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/**
* @author Steven Lovegrove
* Copyright (C) 2010 Steven Lovegrove
* Imperial College London
**/
#include <pangolin/display/display.h>
#include <pangolin/display/view.h>
#include <pangolin/video/video_input.h>
#include <pangolin/gl/gl.h>
void SetGlFormat(GLint& glformat, GLenum& gltype, const pangolin::PixelFormat& fmt)
{
switch( fmt.channels) {
case 1: glformat = GL_LUMINANCE; break;
case 3: glformat = GL_RGB; break;
case 4: glformat = GL_RGBA; break;
default: throw std::runtime_error("Unable to display video format");
}
switch (fmt.channel_bits[0]) {
case 8: gltype = GL_UNSIGNED_BYTE; break;
case 16: gltype = GL_UNSIGNED_SHORT; break;
case 32: gltype = GL_FLOAT; break;
default: throw std::runtime_error("Unknown channel format");
}
}
void VideoSample(const std::string uri)
{
// Setup Video Source
pangolin::VideoInput video(uri);
const pangolin::PixelFormat vid_fmt = video.PixFormat();
const unsigned w = video.Width();
const unsigned h = video.Height();
// Work out appropriate GL channel and format options
GLint glformat;
GLenum gltype;
SetGlFormat(glformat, gltype, vid_fmt);
// Create OpenGL window
pangolin::CreateWindowAndBind("Main",w,h);
// Create viewport for video with fixed aspect
pangolin::View& vVideo = pangolin::Display("Video").SetAspect((float)w/h);
// OpenGl Texture for video frame.
pangolin::GlTexture texVideo(w,h,glformat,false,0,glformat,gltype);
unsigned char* img = new unsigned char[video.SizeBytes()];
for(int frame=0; !pangolin::ShouldQuit(); ++frame)
{
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
if( video.GrabNext(img,true) ) {
texVideo.Upload( img, glformat, gltype );
}
// Activate video viewport and render texture
vVideo.Activate();
texVideo.RenderToViewportFlipY();
// Swap back buffer with front and process window events
pangolin::FinishFrame();
}
delete[] img;
}
int main( int argc, char* argv[] )
{
std::string uris[] = {
"convert:[fmt=RGB24]//v4l:///dev/video0",
"convert:[fmt=RGB24]//v4l:///dev/video1",
"dc1394:[fps=30,dma=10,size=640x480,iso=400]//0",
"openni:[img1=rgb]//",
"test:[size=160x120,n=1,fmt=RGB24]//"
""
};
if( argc > 1 ) {
const std::string uri = std::string(argv[1]);
VideoSample(uri);
}else{
std::cout << "Usage : SimpleRecord [video-uri]" << std::endl << std::endl;
std::cout << "Where video-uri describes a stream or file resource, e.g." << std::endl;
std::cout << "\tfile:[realtime=1]///home/user/video/movie.pvn" << std::endl;
std::cout << "\tfile:///home/user/video/movie.avi" << std::endl;
std::cout << "\tfiles:///home/user/seqiemce/foo%03d.jpeg" << std::endl;
std::cout << "\tdc1394:[fmt=RGB24,size=640x480,fps=30,iso=400,dma=10]//0" << std::endl;
std::cout << "\tdc1394:[fmt=FORMAT7_1,size=640x480,pos=2+2,iso=400,dma=10]//0" << std::endl;
std::cout << "\tv4l:///dev/video0" << std::endl;
std::cout << "\tconvert:[fmt=RGB24]//v4l:///dev/video0" << std::endl;
std::cout << "\tmjpeg://http://127.0.0.1/?action=stream" << std::endl;
std::cout << "\topenni:[img1=rgb]//" << std::endl;
std::cout << std::endl;
// Try to open some video device
for(int i=0; !uris[i].empty(); ++i )
{
try{
std::cout << "Trying: " << uris[i] << std::endl;
VideoSample(uris[i]);
return 0;
}catch(const std::exception&) { }
}
}
return 0;
}
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