Week17_魚筆記

複習之所做過的機器人相關程式碼，好讓我們可以成功完成會動的機器人

作業一

貼上背景圖

1.下載openCV 2.1版本並安裝

2.在my earth檔案中修改程式碼讓自己的圖片成功跑出

#include <opencv/highgui.h> ///for cvLoadImage()

#include <opencv/cv.h> ///for cvCvtColor()

#include <GL/glut.h> ///3D glut

#include <stdio.h>

GLUquadric * quad;

GLuint id;

float angle=0;

void display()

{   glEnable(GL_DEPTH_TEST); ///要啟動 Detph Test 深度值的測試,3D顯示才正確

    glClear(GL_COLOR_BUFFER_BIT  | GL_DEPTH_BUFFER_BIT);

    glPushMatrix();///自動轉很帥

        glBegin(GL_POLYGON);

            glTexCoord2f(0,0); glVertex3f(-1,+1,0);

            glTexCoord2f(1,0); glVertex3f(+1,+1,0);

            glTexCoord2f(1,1); glVertex3f(+1,-1,0);

            glTexCoord2f(0,1); glVertex3f(-1,-1,0);

    glPopMatrix();///自動轉很帥

    glFlush();

}

void timer(int t)

{   glutTimerFunc(20, timer, 0);/// 1000 msec   50fps:20msec

    angle+=1;///自動轉很帥

    glutPostRedisplay();

}

int myTexture(char *filename)

{

    IplImage * img = cvLoadImage(filename); ///OpenCV讀圖

    cvCvtColor(img,img, CV_BGR2RGB); ///OpenCV轉色彩 (需要cv.h)

    glEnable(GL_TEXTURE_2D); ///1. 開啟貼圖功能

    GLuint id; ///準備一個 unsigned int 整數, 叫 貼圖ID

    glGenTextures(1, &id); /// 產生Generate 貼圖ID

    glBindTexture(GL_TEXTURE_2D, id); ///綁定bind 貼圖ID

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT); /// 貼圖參數, 超過包裝的範圖T, 就重覆貼圖

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT); /// 貼圖參數, 超過包裝的範圖S, 就重覆貼圖

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); /// 貼圖參數, 放大時的內插, 用最近點

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); /// 貼圖參數, 縮小時的內插, 用最近點

    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img->width, img->height, 0, GL_RGB, GL_UNSIGNED_BYTE, img->imageData);

    return id;

}

void myInit()

{   

    quad = gluNewQuadric();

    id = myTexture("we1.jpg");

}

int main(int argc, char**argv)

{   glutInit(&argc, argv);

    glutCreateWindow("3D");

    glutDisplayFunc(display); ///顯示

    glutTimerFunc(0, timer, 0);

    myInit(); ///我的 init 初始化 把貼圖準備好 前面OpenCV 2行, 後面 OpenGL 9行

    glutMainLoop();

}

3.將my earth和自己機器人的專案檔(.cbp)用notepad++開啟，並複製my earth部分程式碼進去自己專案內

<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>

<CodeBlocks_project_file>

<FileVersion major="1" minor="6" />

<Project>

<Option title="04160116_FinalProject" />

<Option pch_mode="2" />

<Option compiler="gcc" />

<Build>

<Target title="Debug">

<Option output="bin/Debug/04160011_hw1" prefix_auto="1" extension_auto="1" />

<Option working_dir="." />

<Option object_output="obj/Debug/" />

<Option type="1" />

<Option compiler="gcc" />

<Compiler>

<Add option="-g" />

</Compiler>

</Target>

<Target title="Release">

<Option output="bin/Release/04160011_hw1" prefix_auto="1" extension_auto="1" />

<Option working_dir="." />

<Option object_output="obj/Release/" />

<Option type="0" />

<Option compiler="gcc" />

<Compiler>

<Add option="-O2" />

</Compiler>

<Linker>

<Add option="-s" />

</Linker>

</Target>

</Build>

<Compiler>

<Add option="-Wall" />

<Add directory="c:/opencv2.1/include" />

<Add directory="C:\Users\user\Desktop\freeglut\include" />

</Compiler>

<Linker>

<Add library="cv210" />

<Add library="cxcore210" />

<Add library="highgui210" />

<Add library="glut32" />

<Add library="opengl32" />

<Add library="glu32" />

<Add library="winmm" />

<Add library="gdi32" />

<Add directory="c:/opencv2.1/lib" />

<Add directory="C:\Users\user\Desktop\freeglut\lib" />

</Linker>

<Unit filename="glm.cpp">

<Option compilerVar="CC" />

</Unit>

<Unit filename="main.cpp" />

<Extensions>

<code_completion />

<envvars />

<debugger />

<lib_finder disable_auto="1" />

</Extensions>

</Project>

</CodeBlocks_project_file>

4.將my earth讀程式碼加進去自己專案中，成功跑出背景圖來

int myTexture(char *filename)

{

    IplImage * img = cvLoadImage(filename); ///OpenCV讀圖

    cvCvtColor(img,img, CV_BGR2RGB); ///OpenCV轉色彩 (需要cv.h)

    glEnable(GL_TEXTURE_2D); ///1. 開啟貼圖功能

    GLuint id; ///準備一個 unsigned int 整數, 叫 貼圖ID

    glGenTextures(1, &id); /// 產生Generate 貼圖ID

    glBindTexture(GL_TEXTURE_2D, id); ///綁定bind 貼圖ID

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT); /// 貼圖參數, 超過包裝的範圖T, 就重覆貼圖

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT); /// 貼圖參數, 超過包裝的範圖S, 就重覆貼圖

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); /// 貼圖參數, 放大時的內插, 用最近點

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); /// 貼圖參數, 縮小時的內插, 用最近點

    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img->width, img->height, 0, GL_RGB, GL_UNSIGNED_BYTE, img->imageData);

    return id;

}

void myInit()

{   

    id = myTexture("we1.jpg");

}

void display()

{   glEnable(GL_DEPTH_TEST); ///要啟動 Detph Test 深度值的測試,3D顯示才正確

    glClear(GL_COLOR_BUFFER_BIT  | GL_DEPTH_BUFFER_BIT);

    glPushMatrix();///自動轉很帥

        glBegin(GL_POLYGON);

            glTexCoord2f(0,0); glVertex3f(-1,+1,0);

            glTexCoord2f(1,0); glVertex3f(+1,+1,0);

            glTexCoord2f(1,1); glVertex3f(+1,-1,0);

            glTexCoord2f(0,1); glVertex3f(-1,-1,0);

        glEnd();

    glPopMatrix();///自動轉很帥

    glFlush();

}

#include <opencv/highgui.h> ///for cvLoadImage()

#include <opencv/cv.h> ///for cvCvtColor()

#include <GL/glut.h> ///3D glut

GLuint id;

 myInit(); ///我的 init 初始化 把貼圖準備好 前面OpenCV 2行, 後面 OpenGL 9行

5.打光，讓自己的模型不受圖檔點影響
glEnable(GL_TEXTURE_2D);///開2D貼圖
glDisable(GL_LIGHTING);///關掉打光
glDisable(GL_TEXTURE_2D);///關掉貼圖，才不因為最後貼圖點影響你的模型
glEnable(GL_LIGHTING);///打開打光

6.移3個檔案進自己的專案資料夾中

作業二

使用Timer播放

接續自己專案檔的程式碼，新增計時器的函式

void timer(int t)
{
    glutTimerFunc(100,timer,t+1);

    if(fin==NULL){

        fin=fopen("file.txt","r");   //開啟檔案，檔名準備好，而且是用read模式

        printf("Now open a file.txt for read Mode\n");

        fscanf(fin,"%f %f %f %f %f %f %f %f %f %f",&newAngle[0],&newAngle[1],&newAngle[2],&newAngle[3],&newAngle[4],&newAngle[5],&newAngle[6],&newAngle[7],&newAngle[8],&newAngle[9]

);

    }

    if(alpha>=1.0){

       for(int i=0;i<10;i++) oldAngle[i]=newAngle[i];

       fscanf(fin,"%f %f %f %f %f %f %f %f %f %f",&newAngle[0],&newAngle[1],&newAngle[2],&newAngle[3],&newAngle[4],&newAngle[5],&newAngle[6],&newAngle[7],&newAngle[8],&newAngle[9]

);

       printf("Now read angle[]\n");

       alpha=0.0;

    }

    for(int i=0;i<10;i++){

       angle[i]=alpha*newAngle[i]+(1-alpha)*oldAngle[i];

    }

    alpha+=0.1;

 

    glutPostRedisplay();

}
int main()
{
    ....
    glutTimerFunc(1000,timer,0);
    ....
}