OmniGCardConverter.hh

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/*
 *  Copyright (C) Massimo Cora' 2006 <maxcvs@email.it>
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 */


#ifndef __OMNI_GRAPHIC_CARD_CONVERTER__
#define __OMNI_GRAPHIC_CARD_CONVERTER__

#include "OmniConfig.hh"
#include "OmniAngle.hh"
#ifdef WIN32
#include "wgl_window_management.h"
#else
#include "glx_window_management.h"
#endif

#include <GL/gl.h>                      // Header File For The OpenGL32 Library
#include <GL/glu.h>                     // Header File For The GLu32 Library
#include <GL/glext.h>
#include <Cg/cg.h>              // Can't include this?  Is Cg Toolkit installed?
#include <Cg/cgGL.h>

// opencv
#include <cv.h>
#include <highgui.h>


class OmniGCardConverter {
public:

        OmniGCardConverter( double min_radius,
                                                double max_radius,
                                                double omni_center_x,
                                                double omni_center_y,
                                                unsigned int video_width,
                                                unsigned int video_height,
                                                char *program_name = "omnigcardconverter_hardware",
                                                char *vertex_program_file_name = "data/shaders/vertex_shader.cg",
                                                char *vertex_program_name = "vertex_shader_main",
                                                char *fragment_program_file_name = "data/shaders/pixel_shader.cg",
                                                char *fragment_program_name = "pixel_shader_main",
                                            bool flipped_mode = false );

        virtual ~OmniGCardConverter();

        void angle_type_conversion( const OmniAngle<double> &in_double_interval, 
                                                                OmniAngle<int> &out_int_interval );

        IplImage* omni2pano( IplImage *omni_frame, const OmniAngle<double> &IN_interval );

        IplImage* omni2pano( IplImage *omni_frame, const OmniAngle<int> &IN_interval );

        void pano2omni_xy( CvPoint *pano_point, 
                                           double theta_start,
                                           CvPoint *omni_point );

        double get_min_radius();
        double get_max_radius();
        double get_omni_center_x();
        double get_omni_center_y();

        bool is_initialized ();

        static bool check_for_3d_gcard_availability ();

private:                // functions
#ifdef WIN32

        void setVSync(int interval = 1 );
#endif 

        static int check_for_cg_error( const char *situation, char *prg_name, CGcontext cg_ctx );

        int get_texturized_video_size( int video_width, int video_height );

        void gl_paint ( float slide = 0.0f );

private:                // data
        double _min_radius;
        double _max_radius;
        
        int _pano_width;
        
        int _pano_height;

        double _omni_center_x;
        double _omni_center_y;
        
        unsigned int _video_height;
        unsigned int _video_width;
        
        unsigned int _hw_video_width;
        
        unsigned int _hw_video_height;
        
        bool _flipped_mode;
        
        bool _initialized;

        CGcontext   _cg_context;
        CGprofile   _cg_vertex_profile, _cg_fragment_profile;
        CGprogram   _cg_vertex_program, _cg_fragment_program;
        CGparameter _cg_vertex_param_min_radius_on_max_radius;
        CGparameter _cg_fragment_param_omni_tex;
        CGparameter _cg_fragment_param_center_x;
        CGparameter _cg_fragment_param_center_y;
        CGparameter _cg_fragment_param_width_on_height;
        CGparameter _cg_fragment_param_slide;

        char *_program_name;
        char *_vertex_program_file_name;
        char *_vertex_program_name;
        char *_fragment_program_file_name;
        char *_fragment_program_name;

#ifdef WIN32
        typedef BOOL (APIENTRY *PFNWGLSWAPINTERVALFARPROC)( int );
        PFNWGLSWAPINTERVALFARPROC _wglSwapIntervalEXT;

        Application     _g_application;
        GL_Window       _g_window;
        Keys            _g_keys;
#else
    Display *_dpy;
    Window _win;
#endif

};



#endif /* __OMNI_GRAPHIC_CARD_CONVERTER__ */

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