Changeset 151 in flair-src for trunk/lib/FlairSimulator/src

Timestamp:

Mar 1, 2017, 3:38:42 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

add timestamp to simucamera producer

Location:

trunk/lib/FlairSimulator/src

Files:

• Model_impl.cpp (modified) (1 diff)
• SimuCameraGL.cpp (modified) (9 diffs)
• SimuCameraGL.h (modified) (1 diff)

trunk/lib/FlairSimulator/src/Model_impl.cpp

@@ -204 +204 @@
 
   nodeOrientation.ToEuler(euler);
-  ISceneNode::setRotation(Euler::ToDegree(1) *
-                          vector3df(euler.roll, euler.pitch, euler.yaw));
+  ISceneNode::setRotation(Euler::ToDegree(1) * vector3df(euler.roll,euler.pitch, euler.yaw));
 
   if (position_init == false) {

trunk/lib/FlairSimulator/src/SimuCameraGL.cpp

@@ -59 +59 @@
   index = 0;
 
-  buffer = (char *)malloc(width * height * 3);
-
   // user interface
   Tab *setup_tab = new Tab(parent->GetTabWidget(), name);
@@ -86 +84 @@
     glGenBuffersARB(PBO_COUNT, pboIds);
     glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[0]);
-    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3, 0,
+    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3+sizeof(Time), 0,
                     GL_STREAM_READ_ARB);
     glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[1]);
-    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3, 0,
+    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3+sizeof(Time), 0,
                     GL_STREAM_READ_ARB);
 
@@ -95 +93 @@
   } else {
     use_pbo = false;
+    buffer = (char *)malloc(width * height * 3+sizeof(Time));
     Thread::Warn("GL_ARB_pixel_buffer_object is not suppoorted\n");
   }
@@ -106 +105 @@
 
 SimuCameraGL::~SimuCameraGL() {
-  free(buffer);
-
   if (use_pbo) {
     glDeleteBuffersARB(PBO_COUNT, pboIds);
     free(pboIds);
+  } else {
+    free(buffer);
   }
 }
@@ -151 +150 @@
     glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[index]);
     glReadPixels(x, y, width, height, GL_BGR, GL_UNSIGNED_BYTE, 0);
-
+    Time time=GetTime();
     // map the PBO that contain framebuffer pixels before processing it
     glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[nextIndex]);
@@ -157 +156 @@
         GL_PIXEL_PACK_BUFFER_ARB, GL_READ_WRITE_ARB); // GL_READ_ONLY_ARB);
     if (src) {
-      putImage((char *)src);
+      putImage((char *)src,time);
       glUnmapBufferARB(
           GL_PIXEL_PACK_BUFFER_ARB); // release pointer to the mapped buffer
@@ -164 +163 @@
   } else {
     glReadPixels(x, y, width, height, GL_BGR, GL_UNSIGNED_BYTE, buffer);
-    putImage(buffer);
+    putImage(buffer,GetTime());
   }
 
@@ -173 +172 @@
 }
 
-void SimuCameraGL::putImage(char *buf) {
+void SimuCameraGL::putImage(char *buf,Time imageTime) {
   if (invert_pixel == true) {
     // opengl images are horizontally flipped, so we have to fix that here.
@@ -189 +188 @@
     delete[] tmpBuffer;
   }
-
-  shmem->Write(buf, width * height * 3);
+  memcpy(buf+width * height * 3,&imageTime,sizeof(Time));
+  shmem->Write(buf, width * height * 3+sizeof(Time));
 }
 

trunk/lib/FlairSimulator/src/SimuCameraGL.h

@@ -67 +67 @@
                                   irr::scene::ISceneManager *newManager = 0);
   void getImage(void);
-  void putImage(char *pixels);
+  void putImage(char *pixels,core::Time imageTime);
   irr::scene::ICameraSceneNode *camera;
   irr::scene::ISceneManager *smgr;