video_image_viewer.cc

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#include "modules/tools/visualizer/video_image_viewer.h"
 
#include <iostream>
 
VideoImgViewer::VideoImgViewer(QWidget* parent)
    : QOpenGLWidget(parent),
      QOpenGLFunctions(),
      is_init_(false),
      mvp_id_(),
      plane_(),
      ortho_camera_(),
      default_image_(nullptr),
      video_image_shader_prog_(nullptr) {}
 
VideoImgViewer::~VideoImgViewer() {
  if (is_init_) {
    is_init_ = false;
 
    makeCurrent();
 
    plane_.Destroy();
    video_image_shader_prog_->destroyed();
    video_image_shader_prog_.reset();
    default_image_.reset();
 
    doneCurrent();
  }
}
 
void VideoImgViewer::initializeGL() {
  initializeOpenGLFunctions();
 
  glPointSize(1.0f);
  glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
 
  QImage noImage;
  if (!noImage.load(tr(":/images/no_image.png"))) {
    std::cout << "--------can not load the default texture------------"
              << std::endl;
    return;
  }
 
  default_image_ = std::make_shared<Texture>();
  if (default_image_ == nullptr || !default_image_->UpdateData(noImage)) {
    std::cout << "--------can not create the default texture------------"
              << std::endl;
    return;
  }
 
  video_image_shader_prog_ = RenderableObject::CreateShaderProgram(
      tr("/apollo/modules/tools/visualizer/shaders/video_image_plane.vert"),
      tr("/apollo/modules/tools/visualizer/shaders/video_image_plane.frag"));
  if (video_image_shader_prog_ == nullptr) {
    return;
  }
 
  plane_.set_texture(default_image_);
  if (!plane_.Init(video_image_shader_prog_)) {
    return;
  }
 
  ortho_camera_.set_near_plane_width(GLfloat(width()));
  ortho_camera_.set_near_plane_height(GLfloat(height()));
 
  ortho_camera_.set_fov(static_cast<float>(height()));
  ortho_camera_.set_camera_mode(AbstractCamera::CameraMode::OrthoMode);
  ortho_camera_.set_position(0.0f, 0.0f, 0.0f);
 
  ortho_camera_.UpdateWorld();
  ortho_camera_.UpdateProjection();
 
  QMatrix4x4 mvp =
      ortho_camera_.projection_matrix() * ortho_camera_.model_view_matrix();
 
  video_image_shader_prog_->bind();
  video_image_shader_prog_->setUniformValue(mvp_id_, mvp);
  video_image_shader_prog_->release();
 
  is_init_ = true;
}
 
void VideoImgViewer::resizeGL(int width, int height) {
  glViewport(0, 0, (GLsizei)width, (GLsizei)height);
 
  if (is_init_) {
    ortho_camera_.set_fov(static_cast<float>(height));
    ortho_camera_.set_near_plane_width(GLfloat(width));
    ortho_camera_.set_near_plane_height(GLfloat(height));
    ortho_camera_.UpdateProjection();
 
    QMatrix4x4 mvp =
        ortho_camera_.projection_matrix() * ortho_camera_.model_view_matrix();
 
    video_image_shader_prog_->bind();
    video_image_shader_prog_->setUniformValue(mvp_id_, mvp);
    video_image_shader_prog_->release();
  }
}
 
void VideoImgViewer::paintGL() {
  if (is_init_) {
    plane_.Render();
  }
}