void VideoViewer::videoFrameCallback(const Video::FrameBuffer* frameBuffer)
{
double timeStamp=saveVideoTimer.peekTime();
/* Start a new value in the input triple buffer: */
Images::RGBImage& image=videoFrames.startNewValue();
/* Extract an RGB image from the provided frame buffer into the new value: */
videoExtractor->extractRGB(frameBuffer,image.modifyPixels());
/* Finish the new value in the triple buffer and wake up the main loop: */
videoFrames.postNewValue();
Vrui::requestUpdate();
if(saveVideoFrames)
{
/* Create a filename for the new video frame: */
char videoFrameFileName[1024];
snprintf(videoFrameFileName,sizeof(videoFrameFileName),saveVideoFrameNameTemplate.c_str(),saveVideoNextFrameIndex);
/* Save the new video frame: */
Images::writeImageFile(image,videoFrameFileName);
std::cout<<"Saving frame "<<videoFrameFileName<<" at "<<timeStamp*1000.0<<" ms"<<std::endl;
/* Increment the frame counter: */
++saveVideoNextFrameIndex;
}
}
void VideoViewer::videoFrameCallback(const Video::FrameBuffer* frameBuffer)
{
/* Start a new value in the input triple buffer: */
Images::RGBImage& image=videoFrames.startNewValue();
/* Extract an RGB image from the provided frame buffer into the new value: */
videoExtractor->extractRGB(frameBuffer,image.modifyPixels());
/* Finish the new value in the triple buffer and wake up the main loop: */
videoFrames.postNewValue();
Vrui::requestUpdate();
}
void VideoViewer::frame(void)
{
/* Lock the most recent video frame in the input triple buffer: */
if(videoFrames.lockNewValue())
{
/* Bump up the video frame's version number to invalidate the cached texture: */
++videoFrameVersion;
}
}
void VideoViewer::initContext(GLContextData& contextData) const
{
DataItem* dataItem=new DataItem;
contextData.addDataItem(this,dataItem);
/* Check whether non-power-of-two-dimension textures are supported: */
dataItem->haveNpotdt=GLARBTextureNonPowerOfTwo::isSupported();
if(dataItem->haveNpotdt)
GLARBTextureNonPowerOfTwo::initExtension();
/* Calculate the texture coordinate rectangle: */
unsigned int texSize[2];
if(dataItem->haveNpotdt)
{
for(int i=0; i<2; ++i)
texSize[i]=videoFormat.size[i];
}
else
{
/* Find the next larger power-of-two texture size: */
for(int i=0; i<2; ++i)
for(texSize[i]=1U; texSize[i]<videoFormat.size[i]; texSize[i]<<=1)
;
}
/* Calculate texture coordinates to map the (padded) texture onto the geometry: */
for(int i=0; i<2; ++i)
{
dataItem->texMin[i]=0.0f;
dataItem->texMax[i]=GLfloat(videoFormat.size[i])/GLfloat(texSize[i]);
}
/* Bind the texture object: */
glBindTexture(GL_TEXTURE_2D,dataItem->videoTextureId);
/* Initialize basic texture settings: */
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_BASE_LEVEL,0);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAX_LEVEL,0);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_NEAREST);
/* Upload the initial texture image: */
videoFrames.getLockedValue().glTexImage2D(GL_TEXTURE_2D,0,GL_RGB8,!dataItem->haveNpotdt);
dataItem->videoTextureVersion=videoFrameVersion;
/* Protect the texture object: */
glBindTexture(GL_TEXTURE_2D,0);
}
void VideoViewer::display(GLContextData& contextData) const
{
/* Get the context data item: */
DataItem* dataItem=contextData.retrieveDataItem<DataItem>(this);
/* Set up OpenGL state: */
glPushAttrib(GL_ENABLE_BIT|GL_TEXTURE_BIT);
glEnable(GL_TEXTURE_2D);
glTexEnvi(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_REPLACE);
/* Bind the texture object: */
glBindTexture(GL_TEXTURE_2D,dataItem->videoTextureId);
/* Check if the cached texture is outdated: */
if(dataItem->videoTextureVersion!=videoFrameVersion)
{
/* Upload the most recent texture image: */
videoFrames.getLockedValue().glTexImage2D(GL_TEXTURE_2D,0,GL_RGB8,!dataItem->haveNpotdt);
dataItem->videoTextureVersion=videoFrameVersion;
}
glBegin(GL_QUADS);
glTexCoord2f(dataItem->texMin[0],dataItem->texMin[1]);
glVertex2i(0,0);
glTexCoord2f(dataItem->texMax[0],dataItem->texMin[1]);
glVertex2i(videoFormat.size[0],0);
glTexCoord2f(dataItem->texMax[0],dataItem->texMax[1]);
glVertex2i(videoFormat.size[0],videoFormat.size[1]);
glTexCoord2f(dataItem->texMin[0],dataItem->texMax[1]);
glVertex2i(0,videoFormat.size[1]);
glEnd();
/* Protect the texture object: */
glBindTexture(GL_TEXTURE_2D,0);
/* Draw the video's backside: */
glDisable(GL_TEXTURE_2D);
glMaterial(GLMaterialEnums::FRONT,GLMaterial(GLMaterial::Color(0.7f,0.7f,0.7f)));
glBegin(GL_QUADS);
glNormal3f(0.0f,0.0f,-1.0f);
glVertex2i(0,0);
glVertex2i(0,videoFormat.size[1]);
glVertex2i(videoFormat.size[0],videoFormat.size[1]);
glVertex2i(videoFormat.size[0],0);
glEnd();
/* Restore OpenGL state: */
glPopAttrib();
}
void IMUTest::sampleCallback(const IMU::CalibratedSample& sample)
{
/* Store the calibrated sample: */
samples.postNewValue(sample);
/* Forward the calibrated sample to the 6-DOF tracker: */
tracker->integrateSample(sample);
#if 0
static IMU::Vector accel(0.0,0.0,0.0);
static IMU::Vector mag(0.0,0.0,0.0);
const double w=1.0/1024.0;
accel=accel*(1.0-w)+sample.accelerometer*w;
mag=mag*(1.0-w)+sample.magnetometer*w;
std::cout<<std::fixed;
std::cout.precision(4);
std::cout<<'\r';
std::cout<<std::setw(10)<<accel.mag()<<", ";
std::cout<<std::setw(10)<<mag.mag();
std::cout<<std::flush;
#endif
#if 0
std::cout<<std::fixed;
std::cout.precision(4);
std::cout<<'\r';
for(int i=0;i<3;++i)
std::cout<<std::setw(10)<<sample.magnetometer[i];
std::cout<<std::flush;
#endif
Vrui::requestUpdate();
}
void IMUTest::display(GLContextData& contextData) const
{
glPushAttrib(GL_ENABLE_BIT);
glEnable(GL_COLOR_MATERIAL);
glColorMaterial(GL_FRONT,GL_AMBIENT_AND_DIFFUSE);
glMaterialSpecular(GLMaterialEnums::FRONT,GLColor<GLfloat,4>(1.0f,1.0f,1.0f));
glMaterialShininess(GLMaterialEnums::FRONT,25.0f);
/* Draw a global coordinate frame: */
glPushMatrix();
glColor3f(1.0f,0.5f,0.5f);
glRotated(90.0,0.0,1.0,0.0);
glTranslated(0.0,0.0,5.0);
glDrawArrow(0.5f,1.0f,1.5f,10.0f,16);
glPopMatrix();
glPushMatrix();
glColor3f(0.5f,1.0f,0.5f);
glRotated(-90.0,1.0,0.0,0.0);
glTranslated(0.0,0.0,5.0);
glDrawArrow(0.5f,1.0f,1.5f,10.0f,16);
glPopMatrix();
glPushMatrix();
glColor3f(0.5f,0.5f,1.0f);
glTranslated(0.0,0.0,5.0);
glDrawArrow(0.5f,1.0f,1.5f,10.0f,16);
glPopMatrix();
/* Draw a local coordinate frame: */
glPushMatrix();
const IMUTracker::State& state=tracker->getLockedState();
// if(lockPosition)
// glTranslated(5.0,5.0,5.0);
// else
// glTranslate(state.translation*IMUTracker::Scalar(10));
glRotate(state.rotation);
glPushMatrix();
glColor3f(1.0f,0.5f,0.5f);
glRotated(90.0,0.0,1.0,0.0);
glTranslated(0.0,0.0,2.5);
glDrawArrow(0.5f,1.0f,1.5f,5.0f,16);
glPopMatrix();
glPushMatrix();
glColor3f(0.5f,1.0f,0.5f);
glRotated(-90.0,1.0,0.0,0.0);
glTranslated(0.0,0.0,2.5);
glDrawArrow(0.5f,1.0f,1.5f,5.0f,16);
glPopMatrix();
glPushMatrix();
glColor3f(0.5f,0.5f,1.0f);
glTranslated(0.0,0.0,2.5);
glDrawArrow(0.5f,1.0f,1.5f,5.0f,16);
glPopMatrix();
const IMU::CalibratedSample& sample=samples.getLockedValue();
/* Draw the current linear acceleration vector: */
glPushMatrix();
glColor3f(1.0f,1.0f,0.0f);
GLfloat len=GLfloat(Geometry::mag(sample.accelerometer));
glRotate(IMUTracker::Rotation::rotateFromTo(IMUTracker::Vector(0,0,1),sample.accelerometer));
glTranslatef(0.0f,0.0f,len*0.5f);
glDrawArrow(0.5f,1.0f,1.5f,len,16);
glPopMatrix();
/* Draw the current magnetic flux density vector: */
glPushMatrix();
glColor3f(1.0f,0.0f,1.0f);
len=GLfloat(Geometry::mag(sample.magnetometer))*0.2f;
glRotate(IMUTracker::Rotation::rotateFromTo(IMUTracker::Vector(0,0,1),sample.magnetometer));
// glTranslatef(0.0f,0.0f,len*0.5f);
glDrawArrow(0.5f,1.0f,1.5f,len*2.0f,16);
glPopMatrix();
glPopMatrix();
glPopAttrib();
}
void IMUTest::frame(void)
{
/* Lock the most recent sample and tracker state: */
tracker->lockNewState();
samples.lockNewValue();
}