IQ.Pilot Release Commit @ 0798119
This commit is contained in:
IQ.Lvbs history cleanup
261
tools/cabana/cameraview.cc
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261
tools/cabana/cameraview.cc
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#include "tools/cabana/cameraview.h"
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#ifdef __APPLE__
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#include <OpenGL/gl3.h>
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#else
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#include <GLES3/gl3.h>
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#endif
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#include <QApplication>
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namespace {
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const char frame_vertex_shader[] =
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#ifdef __APPLE__
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"#version 330 core\n"
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#else
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"#version 300 es\n"
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#endif
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"layout(location = 0) in vec4 aPosition;\n"
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"layout(location = 1) in vec2 aTexCoord;\n"
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"uniform mat4 uTransform;\n"
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"out vec2 vTexCoord;\n"
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"void main() {\n"
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" gl_Position = uTransform * aPosition;\n"
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" vTexCoord = aTexCoord;\n"
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"}\n";
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const char frame_fragment_shader[] =
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#ifdef __APPLE__
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"#version 330 core\n"
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#else
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"#version 300 es\n"
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"precision mediump float;\n"
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#endif
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"uniform sampler2D uTextureY;\n"
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"uniform sampler2D uTextureUV;\n"
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"in vec2 vTexCoord;\n"
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"out vec4 colorOut;\n"
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"void main() {\n"
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" float y = texture(uTextureY, vTexCoord).r;\n"
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" vec2 uv = texture(uTextureUV, vTexCoord).rg - 0.5;\n"
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" float r = y + 1.402 * uv.y;\n"
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" float g = y - 0.344 * uv.x - 0.714 * uv.y;\n"
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" float b = y + 1.772 * uv.x;\n"
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" colorOut = vec4(r, g, b, 1.0);\n"
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"}\n";
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} // namespace
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CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) :
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stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) {
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setAttribute(Qt::WA_OpaquePaintEvent);
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qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
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QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
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QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
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QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
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QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread);
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}
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CameraWidget::~CameraWidget() {
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makeCurrent();
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stopVipcThread();
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if (isValid()) {
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glDeleteVertexArrays(1, &frame_vao);
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glDeleteBuffers(1, &frame_vbo);
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glDeleteBuffers(1, &frame_ibo);
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glDeleteTextures(2, textures);
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shader_program_.reset();
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}
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doneCurrent();
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}
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void CameraWidget::initializeGL() {
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initializeOpenGLFunctions();
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shader_program_ = std::make_unique<QOpenGLShaderProgram>(context());
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shader_program_->addShaderFromSourceCode(QOpenGLShader::Vertex, frame_vertex_shader);
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shader_program_->addShaderFromSourceCode(QOpenGLShader::Fragment, frame_fragment_shader);
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shader_program_->link();
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GLint frame_pos_loc = shader_program_->attributeLocation("aPosition");
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GLint frame_texcoord_loc = shader_program_->attributeLocation("aTexCoord");
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auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
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const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
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const float frame_coords[4][4] = {
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{-1.0, -1.0, x2, y1}, // bl
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{-1.0, 1.0, x2, y2}, // tl
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{ 1.0, 1.0, x1, y2}, // tr
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{ 1.0, -1.0, x1, y1}, // br
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};
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glGenVertexArrays(1, &frame_vao);
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glBindVertexArray(frame_vao);
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glGenBuffers(1, &frame_vbo);
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glBindBuffer(GL_ARRAY_BUFFER, frame_vbo);
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glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW);
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glEnableVertexAttribArray(frame_pos_loc);
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glVertexAttribPointer(frame_pos_loc, 2, GL_FLOAT, GL_FALSE,
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sizeof(frame_coords[0]), (const void *)0);
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glEnableVertexAttribArray(frame_texcoord_loc);
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glVertexAttribPointer(frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE,
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sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2));
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glGenBuffers(1, &frame_ibo);
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glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, frame_ibo);
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glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW);
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glBindBuffer(GL_ARRAY_BUFFER, 0);
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glBindVertexArray(0);
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glGenTextures(2, textures);
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shader_program_->bind();
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shader_program_->setUniformValue("uTextureY", 0);
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shader_program_->setUniformValue("uTextureUV", 1);
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shader_program_->release();
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}
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void CameraWidget::showEvent(QShowEvent *event) {
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if (!vipc_thread) {
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clearFrames();
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vipc_thread = new QThread();
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connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
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connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
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vipc_thread->start();
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}
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}
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void CameraWidget::stopVipcThread() {
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makeCurrent();
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if (vipc_thread) {
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vipc_thread->requestInterruption();
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vipc_thread->quit();
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vipc_thread->wait();
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vipc_thread = nullptr;
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}
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}
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void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
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available_streams = streams;
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}
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void CameraWidget::paintGL() {
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glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
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glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
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std::lock_guard lk(frame_lock);
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if (!current_frame_) return;
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// Scale for aspect ratio
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float widget_ratio = (float)width() / height();
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float frame_ratio = (float)stream_width / stream_height;
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float scale_x = std::min(frame_ratio / widget_ratio, 1.0f);
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float scale_y = std::min(widget_ratio / frame_ratio, 1.0f);
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glViewport(0, 0, width() * devicePixelRatio(), height() * devicePixelRatio());
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shader_program_->bind();
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QMatrix4x4 transform;
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transform.scale(scale_x, scale_y, 1.0f);
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shader_program_->setUniformValue("uTransform", transform);
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glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
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glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
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glActiveTexture(GL_TEXTURE0);
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glBindTexture(GL_TEXTURE_2D, textures[0]);
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glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, current_frame_->y);
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glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2);
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glActiveTexture(GL_TEXTURE1);
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glBindTexture(GL_TEXTURE_2D, textures[1]);
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glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, current_frame_->uv);
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glBindVertexArray(frame_vao);
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glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, nullptr);
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glBindVertexArray(0);
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// Reset both texture units
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glActiveTexture(GL_TEXTURE1);
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glBindTexture(GL_TEXTURE_2D, 0);
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glActiveTexture(GL_TEXTURE0);
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glBindTexture(GL_TEXTURE_2D, 0);
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glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
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glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
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shader_program_->release();
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}
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void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
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makeCurrent();
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stream_width = vipc_client->buffers[0].width;
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stream_height = vipc_client->buffers[0].height;
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stream_stride = vipc_client->buffers[0].stride;
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glBindTexture(GL_TEXTURE_2D, textures[0]);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
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glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_R8, stream_width, stream_height, 0, GL_RED, GL_UNSIGNED_BYTE, nullptr);
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assert(glGetError() == GL_NO_ERROR);
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glBindTexture(GL_TEXTURE_2D, textures[1]);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
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glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr);
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assert(glGetError() == GL_NO_ERROR);
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}
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void CameraWidget::vipcFrameReceived() {
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update();
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}
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void CameraWidget::vipcThread() {
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VisionStreamType cur_stream = requested_stream_type;
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std::unique_ptr<VisionIpcClient> vipc_client;
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VisionIpcBufExtra frame_meta = {};
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while (!QThread::currentThread()->isInterruptionRequested()) {
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if (!vipc_client || cur_stream != requested_stream_type) {
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clearFrames();
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qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
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cur_stream = requested_stream_type;
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vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
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}
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active_stream_type = cur_stream;
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if (!vipc_client->connected) {
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clearFrames();
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auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
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if (streams.empty()) {
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QThread::msleep(100);
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continue;
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}
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emit vipcAvailableStreamsUpdated(streams);
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if (!vipc_client->connect(false)) {
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QThread::msleep(100);
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continue;
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}
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emit vipcThreadConnected(vipc_client.get());
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}
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if (VisionBuf *buf = vipc_client->recv(&frame_meta, 100)) {
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{
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std::lock_guard lk(frame_lock);
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current_frame_ = buf;
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frame_meta_ = frame_meta;
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}
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emit vipcThreadFrameReceived();
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}
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}
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}
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void CameraWidget::clearFrames() {
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std::lock_guard lk(frame_lock);
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current_frame_ = nullptr;
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available_streams.clear();
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}
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