause::ResumeTimeReached { .. } => (),
|
||||
glutin::event::StartCause::Init => (),
|
||||
_ => return,
|
||||
},
|
||||
_ => return,
|
||||
}
|
||||
|
||||
// we update `t`
|
||||
t += 0.02;
|
||||
if t > 0.5 {
|
||||
t = -0.5;
|
||||
switchTexture = true;
|
||||
}
|
||||
|
||||
if switchTexture {
|
||||
useTexture = match useTexture {
|
||||
0 => 1,
|
||||
_ => 0,
|
||||
};
|
||||
switchTexture = false;
|
||||
}
|
||||
|
||||
let mut target = display.draw();
|
||||
target.clear_color(0.0, 0.0, 1.0, 1.0);
|
||||
|
||||
match frame.lock() {
|
||||
Ok(mut lock) => {
|
||||
let tex_data_2d = lock.take();
|
||||
|
||||
match tex_data_2d {
|
||||
None => {},
|
||||
Some(tex_data) => {
|
||||
let texture = glium::texture::Texture2d::new(&display, tex_data.raw_image).unwrap();
|
||||
|
||||
texture_container = Some(TextureContainer{
|
||||
texture,
|
||||
})
|
||||
},
|
||||
}
|
||||
},
|
||||
Err(_) => {},
|
||||
}
|
||||
|
||||
let texture_to_use: &Texture2d = texture_container
|
||||
.as_ref()
|
||||
.map(|c| &c.texture)
|
||||
.unwrap_or(&textureB);
|
||||
|
||||
let uniforms = uniform! {
|
||||
matrix: [
|
||||
[1.0, 0.0, 0.0, 0.0],
|
||||
[0.0, 1.0, 0.0, 0.0],
|
||||
[0.0, 0.0, 1.0, 0.0],
|
||||
[ t , 0.0, 0.0, 1.0f32],
|
||||
],
|
||||
tex: texture_to_use,
|
||||
};
|
||||
|
||||
target.draw(&vertex_buffer, &indices, &program, &uniforms,
|
||||
&Default::default()).unwrap();
|
||||
target.finish().unwrap();
|
||||
});
|
||||
}
|
||||
|
||||
pub fn run() {
|
||||
let installed_devices = device_get_installed_count();
|
||||
println!("Installed devices: {}", installed_devices);
|
||||
|
||||
let window_name = "output";
|
||||
highgui::named_window(window_name, 1).unwrap();
|
||||
|
||||
{
|
||||
let device = Device::open(0).unwrap();
|
||||
println!("Device: {:?}", device);
|
||||
let serial_number = device.get_serial_number().unwrap();
|
||||
println!("Device: {:?}", serial_number);
|
||||
|
||||
println!("Starting cameras...");
|
||||
device.start_cameras().unwrap();
|
||||
|
||||
|
||||
loop {
|
||||
let capture = device.get_capture(1000).ok().unwrap();
|
||||
let image = capture.get_depth_image().ok().unwrap();
|
||||
|
||||
let opencv_image = depth_to_opencv(&image).ok().unwrap();
|
||||
|
||||
highgui::imshow(window_name, &opencv_image).unwrap();
|
||||
if highgui::wait_key(10).unwrap() > 0 {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
device.stop_cameras();
|
||||
}
|
||||
|
||||
handwritten_wrapper_test::test_integration();
|
||||
}
|
||||
|
||||
/// Copied from k4a-sys
|
||||
pub fn color_to_opencv(mut image: Image) -> opencv::Result<Mat> {
|
||||
let with_alpha = unsafe {
|
||||
let stride = image.get_stride_bytes();
|
||||
Mat::new_rows_cols_with_data(
|
||||
image.get_height_pixels() as i32,
|
||||
image.get_width_pixels() as i32,
|
||||
core::CV_8UC4,
|
||||
&mut *(image.get_buffer() as *mut c_void),
|
||||
stride,
|
||||
)?
|
||||
};
|
||||
let mut no_alpha = Mat::default()?;
|
||||
imgproc::cvt_color(&with_alpha, &mut no_alpha, imgproc::COLOR_BGRA2BGR, 0)?;
|
||||
return Ok(no_alpha);
|
||||
}
|
||||
|
||||
/// Copied from k4a-sys
|
||||
pub fn depth_to_opencv(image: &Image) -> opencv::Result<Mat> {
|
||||
unsafe {
|
||||
let stride = image.get_stride_bytes();
|
||||
let mat = Mat::new_rows_cols_with_data(
|
||||
image.get_height_pixels() as i32,
|
||||
image.get_width_pixels() as i32,
|
||||
core::CV_16U,
|
||||
&mut *(image.get_buffer() as *mut c_void),
|
||||
stride,
|
||||
);
|
||||
mat
|
||||
}
|
||||
}
|
||||
+6
-229
@@ -16,15 +16,16 @@ use std::os::raw::c_char;
|
||||
use std::ptr;
|
||||
use std::slice;
|
||||
use std::sync::{Arc, PoisonError, RwLockReadGuard};
|
||||
use std::sync::Mutex;
|
||||
use std::sync::RwLock;
|
||||
use std::thread;
|
||||
use std::time::Duration;
|
||||
use std::sync::Mutex;
|
||||
|
||||
use glium::{Display, glutin, Surface};
|
||||
use glium::glutin::event::{Event, StartCause};
|
||||
use glium::glutin::event_loop::{ControlFlow, EventLoop};
|
||||
use glium::Texture2d;
|
||||
use glium::texture::RawImage2d;
|
||||
use glium::vertex::VertexBufferAny;
|
||||
use image::{DynamicImage, ImageFormat};
|
||||
use image::flat::{FlatSamples, SampleLayout};
|
||||
@@ -41,245 +42,21 @@ use opencv::highgui;
|
||||
use opencv::imgproc;
|
||||
use opencv::prelude::*;
|
||||
|
||||
use conversion::TextureData2d;
|
||||
use graphics_glium::run_glium;
|
||||
use handwritten_wrapper::*;
|
||||
use k4a_sys_wrapper::Device;
|
||||
use k4a_sys_wrapper::device_get_installed_count;
|
||||
use k4a_sys_wrapper::Image;
|
||||
use sensor_control::{capture_thread, grab_single_frame};
|
||||
use glium::texture::RawImage2d;
|
||||
use conversion::TextureData2d;
|
||||
|
||||
pub mod conversion;
|
||||
pub mod graphics_glium;
|
||||
pub mod handwritten_wrapper;
|
||||
pub mod handwritten_wrapper_test;
|
||||
pub mod k4a_sys_wrapper;
|
||||
pub mod sensor_control;
|
||||
|
||||
pub struct TextureContainer {
|
||||
pub texture: Texture2d
|
||||
}
|
||||
|
||||
pub fn main() {
|
||||
let frame : Arc<Mutex<Option<TextureData2d>>> = Arc::new(Mutex::new(None));
|
||||
let frame2 = frame.clone();
|
||||
|
||||
thread::spawn(move || {
|
||||
capture_thread(frame2);
|
||||
});
|
||||
|
||||
let event_loop = glutin::event_loop::EventLoop::new();
|
||||
let wb = glutin::window::WindowBuilder::new();
|
||||
let cb = glutin::ContextBuilder::new();
|
||||
let display = glium::Display::new(wb, cb, &event_loop).unwrap();
|
||||
|
||||
let imageA = image::load(Cursor::new(&include_bytes!("../sneslogo.png")[..]),
|
||||
image::ImageFormat::Png).unwrap().to_rgba();
|
||||
|
||||
let imageB = image::load(Cursor::new(&include_bytes!("../n64logo.png")[..]),
|
||||
image::ImageFormat::Png).unwrap().to_rgba();
|
||||
|
||||
let imageA_dimensions = imageA.dimensions();
|
||||
let imageB_dimensions = imageB.dimensions();
|
||||
|
||||
let imageA = glium::texture::RawImage2d::from_raw_rgba_reversed(&imageA.into_raw(), imageA_dimensions);
|
||||
let textureA = glium::texture::Texture2d::new(&display, imageA).unwrap();
|
||||
|
||||
let imageB = glium::texture::RawImage2d::from_raw_rgba_reversed(&imageB.into_raw(), imageB_dimensions);
|
||||
let textureB = glium::texture::Texture2d::new(&display, imageB).unwrap();
|
||||
|
||||
/*let frame_dimensions = frame_image.dimensions();
|
||||
let frame_image = glium::texture::RawImage2d::from_raw_rgba_reversed(&frame_image.into_raw(), frame_dimensions);
|
||||
let textureFrame = glium::texture::Texture2d::new(&display, frame_image).unwrap();*/
|
||||
|
||||
#[derive(Copy, Clone)]
|
||||
struct Vertex {
|
||||
position: [f32; 2],
|
||||
tex_coords: [f32; 2],
|
||||
}
|
||||
|
||||
implement_vertex!(Vertex, position, tex_coords);
|
||||
|
||||
let vertex1 = Vertex { position: [-0.9, -0.5], tex_coords: [0.0, 0.0] };
|
||||
let vertex2 = Vertex { position: [ 0.0, 0.7], tex_coords: [0.0, 1.0] };
|
||||
let vertex3 = Vertex { position: [ 0.5, -0.25], tex_coords: [1.0, 1.0] };
|
||||
let vertex4 = Vertex { position: [ 0.75, -0.50], tex_coords: [1.0, 0.0] };
|
||||
let shape = vec![vertex1, vertex2, vertex3, vertex4];
|
||||
|
||||
let vertex_buffer = glium::VertexBuffer::new(&display, &shape).unwrap();
|
||||
let indices = glium::index::NoIndices(glium::index::PrimitiveType::TrianglesList);
|
||||
|
||||
let vertex_shader_src = r#"
|
||||
#version 140
|
||||
in vec2 position;
|
||||
in vec2 tex_coords;
|
||||
out vec2 v_tex_coords;
|
||||
uniform mat4 matrix;
|
||||
void main() {
|
||||
v_tex_coords = tex_coords;
|
||||
gl_Position = matrix * vec4(position, 0.0, 1.0);
|
||||
}
|
||||
"#;
|
||||
|
||||
let fragment_shader_src = r#"
|
||||
#version 140
|
||||
in vec2 v_tex_coords;
|
||||
out vec4 color;
|
||||
uniform sampler2D tex;
|
||||
void main() {
|
||||
color = texture(tex, v_tex_coords);
|
||||
}
|
||||
"#;
|
||||
|
||||
let program = glium::Program::from_source(&display, vertex_shader_src, fragment_shader_src, None).unwrap();
|
||||
|
||||
let mut t = -0.5;
|
||||
let mut switchTexture = false;
|
||||
let mut useTexture = 0; // 0 for 'A', 1 for 'B'
|
||||
|
||||
let mut texture_data_2d : Option<TextureData2d> = None;
|
||||
let mut texture_container : Option<TextureContainer> = None;
|
||||
|
||||
event_loop.run(move |event, _, control_flow| {
|
||||
let next_frame_time = std::time::Instant::now() +
|
||||
std::time::Duration::from_nanos(16_666_667);
|
||||
*control_flow = glutin::event_loop::ControlFlow::WaitUntil(next_frame_time);
|
||||
|
||||
match event {
|
||||
glutin::event::Event::WindowEvent { event, .. } => match event {
|
||||
glutin::event::WindowEvent::CloseRequested => {
|
||||
*control_flow = glutin::event_loop::ControlFlow::Exit;
|
||||
return;
|
||||
},
|
||||
_ => return,
|
||||
},
|
||||
glutin::event::Event::NewEvents(cause) => match cause {
|
||||
glutin::event::StartCause::ResumeTimeReached { .. } => (),
|
||||
glutin::event::StartCause::Init => (),
|
||||
_ => return,
|
||||
},
|
||||
_ => return,
|
||||
}
|
||||
|
||||
// we update `t`
|
||||
t += 0.02;
|
||||
if t > 0.5 {
|
||||
t = -0.5;
|
||||
switchTexture = true;
|
||||
}
|
||||
|
||||
if switchTexture {
|
||||
useTexture = match useTexture {
|
||||
0 => 1,
|
||||
_ => 0,
|
||||
};
|
||||
switchTexture = false;
|
||||
}
|
||||
|
||||
let mut target = display.draw();
|
||||
target.clear_color(0.0, 0.0, 1.0, 1.0);
|
||||
|
||||
match frame.lock() {
|
||||
Ok(mut lock) => {
|
||||
let tex_data_2d = lock.take();
|
||||
|
||||
match tex_data_2d {
|
||||
None => {},
|
||||
Some(tex_data) => {
|
||||
let texture = glium::texture::Texture2d::new(&display, tex_data.raw_image).unwrap();
|
||||
|
||||
texture_container = Some(TextureContainer{
|
||||
texture,
|
||||
})
|
||||
},
|
||||
}
|
||||
},
|
||||
Err(_) => {},
|
||||
}
|
||||
|
||||
let texture_to_use: &Texture2d = texture_container
|
||||
.as_ref()
|
||||
.map(|c| &c.texture)
|
||||
.unwrap_or(&textureB);
|
||||
|
||||
let uniforms = uniform! {
|
||||
matrix: [
|
||||
[1.0, 0.0, 0.0, 0.0],
|
||||
[0.0, 1.0, 0.0, 0.0],
|
||||
[0.0, 0.0, 1.0, 0.0],
|
||||
[ t , 0.0, 0.0, 1.0f32],
|
||||
],
|
||||
tex: texture_to_use,
|
||||
};
|
||||
|
||||
target.draw(&vertex_buffer, &indices, &program, &uniforms,
|
||||
&Default::default()).unwrap();
|
||||
target.finish().unwrap();
|
||||
});
|
||||
}
|
||||
|
||||
pub fn run() {
|
||||
let installed_devices = device_get_installed_count();
|
||||
println!("Installed devices: {}", installed_devices);
|
||||
|
||||
let window_name = "output";
|
||||
highgui::named_window(window_name, 1).unwrap();
|
||||
|
||||
{
|
||||
let device = Device::open(0).unwrap();
|
||||
println!("Device: {:?}", device);
|
||||
let serial_number = device.get_serial_number().unwrap();
|
||||
println!("Device: {:?}", serial_number);
|
||||
|
||||
println!("Starting cameras...");
|
||||
device.start_cameras().unwrap();
|
||||
|
||||
|
||||
loop {
|
||||
let capture = device.get_capture(1000).ok().unwrap();
|
||||
let image = capture.get_depth_image().ok().unwrap();
|
||||
|
||||
let opencv_image = depth_to_opencv(&image).ok().unwrap();
|
||||
|
||||
highgui::imshow(window_name, &opencv_image).unwrap();
|
||||
if highgui::wait_key(10).unwrap() > 0 {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
device.stop_cameras();
|
||||
}
|
||||
|
||||
handwritten_wrapper_test::test_integration();
|
||||
}
|
||||
|
||||
/// Copied from k4a-sys
|
||||
pub fn color_to_opencv(mut image: Image) -> opencv::Result<Mat> {
|
||||
let with_alpha = unsafe {
|
||||
let stride = image.get_stride_bytes();
|
||||
Mat::new_rows_cols_with_data(
|
||||
image.get_height_pixels() as i32,
|
||||
image.get_width_pixels() as i32,
|
||||
core::CV_8UC4,
|
||||
&mut *(image.get_buffer() as *mut c_void),
|
||||
stride,
|
||||
)?
|
||||
};
|
||||
let mut no_alpha = Mat::default()?;
|
||||
imgproc::cvt_color(&with_alpha, &mut no_alpha, imgproc::COLOR_BGRA2BGR, 0)?;
|
||||
return Ok(no_alpha);
|
||||
}
|
||||
|
||||
/// Copied from k4a-sys
|
||||
pub fn depth_to_opencv(image: &Image) -> opencv::Result<Mat> {
|
||||
unsafe {
|
||||
let stride = image.get_stride_bytes();
|
||||
let mat = Mat::new_rows_cols_with_data(
|
||||
image.get_height_pixels() as i32,
|
||||
image.get_width_pixels() as i32,
|
||||
core::CV_16U,
|
||||
&mut *(image.get_buffer() as *mut c_void),
|
||||
stride,
|
||||
);
|
||||
mat
|
||||
}
|
||||
run_glium();
|
||||
}
|
||||
Reference in new issue
Block a user