source: flair-src/trunk/lib/FlairSimulator/src/SimuCameraGL.cpp@ 158

Last change on this file since 158 was 158, checked in by Sanahuja Guillaume, 6 years ago

corrected simu/device id for sensors

File size: 7.7 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, uint32_t modelId,uint32_t deviceId)
48 : SimuCamera(parent, name, width, height, 3, modelId,deviceId), SensorGL(parent) {
49 smgr = getGui()->getSceneManager();
50 camera = smgr->addCameraSceneNode();
51 camera->addAnimator(this);
52 camera->setAspectRatio((float)width /(float)height); // 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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