Merge pull request AutonomyLab#17 from adamantivm/android-video

Android video
garyservin · Sep 16, 2014 · 13ba115 · 13ba115
2 parents 136b4bd + b9e9458
commit 13ba115
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Showing 12 changed files with 459 additions and 50 deletions.
diff --git a/ARDroneSDK/debug-symbols.old.patch b/ARDroneSDK/debug-symbols.old.patch
@@ -0,0 +1,26 @@
+diff --git a/ARDroneLib/Soft/Build/config.makefile b/ARDroneLib/Soft/Build/config.makefile
+index eb257e2..45e4ed3 100644
+--- a/ARDroneLib/Soft/Build/config.makefile
++++ b/ARDroneLib/Soft/Build/config.makefile
+@@ -126,6 +126,7 @@ ifdef PC_TARGET
+   endif
+
+   ifeq ("$(USE_ANDROID)","yes")
++          GENERIC_CFLAGS+=-g
+      SDK_FLAGS+="USE_ANDROID=yes"
+      SDK_FLAGS+="TOOLCHAIN_VERSION=arm-linux-androideabi-4.6"
+      SDK_FLAGS+="NDK_PLATFORM_VERSION=android-8"
+diff --git a/ARDroneLib/Soft/Build/config.makefile b/ARDroneLib/Soft/Build/config.makefile
+index 57a5b0f..ac5ace6 100644
+--- a/ARDroneLib/Soft/Build/config.makefile
++++ b/ARDroneLib/Soft/Build/config.makefile
+@@ -3,7 +3,7 @@
+ # Common build definitions (CUSTOM)
+ #########################################################
+
+-RELEASE_BUILD        = yes
++RELEASE_BUILD        = no
+ QUIET_BUILD          = yes
+ VPSDK_PARALLEL_BUILD = no
+
+
diff --git a/ARDroneSDK/debug-symbols.patch b/ARDroneSDK/debug-symbols.patch
@@ -0,0 +1,14 @@
+diff --git a/ARDroneLib/Soft/Build/config.makefile b/ARDroneLib/Soft/Build/config.makefile
+index 57a5b0f..ac5ace6 100644
+--- a/ARDroneLib/Soft/Build/config.makefile
++++ b/ARDroneLib/Soft/Build/config.makefile
+@@ -3,7 +3,7 @@
+ # Common build definitions (CUSTOM)
+ #########################################################
+
+-RELEASE_BUILD        = yes
++RELEASE_BUILD        = no
+ QUIET_BUILD          = yes
+ VPSDK_PARALLEL_BUILD = no
+
+
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -98,11 +98,19 @@ catkin_package(
     libsdl-dev
 )
 
+# Pass through build type to ardronelib by deciding whether or not to apply patch
+IF(CMAKE_BUILD_TYPE MATCHES Debug)
+  set(DEBUG_SYMBOLS_PATCH "${PROJECT_SOURCE_DIR}/ARDroneSDK/debug-symbols.patch")
+ELSE(CMAKE_BUILD_TYPE MATCHES Debug)
+  set(DEBUG_SYMBOLS_PATCH "/dev/null")
+ENDIF(CMAKE_BUILD_TYPE MATCHES Debug)
+
 include(ExternalProject)
 externalproject_add(ardronelib
 	URL ${PROJECT_SOURCE_DIR}/ARDroneSDK/ardrone-sdk-stripped-2.0.1.tgz
 	PREFIX ${CMAKE_BINARY_DIR}/ardrone
 	PATCH_COMMAND
+    patch -p1 < ${DEBUG_SYMBOLS_PATCH} &&
 		patch -p1 < ${PROJECT_SOURCE_DIR}/ARDroneSDK/ardrone_lib.patch &&
 		patch -p0 < ${PROJECT_SOURCE_DIR}/ARDroneSDK/ardrone-sdk-navdata-common-gps.patch &&
 		patch -p0 < ${PROJECT_SOURCE_DIR}/ARDroneSDK/ardrone-sdk-navdata-keys-gps.patch &&
@@ -132,6 +140,8 @@ add_library(ardrone_driver
     src/ardrone_driver.cpp
     src/video.cpp
     src/teleop_twist.cpp
+    src/opengl_stage.c
+    src/opengl_shader.c
 )
 target_link_libraries(ardrone_driver
 #  pc_ardrone
@@ -140,6 +150,7 @@ target_link_libraries(ardrone_driver
 #  avutil
 #  vlib
 #  sdk
+  GLESv2
   ${Boost_LIBRARIES}
   ${catkin_LIBRARIES}
 )
@@ -154,6 +165,7 @@ target_link_libraries(ardrone_sdk
 #  avutil
 #  vlib
 #  sdk
+  GLESv2
   ${Boost_LIBRARIES}
   ${catkin_LIBRARIES}
 )

diff --git a/include/ardrone_autonomy/ardrone_driver.h b/include/ardrone_autonomy/ardrone_driver.h
@@ -75,10 +75,11 @@ class ARDroneDriver
 	ros::Subscriber takeoff_sub;
 	ros::Subscriber reset_sub;
 	ros::Subscriber land_sub;
-	image_transport::ImageTransport image_transport;
-	image_transport::CameraPublisher image_pub;
-    image_transport::CameraPublisher hori_pub;
-	image_transport::CameraPublisher vert_pub;
+	//image_transport::ImageTransport image_transport;
+	// image_transport::CameraPublisher image_pub;
+  ros::Publisher image_pub;
+  //image_transport::CameraPublisher hori_pub;
+	//image_transport::CameraPublisher vert_pub;
 
     camera_info_manager::CameraInfoManager *cinfo_hori_;
     camera_info_manager::CameraInfoManager *cinfo_vert_;
@@ -168,7 +169,6 @@ class ARDroneDriver
 
     // For throttling battery, state and gps
     int counter_;
-    int gps_counter_;
     bool first_time_pressure_;
     unsigned int zero_pressure;
 };

diff --git a/include/ardrone_autonomy/ardrone_sdk.h b/include/ardrone_autonomy/ardrone_sdk.h
@@ -32,10 +32,10 @@ extern "C" {
 #include <ardrone_tool/ardrone_tool_configuration.h>  
 #include <ardrone_tool/Com/config_com.h>
 #include <ardrone_tool/UI/ardrone_input.h>
-#include <ardrone_tool/Video/video_com_stage.h>
 #include <ardrone_tool/Control/ardrone_control.h>
 #include <ardrone_tool/Navdata/ardrone_navdata_client.h>
 
+#include <ardrone_tool/Video/video_com_stage.h>
 #include <ardrone_tool/Video/video_stage.h>
 #include <ardrone_tool/Video/video_recorder_pipeline.h>
 #include <ardrone_tool/Video/video_stage_latency_estimation.h>

diff --git a/include/ardrone_autonomy/opengl_shader.h b/include/ardrone_autonomy/opengl_shader.h
@@ -0,0 +1,21 @@
+//
+//  Shaders.h
+//  FreeFlight
+//
+//  Created by Frédéric D'HAEYER on 24/10/11.
+//  Copyright 2011 PARROT. All rights reserved.
+//
+#ifndef _OPENGL_SHADER_H_
+#define _OPENGL_SHADER_H_
+#include <GLES2/gl2.h>
+#include <GLES2/gl2ext.h>
+
+// #define DEBUG_SHADER
+
+/* Shader Utilities */
+GLint opengl_shader_compile(GLuint *shader, GLenum type, GLsizei count, const char *content_file);
+GLint opengl_shader_link(GLuint prog);
+GLint opengl_shader_validate(GLuint prog);
+void  opengl_shader_destroy(GLuint vertShader, GLuint fragShader, GLuint prog);
+
+#endif // _OPENGL_SHADER_H_
diff --git a/include/ardrone_autonomy/opengl_stage.h b/include/ardrone_autonomy/opengl_stage.h
@@ -0,0 +1,52 @@
+/*
+ *  opengl_stage.h
+ *  Test
+ *
+ *  Created by Karl Leplat on 22/02/10.
+ *  Copyright 2010 Parrot SA. All rights reserved.
+ *
+ */
+#ifndef _OPENGL_STAGE_H_
+#define _OPENGL_STAGE_H_
+
+#include <GLES2/gl2.h>
+#include <GLES2/gl2ext.h>
+
+// TODO: Move this define to CMake
+#ifndef FFMPEG_SUPPORT
+#define FFMPEG_SUPPORT
+#endif
+
+#include <ardrone_tool/Video/video_stage.h>
+
+typedef struct _opengl_video_config_t
+{
+  video_decoder_config_t *video_decoder;
+	vp_os_mutex_t mutex;
+	GLuint widthImage;
+	GLuint heightImage;
+	GLuint widthTexture;
+	GLuint heightTexture;
+
+	GLfloat scaleModelX;
+	GLfloat scaleModelY;
+	GLfloat scaleTextureX;
+	GLfloat scaleTextureY;
+	GLuint bytesPerPixel;
+	GLenum format;
+	GLenum type;
+	void* data;
+	GLuint identifier;
+	uint32_t num_picture_decoded;
+	uint32_t num_frames;
+} opengl_video_stage_config_t;
+
+C_RESULT opengl_video_stage_open(opengl_video_stage_config_t *cfg);
+C_RESULT opengl_video_stage_transform(opengl_video_stage_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
+C_RESULT opengl_video_stage_close(opengl_video_stage_config_t *cfg);
+
+opengl_video_stage_config_t* opengl_video_stage_get(void);
+
+extern const vp_api_stage_funcs_t opengl_video_stage_funcs;
+
+#endif // _OPENGL_STAGE_H_
diff --git a/include/ardrone_autonomy/video.h b/include/ardrone_autonomy/video.h
@@ -1,6 +1,8 @@
 #ifndef _VIDEO_H_
 #define _VIDEO_H_
 
+// #include <ardrone_autonomy/opengl_stage.h>
+// #include <ardrone_autonomy/opengl_shader.h>
 #include <ardrone_autonomy/ardrone_sdk.h>
 #include <ardrone_autonomy/ardrone_driver.h>