Fawkes API  Fawkes Development Version
image_drawer.cpp
00001 
00002 /***************************************************************************
00003  *  image_drawer.cpp - Skeleton Visualization GUI: image drawer
00004  *
00005  *  Created: Sat Mar 19 00:08:37 2011
00006  *  Copyright  2006-2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #include "image_drawer.h"
00024 
00025 #include <fvcams/camera.h>
00026 #include <fvutils/color/colorspaces.h>
00027 #include <fvutils/color/conversions.h>
00028 
00029 #include <cstdlib>
00030 #include <cstdio>
00031 #include <algorithm>
00032 #include <GL/glut.h>
00033 
00034 using namespace fawkes;
00035 using namespace firevision;
00036 
00037 /** @class SkelGuiImageDrawer "image_drawer.h"
00038  * Draw images from camera in texture.
00039  * Uses texture mapping to show an image acquired from a camera in the
00040  * background.
00041  * @author Tim Niemueller
00042  */
00043 
00044 /** Constructor.
00045  * @param cam camera to capture image with
00046  */
00047 SkelGuiImageDrawer::SkelGuiImageDrawer(firevision::Camera *cam)
00048   : SkelGuiTextureDrawer(cam->pixel_width(), cam->pixel_height())
00049 {
00050   __cam            = cam;
00051   __rgb_buf        = malloc_buffer(RGB, __width, __height);
00052 
00053 }
00054 
00055 /** Destructor. */
00056 SkelGuiImageDrawer::~SkelGuiImageDrawer()
00057 {
00058   free(__rgb_buf);
00059 }
00060 
00061 /** Fill texture. */
00062 void
00063 SkelGuiImageDrawer::fill_texture()
00064 {
00065   __cam->capture();
00066   convert(__cam->colorspace(), RGB, __cam->buffer(), __rgb_buf, __width, __height);
00067   copy_rgb_to_texture(__rgb_buf);
00068   __cam->dispose_buffer();
00069 }
00070