source: flair-src/trunk/lib/FlairSimulator/src/SimuCameraGL.cpp @ 151

Last change on this file since 151 was 151, checked in by Sanahuja Guillaume, 5 years ago

add timestamp to simucamera producer

File size: 7.6 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2014/03/07
6//  filename:   SimuCameraGL.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//              pbo code from Song Ho Ahn (song.ahn@gmail.com)
11//
12//  version:    $Id: $
13//
14//  purpose:    Class for a simulation camera
15//
16//
17/*********************************************************************/
18#ifdef GL
19
20#include "SimuCameraGL.h"
21#include "Model.h"
22#include <SharedMem.h>
23#include <TabWidget.h>
24#include <Tab.h>
25#include <DoubleSpinBox.h>
26#include <Vector3DSpinBox.h>
27#include <Gui.h>
28#include <Euler.h>
29
30#include <ISceneManager.h>
31#include <ICameraSceneNode.h>
32#include <IVideoDriver.h>
33
34#define PBO_COUNT 2
35
36using namespace irr;
37using namespace irr::scene;
38using namespace irr::core;
39using namespace flair::core;
40using namespace flair::gui;
41using namespace flair::simulator;
42
43namespace flair {
44namespace sensor {
45
46SimuCameraGL::SimuCameraGL(const Model *parent, std::string name, int width,
47                           int height, int x, int y, int dev_id)
48    : SimuCamera(parent, name, width, height, 3, dev_id), SensorGL(parent) {
49  smgr = getGui()->getSceneManager();
50  camera = smgr->addCameraSceneNode();
51  camera->addAnimator(this);
52  camera->setAspectRatio(4.0f / 3.0f); // on force a cause du view port
53
54  this->width = width;
55  this->height = height;
56  this->x = x;
57  this->y = y;
58
59  index = 0;
60
61  // user interface
62  Tab *setup_tab = new Tab(parent->GetTabWidget(), name);
63  position = new Vector3DSpinBox(setup_tab->NewRow(), "position", -2, 2, .01);
64  direction = new Vector3DSpinBox(setup_tab->NewRow(), "direction", -2, 2, .01);
65  up = new Vector3DSpinBox(setup_tab->NewRow(), "up", -2, 2, .01);
66  fov = new DoubleSpinBox(setup_tab->NewRow(), "fov:", 0, 180, 5);
67
68  if (strcmp((char *)glGetString(GL_VENDOR),
69             "Intel Open Source Technology Center") == 0) {
70    //Thread::Warn("disabling cameras output for Intel card (bug with PBO)\n");
71    Thread::Warn("camera output for Intel card may have bugs with PBO\n");
72    //disable_output = true;
73    disable_output = false;
74  } else {
75    disable_output = false;
76  }
77
78  if (isGlExtensionSupported("GL_ARB_pixel_buffer_object")) {
79    use_pbo = true;
80    // create 2 pixel buffer objects, you need to delete them when program
81    // exits.
82    // glBufferDataARB with NULL pointer reserves only memory space.
83    pboIds = (GLuint *)malloc(PBO_COUNT * sizeof(GLuint));
84    glGenBuffersARB(PBO_COUNT, pboIds);
85    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[0]);
86    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3+sizeof(Time), 0,
87                    GL_STREAM_READ_ARB);
88    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[1]);
89    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3+sizeof(Time), 0,
90                    GL_STREAM_READ_ARB);
91
92    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
93  } else {
94    use_pbo = false;
95    buffer = (char *)malloc(width * height * 3+sizeof(Time));
96    Thread::Warn("GL_ARB_pixel_buffer_object is not suppoorted\n");
97  }
98  if (isGlExtensionSupported("GL_PACK_INVERT_MESA")) {
99    invert_pixel = false;
100    Thread::Warn("GL_PACK_INVERT_MESA is suppoorted\n");
101  } else {
102    invert_pixel = true;
103  }
104}
105
106SimuCameraGL::~SimuCameraGL() {
107  if (use_pbo) {
108    glDeleteBuffersARB(PBO_COUNT, pboIds);
109    free(pboIds);
110  } else {
111    free(buffer);
112  }
113}
114
115void SimuCameraGL::setNearValue(float zn) { camera->setNearValue(zn); }
116
117void SimuCameraGL::setFarValue(float zf) { camera->setFarValue(zf); }
118
119void SimuCameraGL::UpdateFrom(const io_data *data) {
120  if (noGui() == false && data == NULL) {
121    smgr->setActiveCamera(camera);
122    smgr->getVideoDriver()->setViewPort(rect<s32>(x, y, x + width, y + height));
123    smgr->drawAll();
124    // use_pbo=false;
125    getImage();
126  }
127}
128
129void SimuCameraGL::getImage(void) {
130  if (disable_output)
131    return;
132  // convert from irrlicht top left origin to gl bottom left origin
133  int y = smgr->getVideoDriver()->getScreenSize().Height - height - this->y;
134
135  // We want to read the front buffer to get the latest render finished.
136  Time a = GetTime();
137  glReadBuffer(GL_FRONT);
138  if (use_pbo) // with PBO
139  {
140    // increment current index first then get the next index
141    // "index" is used to read pixels from a framebuffer to a PBO
142    // "nextIndex" is used to process pixels in the other PBO
143    index = (index + 1) % PBO_COUNT;
144    int nextIndex = (index + 1) % PBO_COUNT;
145
146    // copy pixels from framebuffer to PBO
147    // Use offset instead of pointer.
148    // OpenGL should perform asynch DMA transfer, so glReadPixels() will return
149    // immediately.
150    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[index]);
151    glReadPixels(x, y, width, height, GL_BGR, GL_UNSIGNED_BYTE, 0);
152    Time time=GetTime();
153    // map the PBO that contain framebuffer pixels before processing it
154    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[nextIndex]);
155    GLubyte *src = (GLubyte *)glMapBufferARB(
156        GL_PIXEL_PACK_BUFFER_ARB, GL_READ_WRITE_ARB); // GL_READ_ONLY_ARB);
157    if (src) {
158      putImage((char *)src,time);
159      glUnmapBufferARB(
160          GL_PIXEL_PACK_BUFFER_ARB); // release pointer to the mapped buffer
161    }
162    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
163  } else {
164    glReadPixels(x, y, width, height, GL_BGR, GL_UNSIGNED_BYTE, buffer);
165    putImage(buffer,GetTime());
166  }
167
168  glReadBuffer(GL_BACK);
169  Time b = GetTime();
170  Time c = b - a;
171  // printf("%s %f\n",Thread::ObjectName().c_str(),(float)(c/1000000.));
172}
173
174void SimuCameraGL::putImage(char *buf,Time imageTime) {
175  if (invert_pixel == true) {
176    // opengl images are horizontally flipped, so we have to fix that here.
177    const s32 pitch = width * 3;
178    char *pixels = buf;
179    char *p2 = pixels + (height - 1) * pitch;
180    char *tmpBuffer = new char[pitch];
181    for (int i = 0; i < height; i += 2) {
182      memcpy(tmpBuffer, pixels, pitch);
183      memcpy(pixels, p2, pitch);
184      memcpy(p2, tmpBuffer, pitch);
185      pixels += pitch;
186      p2 -= pitch;
187    }
188    delete[] tmpBuffer;
189  }
190  memcpy(buf+width * height * 3,&imageTime,sizeof(Time));
191  shmem->Write(buf, width * height * 3+sizeof(Time));
192}
193
194void SimuCameraGL::animateNode(ISceneNode *node, u32 timeMs) {
195  ICameraSceneNode *camera = static_cast<ICameraSceneNode *>(node);
196
197  matrix4 m;
198  m.setRotationDegrees(Node()->getRotation());
199
200  // transform forward vector of camera
201  vector3df frv = ToIrrlichtCoordinates(direction->Value());
202  m.transformVect(frv);
203
204  // transform upvector of camera
205  vector3df upv = ToIrrlichtCoordinates(up->Value());
206  m.transformVect(upv);
207
208  // transform camera offset (thanks to Zeuss for finding it was missing)
209  vector3df offset = ToIrrlichtCoordinates(position->Value());
210  m.transformVect(offset);
211
212  // set camera
213  camera->setPosition(Node()->getPosition() +
214                      offset); // position camera in front of the ship
215  camera->setUpVector(upv);    // set up vector of camera >> Zeuss - tested with
216  // +node->getPostion() and it didnt work, but this
217  // works fine.
218  camera->setTarget(Node()->getPosition() + offset + frv); // set target of
219                                                           // camera (look at
220                                                           // point) >> Zeuss -
221                                                           // Dont forget to add
222                                                           // the node positiob
223
224  camera->setFOV(Euler::ToRadian(fov->Value()));
225}
226
227ISceneNodeAnimator *SimuCameraGL::createClone(ISceneNode *node,
228                                              ISceneManager *newManager) {
229  return NULL;
230}
231
232} // end namespace sensor
233} // end namespace flair
234#endif
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