Hi Erwan, I find you code rather confusing. Do you actually want to use a slave camera? If you just need one camera then just set the values on the viewers master camera.
As for threading... have you attempted to search the include/osgViewer headers, documentation, examples or the web for the word Threading or Single?? You'll get plenty of hit's if you try any of these. I won't tell you specifically because it's far less effort for me in the long run if you learn how to find your own answers. As for SEPERATE_WINDOW creating a separate window.... um... darn it, sorry but it's just too darn cryptic for me to explain why such an obscure thing might happen. Robert. On Mon, Mar 9, 2009 at 4:48 PM, Erwan Bigorgne <[email protected]> wrote: > My bad, > > I must admit that I actually don't know how to simply "reply" to a thread. > anyway, here is my code : > > > void COSGMesh::Initialization(void) > { > > > mp_RootNode = new osg::Group; > > mp_MeshGroup = new osg::Group; > > mp_InternalMatrixTransform = new osg::MatrixTransform; > > > > > // osg::ref_ptr<osg::ShapeDrawable> Target (new osg::ShapeDrawable(new > osg::Cylinder(osg::Vec3f(),0.1f,0.1f))); > // osg::ref_ptr<osg::Geode> TargetGeode (new osg::Geode); > // TargetGeode->addDrawable(Target.get()); > // mp_ModelMatrixTransform->addChild(TargetGeode.get()); > > osg::ref_ptr<osg::Node> scene = > osgDB::readNodeFile("./Data/11man-3d-headbold.osg"); > if (!scene) scene = > osgDB::readNodeFile("../Data/11man-3d-headbold.osg"); > if (!scene) > { > std::cerr << "No Mesh DAta available EXITING. please check data > folder" << std::endl; > exit (EXIT_FAILURE); > > } > > > const osg::BoundingSphere& bs = scene->getBound(); > > float size = DEF_MESH_REAL_INIT_MAX_RADIUS/bs.radius(); > > mp_InternalMatrixTransform = new osg::MatrixTransform; > mp_InternalMatrixTransform->setDataVariance(osg::Object::STATIC); > > mp_InternalMatrixTransform->setMatrix(osg::Matrix::translate(-bs.center())* > > osg::Matrix::scale(size*DEF_X_SIZE_MODIF_FACTOR, > > size*DEF_Z_SIZE_MODIF_FACTOR, > > size*DEF_Y_SIZE_MODIF_FACTOR)); > > // > osg::Matrix::rotate(osg::inDegrees(0.0f),0.0f,0.0f,1.0f)); > > mp_InternalMatrixTransform->addChild(scene.get()); > > mp_ExternalPAT = new osg::PositionAttitudeTransform; > mp_ExternalPAT->addChild(mp_InternalMatrixTransform); > > > > > mp_ExternalPAT->setPosition(osg::Vec3d(mp_CurrT->data.db[0],mp_CurrT->data.db[2],-mp_CurrT->data.db[1])); > mp_ExternalPAT->setAttitude(osg::Quat(cvNorm(mp_CurrRvect), > osg::Vec3d(mp_CurrRvect->data.db[0], > mp_CurrRvect->data.db[2], > -mp_CurrRvect->data.db[1]) > ) > ); > > > > > > mp_RootNode->addChild(mp_ExternalPAT); > > > > > m_Optimizer.optimize(mp_RootNode); > > // set the scene to render > m_Viewer.setSceneData(mp_RootNode); > > > > > m_Viewer.setCameraManipulator(new osgGA::TrackballManipulator()); > > } > > > > void COSGMesh::SetCameraMatrix(IntrinseqParameters IntraParameters) > { > > CreateMatOnDemand(&K, cvSize(3,3), CV_64FC1); > cvSetZero(K); > CreateMatOnDemand(&K_inv, cvSize(3,3), CV_64FC1); > cvSetZero(K_inv); > > K->data.db[0] = > IntraParameters.m_FocLength/IntraParameters.m_UPixSize; > K->data.db[2] = IntraParameters.m_U0; > K->data.db[4] = > IntraParameters.m_FocLength/IntraParameters.m_VPixSize; > K->data.db[5] = IntraParameters.m_V0; > K->data.db[8] = 1.; > > cvInvert(K,K_inv); > > m_CameraIntraParam = IntraParameters ; > > > if (mp_VirtualCamera == NULL) > mp_VirtualCamera = new osg::Camera; > > if (mp_ViewerCamera == NULL) > mp_ViewerCamera = new osg::Camera; > > > > // Recuperation parametres "intrinseques" > > double fovy = (180./CV_PI)*2. * ((CV_PI/2.) > > -atan(2.*(m_CameraIntraParam.m_FocLength/m_CameraIntraParam.m_VPixSize)/m_SimImageSize.height)); > double aspectRatio = ((m_SimImageSize.width * > m_CameraIntraParam.m_UPixSize) > /(m_SimImageSize.height * > m_CameraIntraParam.m_VPixSize)); > int xoffset = cvRound(m_CameraIntraParam.m_U0 - > (double)m_SimImageSize.width/2.); > int yoffset = cvRound(((double)m_SimImageSize.height/2.) - > m_CameraIntraParam.m_V0); > > double zNear = DEF_ZNEAR; // 10 cm > double zFar = DEF_ZFAR; // 5 m > > std::cout << fovy << std::endl; > std::cout << aspectRatio << std::endl; > std::cout << xoffset << std::endl; > std::cout << yoffset << std::endl; > std::cout << zNear << std::endl; > std::cout << zFar << std::endl; > > > osg::ref_ptr<osg::GraphicsContext::Traits> traits = new > osg::GraphicsContext::Traits; > traits->x = xoffset + 0; > traits->y = yoffset + 0; > traits->width = m_SimImageSize.width; > traits->height = m_SimImageSize.height; > traits->windowDecoration = true; > traits->doubleBuffer = false; > traits->sharedContext = 0; > traits->windowName = " Viewer Cam"; > > osg::ref_ptr<osg::GraphicsContext> gc = > osg::GraphicsContext::createGraphicsContext(traits.get()); > > mp_ViewerCamera->setGraphicsContext(gc.get()); > mp_ViewerCamera->setViewport(new osg::Viewport(xoffset,yoffset, > traits->width, traits->height)); > > traits->x += m_SimImageSize.width; > traits->windowName = "Virtual Cam"; > > osg::ref_ptr<osg::GraphicsContext> gc_2 = > osg::GraphicsContext::createGraphicsContext(traits.get()); > > mp_VirtualCamera->setGraphicsContext(gc_2.get()); > mp_VirtualCamera->setViewport(new osg::Viewport(xoffset,yoffset, > traits->width, traits->height)); > > > mp_VirtualCamera->setClearColor(osg::Vec4(0.0f,0.0f,0.0f,1.0f)); > mp_VirtualCamera->setClearMask(GL_COLOR_BUFFER_BIT | > GL_DEPTH_BUFFER_BIT); > > > > // set up projection. > > // set view > mp_VirtualCamera->setReferenceFrame(osg::Transform::ABSOLUTE_RF); > > //m_VirtualCamera->setViewMatrixAsLookAt(bs.center()-osg::Vec3(0.0f,2.0f,0.0f)*bs.radius(),bs.center(),osg::Vec3(0.0f,0.0f,1.0f)); > > mp_VirtualCamera->setViewMatrixAsLookAt(osg::Vec3(0.0f, > 0.0f,0.0f),osg::Vec3(0.0f,2.0f,0.0f),osg::Vec3(0.0f,0.0f,1.0f)); > > mp_VirtualCamera->setProjectionMatrixAsPerspective(fovy,aspectRatio,zNear,zFar); > > > > // set the m_VirtualCamera to render before the main Camera. > mp_VirtualCamera->setRenderOrder(osg::Camera::PRE_RENDER); > > > //mp_VirtualCamera->setRenderTargetImplementation(osg::Camera::SEPERATE_WINDOW); > > mp_VirtualCamera->setRenderTargetImplementation(osg::Camera::FRAME_BUFFER_OBJECT); > > > > > mp_Image = new osg::Image; > //image->allocateImage(tex_width, tex_height, 1, GL_RGBA, > GL_UNSIGNED_BYTE); > mp_Image->allocateImage(m_SimImageSize.width, m_SimImageSize.height, 1, > GL_DEPTH_COMPONENT, GL_FLOAT); > > // attach the image so its copied on each frame. > unsigned int samples = 0; > unsigned int colorSamples = 0; > mp_VirtualCamera->attach(osg::Camera::DEPTH_BUFFER, mp_Image, samples, > colorSamples); > > > m_Viewer.addSlave(mp_ViewerCamera, osg::Matrixd(), osg::Matrixd()); > > > mp_VirtualCamera->addChild(mp_ExternalPAT); > > mp_RootNode->addChild(mp_VirtualCamera); > > allocateOnDemand(&mp_Z_Buffer,m_SimImageSize,IPL_DEPTH_32F,1); > > > } > > > > > > void COSGMesh::SetCurrentROI(void) > { > double FocalLengthNorm = K->data.db[0]; > double XPixOpticalAxePosition = K->data.db[2]; > double YPixOpticalAxePosition = K->data.db[5]; > > double MIN_X = mp_CurrT->data.db[0] - DEF_MESH_REAL_INIT_MAX_RADIUS; > double MIN_Y = mp_CurrT->data.db[1] - DEF_MESH_REAL_INIT_MAX_RADIUS; > double MIN_Z = mp_CurrT->data.db[2] - DEF_MESH_REAL_INIT_MAX_RADIUS; > > double MAX_X = mp_CurrT->data.db[0] + DEF_MESH_REAL_INIT_MAX_RADIUS; > double MAX_Y = mp_CurrT->data.db[1] + DEF_MESH_REAL_INIT_MAX_RADIUS; > > double MIN_U = FocalLengthNorm * MIN_X/MIN_Z + XPixOpticalAxePosition; > double MIN_V = FocalLengthNorm * MIN_Y/MIN_Z + YPixOpticalAxePosition; > double MAX_U = FocalLengthNorm * MAX_X/MIN_Z + XPixOpticalAxePosition; > double MAX_V = FocalLengthNorm * MAX_Y/MIN_Z + YPixOpticalAxePosition; > > m_CurrentROI = > cvRect(cvRound(MIN_U),cvRound(MIN_V),cvRound(MAX_U-MIN_U),cvRound(MAX_V-MIN_V)); > > > > > } > > > > > void COSGMesh::SetCurrentTransform(CvMat * R, CvMat *T) > { > > if (R->cols * R->rows == 9) > { > cvCopy(R, mp_CurrRmat); > cvRodrigues2(R , mp_CurrRvect); > } > else > { > cvCopy(R, mp_CurrRvect); > cvRodrigues2(R , mp_CurrRmat); > } > > cvCopy(T,mp_CurrT); > > > > > mp_ExternalPAT->setPosition(osg::Vec3d(mp_CurrT->data.db[0],mp_CurrT->data.db[2],-mp_CurrT->data.db[1])); > mp_ExternalPAT->setAttitude(osg::Quat(cvNorm(mp_CurrRvect), > osg::Vec3d(mp_CurrRvect->data.db[0], > mp_CurrRvect->data.db[2], > -mp_CurrRvect->data.db[1]) > ) > ); > > > this->SetCurrentROI(); > this->apply(); > > } > > > > > void COSGMesh::AddIncrementalTransform(CvMat * R, CvMat *T) > { > > if (R->cols * R->rows == 9) > { > cvGEMM( R, mp_CurrT, 1., T , 1., mp_CurrT); > cvGEMM(R, mp_CurrRmat, 1.,NULL, 0., mp_CurrRmat); > cvRodrigues2(mp_CurrRmat , mp_CurrRvect); > } > else > { > cvRodrigues2(R , mp_TmpRotMat); > cvGEMM( mp_TmpRotMat, mp_CurrT, 1., T , 1., mp_CurrT); > cvGEMM(mp_TmpRotMat, mp_CurrRmat, 1.,NULL, 0., mp_CurrRmat); > > > cvRodrigues2(mp_CurrRmat , mp_CurrRvect); > } > > > > mp_ExternalPAT->setPosition(osg::Vec3d(mp_CurrT->data.db[0],mp_CurrT->data.db[2],-mp_CurrT->data.db[1])); > mp_ExternalPAT->setAttitude(osg::Quat(cvNorm(mp_CurrRvect), > osg::Vec3d(mp_CurrRvect->data.db[0], > mp_CurrRvect->data.db[2], > -mp_CurrRvect->data.db[1]) > ) > ); > > this->SetCurrentROI(); > this->apply(); > } > > > > > > > > void COSGMesh::apply() > { > > > mp_Image->dirty(); > // m_Viewer.updateTraversal(); > m_Viewer.frame(); > > } > > > > "Initialization" and "SetCameraMatrix" are called by the COSGMesh instance's > constructor. > > and the use of the instance takes the following form : > > > while (!done) > { > // do something > > COSGMesh_instance->AddIncrementalTransform(somerotation, sometranslation); > COSGMesh_instance->"GiveMeApointerOn_mp_Image()"; //(actually the depth > map) > > //do something > } > > > 1. - I dont know how to specify that the viewer have to be single-threaded > (shame on me) > > 2 - when i try " > mp_VirtualCamera->setRenderTargetImplementation(osg::Camera::SEPERATE_WINDOW);" > i'm quite surprise to observe two unnamed windows that alternatively display > the mp_VirtualCamera view > > > thank you for your patience... > > > > > > > > > > > _______________________________________________ > osg-users mailing list > [email protected] > http://lists.openscenegraph.org/listinfo.cgi/osg-users-openscenegraph.org > > _______________________________________________ osg-users mailing list [email protected] http://lists.openscenegraph.org/listinfo.cgi/osg-users-openscenegraph.org
