Revision: 7486
http://playerstage.svn.sourceforge.net/playerstage/?rev=7486&view=rev
Author: natepak
Date: 2009-03-15 05:49:00 +0000 (Sun, 15 Mar 2009)
Log Message:
-----------
Made MonoCamera thread safe
Modified Paths:
--------------
code/branches/federation/gazebo/server/Simulator.cc
code/branches/federation/gazebo/server/controllers/camera/generic/Generic_Camera.cc
code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
code/branches/federation/gazebo/server/rendering/OgreAdaptor.hh
code/branches/federation/gazebo/server/rendering/OgreCamera.cc
code/branches/federation/gazebo/server/rendering/OgreCamera.hh
code/branches/federation/gazebo/server/rendering/UserCamera.cc
code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.cc
code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.hh
Modified: code/branches/federation/gazebo/server/Simulator.cc
===================================================================
--- code/branches/federation/gazebo/server/Simulator.cc 2009-03-14 20:19:28 UTC
(rev 7485)
+++ code/branches/federation/gazebo/server/Simulator.cc 2009-03-15 05:49:00 UTC
(rev 7486)
@@ -294,6 +294,7 @@
while (!this->userQuit)
{
this->gui->Update();
+ usleep(1000);
}
}
@@ -544,6 +545,8 @@
boost::recursive_mutex::scoped_lock lock(*this->mutex);
world->Update();
}
+
+ usleep(100);
}
// Process all incoming messages from simiface
Modified:
code/branches/federation/gazebo/server/controllers/camera/generic/Generic_Camera.cc
===================================================================
---
code/branches/federation/gazebo/server/controllers/camera/generic/Generic_Camera.cc
2009-03-14 20:19:28 UTC (rev 7485)
+++
code/branches/federation/gazebo/server/controllers/camera/generic/Generic_Camera.cc
2009-03-15 05:49:00 UTC (rev 7486)
@@ -142,5 +142,6 @@
// New data is available
this->cameraIface->Post();
+
}
Modified: code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
2009-03-14 20:19:28 UTC (rev 7485)
+++ code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
2009-03-15 05:49:00 UTC (rev 7486)
@@ -458,7 +458,7 @@
// Update the user cameras
void OgreAdaptor::UpdateCameras()
{
- std::vector<UserCamera*>::iterator iter;
+ std::vector<OgreCamera*>::iterator iter;
OgreCreator::Instance()->Update();
@@ -467,24 +467,13 @@
// Draw all the windows
for (iter = this->cameras.begin(); iter != this->cameras.end(); iter++)
{
- (*iter)->GetWindow()->update();
+ (*iter)->Render();
}
this->root->_fireFrameEnded();
}
////////////////////////////////////////////////////////////////////////////////
-// Update a window
-void OgreAdaptor::UpdateWindow(Ogre::RenderWindow *window, OgreCamera *camera)
-{
- this->root->_fireFrameStarted();
-
- window->update();
-
- this->root->_fireFrameEnded();
-}
-
-////////////////////////////////////////////////////////////////////////////////
/// Get an entity at a pixel location using a camera. Used for mouse picking.
Entity *OgreAdaptor::GetEntityAt(OgreCamera *camera, Vector2<int> mousePos)
{
@@ -539,7 +528,7 @@
////////////////////////////////////////////////////////////////////////////////
/// Register a user camera
-void OgreAdaptor::RegisterCamera( UserCamera *cam )
+void OgreAdaptor::RegisterCamera( OgreCamera *cam )
{
this->cameras.push_back( cam );
}
Modified: code/branches/federation/gazebo/server/rendering/OgreAdaptor.hh
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreAdaptor.hh
2009-03-14 20:19:28 UTC (rev 7485)
+++ code/branches/federation/gazebo/server/rendering/OgreAdaptor.hh
2009-03-15 05:49:00 UTC (rev 7486)
@@ -94,18 +94,16 @@
/// \brief Get the desired update rate
public: double GetUpdateRate();
-
+
+ /// \brief Update all the cameras
public: void UpdateCameras();
- /// \brief Update a window
- public: void UpdateWindow(Ogre::RenderWindow *window, OgreCamera *camera);
-
/// \brief Get an entity at a pixel location using a camera. Used for
/// mouse picking.
public: Entity *GetEntityAt(OgreCamera *camera, Vector2<int> mousePos);
/// \brief Register a user camera
- public: void RegisterCamera( UserCamera *cam );
+ public: void RegisterCamera( OgreCamera *cam );
private: void LoadPlugins();
private: void SetupResources();
@@ -163,7 +161,7 @@
private: ParamT<std::string> *skyMaterialP;
private: std::vector<Param*> parameters;
- private: std::vector<UserCamera*> cameras;
+ private: std::vector<OgreCamera*> cameras;
};
Modified: code/branches/federation/gazebo/server/rendering/OgreCamera.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreCamera.cc
2009-03-14 20:19:28 UTC (rev 7485)
+++ code/branches/federation/gazebo/server/rendering/OgreCamera.cc
2009-03-15 05:49:00 UTC (rev 7486)
@@ -27,6 +27,7 @@
#include <sstream>
#include <OgreImageCodec.h>
#include <Ogre.h>
+#include <dirent.h>
#include "Global.hh"
#include "World.hh"
@@ -34,6 +35,7 @@
#include "OgreVisual.hh"
#include "OgreCreator.hh"
#include "XMLConfig.hh"
+#include "Simulator.hh"
#include "OgreAdaptor.hh"
#include "CameraManager.hh"
@@ -47,6 +49,8 @@
// Constructor
OgreCamera::OgreCamera(const std::string &namePrefix)
{
+ this->name = "DefaultCameraName";
+
this->textureWidth = this->textureHeight = 0;
this->saveFrameBuffer = NULL;
@@ -71,6 +75,8 @@
this->hfovP = new ParamT<Angle>("hfov", Angle(DTOR(60)),0);
Param::End();
+ this->captureData = false;
+
// This should be last in the constructor
CameraManager::Instance()->AddCamera(this);
}
@@ -162,6 +168,7 @@
this->saveCount = 0;
+ OgreAdaptor::Instance()->RegisterCamera(this);
}
//////////////////////////////////////////////////////////////////////////////
@@ -199,6 +206,57 @@
}
////////////////////////////////////////////////////////////////////////////////
+// Render the camera
+void OgreCamera::Render()
+{
+ this->renderTarget->update();
+
+ if (this->captureData)
+ {
+ Ogre::HardwarePixelBufferSharedPtr mBuffer;
+ size_t size;
+
+ // Get access to the buffer and make an image and write it to file
+ mBuffer = this->renderTexture->getBuffer(0, 0);
+
+ size = this->imageSizeP->GetValue().x * this->imageSizeP->GetValue().y * 3;
+
+ // Allocate buffer
+ if (!this->saveFrameBuffer)
+ this->saveFrameBuffer = new unsigned char[size];
+
+ mBuffer->lock(Ogre::HardwarePixelBuffer::HBL_READ_ONLY);
+
+ int top = (int)((mBuffer->getHeight() - this->imageSizeP->GetValue().y) /
2.0);
+ int left = (int)((mBuffer->getWidth() - this->imageSizeP->GetValue().x) /
2.0);
+ int right = left + this->imageSizeP->GetValue().x;
+ int bottom = top + this->imageSizeP->GetValue().y;
+
+ // Get the center of the texture in RGB 24 bit format
+ mBuffer->blitToMemory(
+ Ogre::Box(left, top, right, bottom),
+
+ Ogre::PixelBox(
+ this->imageSizeP->GetValue().x,
+ this->imageSizeP->GetValue().y,
+ 1,
+ Ogre::PF_B8G8R8,
+ this->saveFrameBuffer)
+ );
+
+ mBuffer->unlock();
+
+
+ if (this->saveFramesP->GetValue())
+ {
+ this->SaveFrame();
+ }
+ }
+
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
// Get the global pose of the camera
Pose3d OgreCamera::GetWorldPose() const
{
@@ -411,4 +469,96 @@
this->sceneNode = node;
}
+//////////////////////////////////////////////////////////////////////////////
+/// Get a pointer to the image data
+const unsigned char *OgreCamera::GetImageData(unsigned int i)
+{
+ if (i!=0)
+ gzerr(0) << "Camera index must be zero for mono cam";
+ return this->saveFrameBuffer;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the camera's name
+std::string OgreCamera::GetCamName()
+{
+ return this->name;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Set the camera's name
+void OgreCamera::SetCamName( const std::string &_name )
+{
+ this->name = _name;
+}
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Save the current frame to disk
+void OgreCamera::SaveFrame()
+{
+ Ogre::HardwarePixelBufferSharedPtr mBuffer;
+ std::ostringstream sstream;
+ Ogre::ImageCodec::ImageData *imgData;
+ Ogre::Codec * pCodec;
+ size_t size, pos;
+
+ this->GetImageData();
+
+ // Create a directory if not present
+ DIR *dir = opendir( this->savePathnameP->GetValue().c_str() );
+ if (!dir)
+ {
+ std::string command;
+ command = "mkdir " + this->savePathnameP->GetValue() + " 2>>/dev/null";
+ system(command.c_str());
+ }
+
+ // Get access to the buffer and make an image and write it to file
+ mBuffer = this->renderTexture->getBuffer(0, 0);
+
+ // Create image data structure
+ imgData = new Ogre::ImageCodec::ImageData();
+
+ imgData->width = this->imageSizeP->GetValue().x;
+ imgData->height = this->imageSizeP->GetValue().y;
+ imgData->depth = 1;
+ imgData->format = Ogre::PF_B8G8R8;
+ size = this->GetImageByteSize();
+
+ // Wrap buffer in a chunk
+ Ogre::MemoryDataStreamPtr stream(new Ogre::MemoryDataStream(
this->saveFrameBuffer, size, false));
+
+ char tmp[1024];
+ if (!this->savePathnameP->GetValue().empty())
+ {
+ double simTime = Simulator::Instance()->GetSimTime();
+ int min = (int)(simTime / 60.0);
+ int sec = (int)(simTime - min*60);
+ int msec = (int)(simTime*1000 - min*60000 - sec*1000);
+
+ sprintf(tmp, "%s/%s-%04d-%03dm_%02ds_%03dms.jpg",
this->savePathnameP->GetValue().c_str(), this->GetCamName().c_str(),
this->saveCount, min, sec, msec);
+ }
+ else
+ {
+ sprintf(tmp, "%s-%04d.jpg", this->GetCamName().c_str(), this->saveCount);
+ }
+
+ // Get codec
+ Ogre::String filename = tmp;
+ pos = filename.find_last_of(".");
+ Ogre::String extension;
+
+ while (pos != filename.length() - 1)
+ extension += filename[++pos];
+
+ // Get the codec
+ pCodec = Ogre::Codec::getCodec(extension);
+
+ // Write out
+ Ogre::Codec::CodecDataPtr codecDataPtr(imgData);
+ pCodec->codeToFile(stream, filename, codecDataPtr);
+
+ this->saveCount++;
+}
Modified: code/branches/federation/gazebo/server/rendering/OgreCamera.hh
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreCamera.hh
2009-03-14 20:19:28 UTC (rev 7485)
+++ code/branches/federation/gazebo/server/rendering/OgreCamera.hh
2009-03-15 05:49:00 UTC (rev 7486)
@@ -77,7 +77,10 @@
/// \brief Initialize the camera
public: void InitCam();
-
+
+ /// \brief Render the camera
+ public: void Render();
+
/// \brief Update the sensor information
public: void UpdateCam();
@@ -175,6 +178,21 @@
/// \brief Set the camera's scene node
public: void SetCameraSceneNode( Ogre::SceneNode *node );
+ /// \brief Get a pointer to the image data
+ public: virtual const unsigned char *GetImageData(unsigned int i=0);
+
+ /// \brief Get the camera's name
+ public: std::string GetCamName();
+
+ /// \brief Set the camera's name
+ public: void SetCamName( const std::string &name );
+
+ // Save the camera frame
+ private: virtual void SaveFrame();
+
+
+ private: std::string name;
+
protected: ParamT<Angle> *hfovP;
protected: ParamT<double> *nearClipP, *farClipP;
protected: ParamT< Vector2<int> > *imageSizeP;
@@ -207,6 +225,8 @@
private: std::string cameraName;
+ protected: bool captureData;
+
private: bool userMovable;
protected: std::vector<Param*> camParameters;
};
Modified: code/branches/federation/gazebo/server/rendering/UserCamera.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/UserCamera.cc
2009-03-14 20:19:28 UTC (rev 7485)
+++ code/branches/federation/gazebo/server/rendering/UserCamera.cc
2009-03-15 05:49:00 UTC (rev 7486)
@@ -84,7 +84,7 @@
this->viewport->setVisibilityMask(this->visibilityMask);
- OgreAdaptor::Instance()->RegisterCamera(this);
+ this->renderTarget = this->window;
}
////////////////////////////////////////////////////////////////////////////////
@@ -93,9 +93,6 @@
{
OgreCamera::UpdateCam();
- // NATE
- //OgreAdaptor::Instance()->UpdateWindow(this->window, this);
-
if (this->saveFramesP->GetValue())
{
char tmp[1024];
Modified:
code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.cc
===================================================================
--- code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.cc
2009-03-14 20:19:28 UTC (rev 7485)
+++ code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.cc
2009-03-15 05:49:00 UTC (rev 7486)
@@ -26,8 +26,7 @@
#include <sstream>
#include <OgreImageCodec.h>
-#include <Ogre.h>
-#include <dirent.h>
+//#include <Ogre.h>
#include "Controller.hh"
#include "Global.hh"
@@ -53,6 +52,7 @@
: Sensor(body), OgreCamera("Mono")
{
this->typeName = "monocamera";
+ this->captureData = true;
}
@@ -106,6 +106,7 @@
void MonoCameraSensor::InitChild()
{
this->InitCam();
+ this->SetCamName(this->GetName());
Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(
this->ogreMaterialName,
@@ -142,7 +143,9 @@
this->UpdateCam();
- this->renderTarget->update();
+ // NATE
+ /* this->renderTarget->update();
+
Ogre::HardwarePixelBufferSharedPtr mBuffer;
size_t size;
@@ -182,6 +185,8 @@
{
this->SaveFrame();
}
+ */
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -192,81 +197,3 @@
}
-//////////////////////////////////////////////////////////////////////////////
-/// Get a pointer to the image data
-const unsigned char *MonoCameraSensor::GetImageData(unsigned int i)
-{
- if (i!=0)
- gzerr(0) << "Camera index must be zero for mono cam";
-
- return this->saveFrameBuffer;
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// Save the current frame to disk
-void MonoCameraSensor::SaveFrame()
-{
- Ogre::HardwarePixelBufferSharedPtr mBuffer;
- std::ostringstream sstream;
- Ogre::ImageCodec::ImageData *imgData;
- Ogre::Codec * pCodec;
- size_t size, pos;
-
- this->GetImageData();
-
- // Create a directory if not present
- DIR *dir = opendir( this->savePathnameP->GetValue().c_str() );
- if (!dir)
- {
- std::string command;
- command = "mkdir " + this->savePathnameP->GetValue() + " 2>>/dev/null";
- system(command.c_str());
- }
-
- // Get access to the buffer and make an image and write it to file
- mBuffer = this->renderTexture->getBuffer(0, 0);
-
- // Create image data structure
- imgData = new Ogre::ImageCodec::ImageData();
-
- imgData->width = this->imageSizeP->GetValue().x;
- imgData->height = this->imageSizeP->GetValue().y;
- imgData->depth = 1;
- imgData->format = Ogre::PF_B8G8R8;
- size = this->GetImageByteSize();
-
- // Wrap buffer in a chunk
- Ogre::MemoryDataStreamPtr stream(new Ogre::MemoryDataStream(
this->saveFrameBuffer, size, false));
-
- char tmp[1024];
- if (!this->savePathnameP->GetValue().empty())
- {
- double simTime = Simulator::Instance()->GetSimTime();
- int min = (int)(simTime / 60.0);
- int sec = (int)(simTime - min*60);
- int msec = (int)(simTime*1000 - min*60000 - sec*1000);
-
- sprintf(tmp, "%s/%s-%04d-%03dm_%02ds_%03dms.jpg",
this->savePathnameP->GetValue().c_str(), this->GetName().c_str(),
this->saveCount, min, sec, msec);
- }
- else
- {
- sprintf(tmp, "%s-%04d.jpg", this->GetName().c_str(), this->saveCount);
- }
-
- // Get codec
- Ogre::String filename = tmp;
- pos = filename.find_last_of(".");
- Ogre::String extension;
-
- while (pos != filename.length() - 1)
- extension += filename[++pos];
-
- // Get the codec
- pCodec = Ogre::Codec::getCodec(extension);
-
- // Write out
- Ogre::Codec::CodecDataPtr codecDataPtr(imgData);
- pCodec->codeToFile(stream, filename, codecDataPtr);
-
- this->saveCount++;
-}
Modified:
code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.hh
===================================================================
--- code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.hh
2009-03-14 20:19:28 UTC (rev 7485)
+++ code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.hh
2009-03-15 05:49:00 UTC (rev 7486)
@@ -72,14 +72,8 @@
/// \brief Return the material the camera renders to
public: virtual std::string GetMaterialName() const;
- /// \brief Get a pointer to the image data
- public: virtual const unsigned char *GetImageData(unsigned int i=0);
-
public: virtual std::string GetName() const { return Sensor::GetName(); }
- // Save the camera frame
- private: void SaveFrame();
-
};
/// \}
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