bool PleoraVideo::GrabNewest( unsigned char* image, bool wait )
{
PvBuffer *lBuffer0 = NULL;
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
const uint32_t timeout = wait ? 0xFFFFFFFF : 0;
PvResult lResult = lStream->RetrieveBuffer( &lBuffer, &lOperationResult, timeout );
if ( !lResult.IsOK() ) {
pango_print_warn("Pleora error: %s\n", lResult.GetCodeString().GetAscii() );
return false;
}else if( !lOperationResult.IsOK() ) {
pango_print_warn("Pleora error: %s\n", lOperationResult.GetCodeString().GetAscii() );
lStream->QueueBuffer( lBuffer );
return false;
}
// We have at least one frame. Capture more until we fail, 0 timeout
while(true) {
PvResult lResult = lStream->RetrieveBuffer( &lBuffer0, &lOperationResult, 0 );
if ( !lResult.IsOK() ) {
break;
}else if( !lOperationResult.IsOK() ) {
lStream->QueueBuffer( lBuffer0 );
break;
}else{
lStream->QueueBuffer( lBuffer );
lBuffer = lBuffer0;
}
}
bool good = false;
PvPayloadType lType = lBuffer->GetPayloadType();
if ( lType == PvPayloadTypeImage )
{
PvImage *lImage = lBuffer->GetImage();
std::memcpy(image, lImage->GetDataPointer(), size_bytes);
good = true;
}
lStream->QueueBuffer( lBuffer );
return good;
}
bool PleoraVideo::GrabNext( unsigned char* image, bool /*wait*/ )
{
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
// Retrieve next buffer
PvResult lResult = lStream->RetrieveBuffer( &lBuffer, &lOperationResult, 1000 );
if ( !lResult.IsOK() ) {
pango_print_warn("Pleora error: %s\n", lResult.GetCodeString().GetAscii() );
return false;
}
bool good = false;
if ( lOperationResult.IsOK() )
{
PvPayloadType lType = lBuffer->GetPayloadType();
if ( lType == PvPayloadTypeImage )
{
PvImage *lImage = lBuffer->GetImage();
std::memcpy(image, lImage->GetDataPointer(), size_bytes);
good = true;
}
} else {
pango_print_warn("Pleora error: %s\n", lOperationResult.GetCodeString().GetAscii() );
}
lStream->QueueBuffer( lBuffer );
return good;
}
DebayerVideo::DebayerVideo(VideoInterface* src, color_filter_t tile, bayer_method_t method)
: size_bytes(0), buffer(0), tile(tile), method(method)
{
if(!src) {
throw VideoException("DebayerVideo: VideoInterface in must not be null");
}
videoin.push_back(src);
#ifndef HAVE_DC1394
pango_print_warn("debayer: dc1394 unavailable for debayering. Using simple downsampling method instead.\n");
this->method = BAYER_METHOD_DOWNSAMPLE;
#endif
const pangolin::VideoPixelFormat rgb_format = pangolin::VideoFormatFromString("RGB24");
for(size_t s=0; s< src->Streams().size(); ++s) {
size_t w = src->Streams()[s].Width();
size_t h = src->Streams()[s].Height();
if(this->method==BAYER_METHOD_DOWNSAMPLE) {
w = w/2;
h = h/2;
}
streams.push_back(pangolin::StreamInfo( rgb_format, w, h, w*rgb_format.bpp / 8, (unsigned char*)0 + size_bytes ));
size_bytes += w*h*rgb_format.bpp / 8;
}
buffer = new unsigned char[src->SizeBytes()];
}
PacketStreamReader::FrameInfo PacketStreamReader::NextFrame(PacketStreamSourceId src, SyncTime *sync)
{
Lock(); //we cannot use a scoped lock here, because we may not want to release the lock, depending on what we find.
try
{
while (1)
{
auto fi = _nextFrame();
if (!fi) {
// Nothing left in stream
Unlock();
return fi;
} else {
// So we have accurate sequence numbers for frames.
++_next_packet_framenum[fi.src];
if (_stream.seekable())
{
if (!_index.has(fi.src, fi.sequence_num)) {
// If it's not in the index for some reason, add it.
_index.add(fi.src, fi.sequence_num, fi.frame_streampos);
} else if (_index.position(fi.src, fi.sequence_num) != fi.frame_streampos) {
PANGO_ENSURE(_index.position(fi.src, fi.sequence_num) == fi.packet_streampos);
static bool warned_already = false;
if(!warned_already) {
pango_print_warn("CAUTION: Old .pango files do not update frame_properties on seek.\n");
warned_already = true;
}
}
}
_stream.data_len(fi.size); //now we are positioned on packet data for n characters.
}
if (sync) {
//if we are doing timesync, wait, even if it's not our packet.
WaitForTimeSync(*sync, fi.time);
}
//if it's ours, return it and don't release lock
if (fi.src == src) {
return _stream.readFrameHeader(*this);
}
//otherwise skip it and get the next one.
_stream.skip(fi.size);
}
}
catch (std::exception &e) {
// Since we are not using a scoped lock, we must catch and release.
Unlock();
throw e;
}
catch (...) {
// We will always release, even if we cannot identify the exception.
Unlock();
throw std::runtime_error("Caught an unknown exception");
}
}
void PacketStreamReader::ParseHeader()
{
_stream.readTag(TAG_PANGO_HDR);
json::value json_header;
json::parse(json_header, _stream); //looks like right now, we don't do anything with this.
_starttime = json_header["time_us"].get<int64_t>();
if (!_starttime)
pango_print_warn("Unable to read stream start time. Time sync to treat stream as realtime will not work!\n");
_stream.get(); // consume newline
}
void PleoraVideo::Start()
{
if(lStream->GetQueuedBufferCount() == 0) {
// Queue all buffers in the stream
for( BufferList::iterator lIt = lBufferList.begin(); lIt != lBufferList.end(); lIt++ ) {
lStream->QueueBuffer( *lIt );
}
lDevice->StreamEnable();
lStart->Execute();
} else {
pango_print_warn("PleoraVideo: Already started.\n");
}
}
SplitVideo::SplitVideo(std::unique_ptr<VideoInterface> &src_, const std::vector<StreamInfo>& streams)
: src(std::move(src_)), streams(streams)
{
videoin.push_back(src.get());
// Warn if stream over-runs input stream
for(unsigned int i=0; i < streams.size(); ++i) {
if(src->SizeBytes() < (size_t)streams[i].Offset() + streams[i].SizeBytes() ) {
pango_print_warn("VideoSplitter: stream extends past end of input.\n");
break;
}
}
}
bool MirrorVideo::DropNFrames(uint32_t n)
{
BufferAwareVideoInterface* vpi = dynamic_cast<BufferAwareVideoInterface*>(videoin.get());
if(!vpi)
{
pango_print_warn("Mirror: child interface is not buffer aware.");
return false;
}
else
{
return vpi->DropNFrames(n);
}
}
size_t PacketStreamReader::Skip(size_t len)
{
if (!_stream.data_len())
throw runtime_error("Packetstream not positioned on data block. nextFrame() should be called before skip().");
else if (_stream.data_len() < len)
{
pango_print_warn("skip() requested skip of %zu bytes when only %zu bytes remain in data block. Trimming to remaining data size.", len, _stream.data_len());
len = _stream.data_len();
}
auto r = _stream.skip(len);
if (!_stream.data_len()) //we are done skipping, and should release the lock from nextFrame()
Unlock();
return r;
}
void DestroyWindow(const std::string& name)
{
contexts_mutex.lock();
ContextMap::iterator ic = contexts.find(name);
PangolinGl *context_to_destroy = (ic == contexts.end()) ? 0 : ic->second.get();
if (context_to_destroy == context) {
context = nullptr;
}
size_t erased = contexts.erase(name);
if(erased == 0) {
pango_print_warn("Context '%s' doesn't exist for deletion.\n", name.c_str());
}
contexts_mutex.unlock();
}
size_t PacketStreamReader::ReadRaw(char* target, size_t len)
{
if (!_stream.data_len()) {
throw runtime_error("Packetstream not positioned on data block. nextFrame() should be called before readraw().");
} else if (_stream.data_len() < len) {
pango_print_warn("readraw() requested read of %zu bytes when only %zu bytes remain in data block. Trimming to available data size.", len, _stream.data_len());
len = _stream.data_len();
}
auto r = _stream.read(target, len);
if (!_stream.data_len()) {
//we are done reading, and should release the lock from nextFrame()
Unlock();
}
return r;
}
void PleoraVideo::Stop()
{
// stop grab thread
if(lStream->GetQueuedBufferCount() > 0) {
lStop->Execute();
lDevice->StreamDisable();
// Abort all buffers from the stream and dequeue
lStream->AbortQueuedBuffers();
while ( lStream->GetQueuedBufferCount() > 0 ) {
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
lStream->RetrieveBuffer( &lBuffer, &lOperationResult );
}
} else {
pango_print_warn("PleoraVideo: Already stopped.\n");
}
}
TypedImage LoadImage(
const std::string& filename,
const PixelFormat& raw_fmt,
size_t raw_width, size_t raw_height, size_t raw_pitch
) {
TypedImage img(raw_width, raw_height, raw_fmt, raw_pitch);
// Read from file, row at a time.
std::ifstream bFile( filename.c_str(), std::ios::in | std::ios::binary );
for(size_t r=0; r<img.h; ++r) {
bFile.read( (char*)img.ptr + r*img.pitch, img.pitch );
if(bFile.fail()) {
pango_print_warn("Unable to read raw image file to completion.");
break;
}
}
return img;
}
PacketStreamReader::FrameInfo PacketStreamReader::Seek(PacketStreamSourceId src, size_t framenum, SyncTime *sync)
{
lock_guard<decltype(_mutex)> lg(_mutex);
if (!_stream.seekable())
throw std::runtime_error("Stream is not seekable (probably a pipe).");
if (src > _sources.size())
throw std::runtime_error("Invalid Frame Source ID.");
if(_stream.data_len()) //we were in the middle of reading data, and are holding an extra lock. We need to release it, while still holding the scoped lock.
Skip(_stream.data_len());
while (!_index.has(src, framenum))
{
pango_print_warn("seek index miss... reading ahead.\n");
if (_stream.data_len())
_stream.skip(_stream.data_len());
auto fi = NextFrame(src, nullptr);
if (!fi) //if we hit the end, throw
throw std::out_of_range("frame number not in sequence");
}
auto target_header_start = _index.position(src, framenum);
_stream.seekg(target_header_start);
_next_packet_framenum[src] = framenum; //this increments when we parse the header in the next line;
//THIS WILL BREAK _next_packet_framenum FOR ALL OTHER SOURCES. Todo more refactoring to fix.
auto r = _stream.peekFrameHeader(*this); //we need to do this now, because we need r.time in order to sync up our playback.
if (nullptr != sync && _starttime)
sync->ResyncToOffset(r.time - _starttime); //if we have a sync timer, we need to reset it to play synchronized frame from where we just did a seek to.
return r;
}
PacketStreamReader::FrameInfo PacketStreamReader::_nextFrame()
{
while (1)
{
auto t = _stream.peekTag();
switch (t)
{
case TAG_PANGO_SYNC:
SkipSync();
break;
case TAG_ADD_SOURCE:
ParseNewSource();
break;
case TAG_SRC_JSON: //frames are sometimes preceded by metadata, but metadata must ALWAYS be followed by a frame from the same source.
case TAG_SRC_PACKET:
return _stream.peekFrameHeader(*this);
case TAG_PANGO_STATS:
ParseIndex();
break;
case TAG_PANGO_FOOTER: //end of frames
case TAG_END:
return FrameInfo(); //none
case TAG_PANGO_HDR: //shoudln't encounter this
ParseHeader();
break;
case TAG_PANGO_MAGIC: //or this
SkipSync();
break;
default: //or anything else
pango_print_warn("Unexpected packet type: \"%s\". Resyncing()\n", tagName(t).c_str());
ReSync();
break;
}
}
}
void VideoViewer(const std::string& input_uri, const std::string& output_uri)
{
pangolin::Var<int> record_timelapse_frame_skip("viewer.record_timelapse_frame_skip", 1 );
pangolin::Var<int> end_frame("viewer.end_frame", std::numeric_limits<int>::max() );
pangolin::Var<bool> video_wait("video.wait", true);
pangolin::Var<bool> video_newest("video.newest", false);
// Open Video by URI
pangolin::VideoRecordRepeat video(input_uri, output_uri);
const size_t num_streams = video.Streams().size();
if(num_streams == 0) {
pango_print_error("No video streams from device.\n");
return;
}
// Output details of video stream
for(size_t s = 0; s < num_streams; ++s) {
const pangolin::StreamInfo& si = video.Streams()[s];
std::cout << "Stream " << s << ": " << si.Width() << " x " << si.Height()
<< " " << si.PixFormat().format << " (pitch: " << si.Pitch() << " bytes)" << std::endl;
}
// Check if video supports VideoPlaybackInterface
pangolin::VideoPlaybackInterface* video_playback = pangolin::FindFirstMatchingVideoInterface<pangolin::VideoPlaybackInterface>(video);
const int total_frames = video_playback ? video_playback->GetTotalFrames() : std::numeric_limits<int>::max();
const int slider_size = (total_frames < std::numeric_limits<int>::max() ? 20 : 0);
if( video_playback ) {
if(total_frames < std::numeric_limits<int>::max() ) {
std::cout << "Video length: " << total_frames << " frames" << std::endl;
}
end_frame = 0;
}
std::vector<unsigned char> buffer;
buffer.resize(video.SizeBytes()+1);
// Create OpenGL window - guess sensible dimensions
pangolin::CreateWindowAndBind( "VideoViewer",
(int)(video.Width() * num_streams),
(int)(video.Height() + slider_size)
);
// Assume packed OpenGL data unless otherwise specified
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glEnable (GL_BLEND);
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
// Setup resizable views for video streams
std::vector<pangolin::GlPixFormat> glfmt;
std::vector<std::pair<float,float> > gloffsetscale;
std::vector<size_t> strides;
std::vector<pangolin::ImageViewHandler> handlers;
handlers.reserve(num_streams);
size_t scratch_buffer_bytes = 0;
pangolin::View& container = pangolin::Display("streams");
container.SetLayout(pangolin::LayoutEqual)
.SetBounds(pangolin::Attach::Pix(slider_size), 1.0, 0.0, 1.0);
for(unsigned int d=0; d < num_streams; ++d) {
const pangolin::StreamInfo& si = video.Streams()[d];
pangolin::View& view = pangolin::CreateDisplay().SetAspect(si.Aspect());
container.AddDisplay(view);
glfmt.push_back(pangolin::GlPixFormat(si.PixFormat()));
gloffsetscale.push_back(std::pair<float,float>(0.0f, 1.0f) );
if( si.PixFormat().bpp % 8 ) {
pango_print_warn("Stream %i: Unable to display formats that are not a multiple of 8 bits.", d);
}
if( (8*si.Pitch()) % si.PixFormat().bpp ) {
pango_print_warn("Stream %i: Unable to display formats whose pitch is not a whole number of pixels.", d);
}
if(glfmt.back().gltype == GL_DOUBLE) {
scratch_buffer_bytes = std::max(scratch_buffer_bytes, sizeof(float)*si.Width() * si.Height());
}
strides.push_back( (8*si.Pitch()) / si.PixFormat().bpp );
handlers.push_back( pangolin::ImageViewHandler(si.Width(), si.Height()) );
view.SetHandler(&handlers.back());
}
// current frame in memory buffer and displaying.
pangolin::Var<int> frame("ui.frame", -1, 0, total_frames-1 );
pangolin::Slider frame_slider("frame", frame.Ref() );
if(video_playback && total_frames < std::numeric_limits<int>::max())
{
frame_slider.SetBounds(0.0, pangolin::Attach::Pix(slider_size), 0.0, 1.0);
pangolin::DisplayBase().AddDisplay(frame_slider);
}
std::vector<unsigned char> scratch_buffer;
scratch_buffer.resize(scratch_buffer_bytes);
std::vector<pangolin::Image<unsigned char> > images;
#ifdef CALLEE_HAS_CPP11
const int FRAME_SKIP = 30;
const char show_hide_keys[] = {'1','2','3','4','5','6','7','8','9'};
const char screenshot_keys[] = {'!','"','#','$','%','^','&','*','('};
// Show/hide streams
for(size_t v=0; v < container.NumChildren() && v < 9; v++) {
pangolin::RegisterKeyPressCallback(show_hide_keys[v], [v,&container](){
container[v].ToggleShow();
} );
pangolin::RegisterKeyPressCallback(screenshot_keys[v], [v,&images,&video](){
if(v < images.size() && images[v].ptr) {
try{
pangolin::SaveImage(
images[v], video.Streams()[v].PixFormat(),
pangolin::MakeUniqueFilename("capture.png")
);
}catch(std::exception e){
pango_print_error("Unable to save frame: %s\n", e.what());
}
}
} );
}
pangolin::RegisterKeyPressCallback('r', [&](){
if(!video.IsRecording()) {
video.SetTimelapse( static_cast<size_t>(record_timelapse_frame_skip) );
video.Record();
pango_print_info("Started Recording.\n");
}else{
video.Stop();
pango_print_info("Finished recording.\n");
}
fflush(stdout);
});
pangolin::RegisterKeyPressCallback('p', [&](){
video.Play();
end_frame = std::numeric_limits<int>::max();
pango_print_info("Playing from file log.\n");
fflush(stdout);
});
pangolin::RegisterKeyPressCallback('s', [&](){
video.Source();
end_frame = std::numeric_limits<int>::max();
pango_print_info("Playing from source input.\n");
fflush(stdout);
});
pangolin::RegisterKeyPressCallback(' ', [&](){
end_frame = (frame < end_frame) ? frame : std::numeric_limits<int>::max();
});
pangolin::RegisterKeyPressCallback('w', [&](){
video_wait = !video_wait;
if(video_wait) {
pango_print_info("Gui wait's for video frame.\n");
}else{
pango_print_info("Gui doesn't wait for video frame.\n");
}
});
pangolin::RegisterKeyPressCallback('d', [&](){
video_newest = !video_newest;
if(video_newest) {
pango_print_info("Discarding old frames.\n");
}else{
pango_print_info("Not discarding old frames.\n");
}
});
pangolin::RegisterKeyPressCallback('<', [&](){
if(video_playback) {
frame = video_playback->Seek(frame - FRAME_SKIP) -1;
end_frame = frame + 1;
}else{
pango_print_warn("Unable to skip backward.");
}
});
pangolin::RegisterKeyPressCallback('>', [&](){
if(video_playback) {
frame = video_playback->Seek(frame + FRAME_SKIP) -1;
end_frame = frame + 1;
}else{
end_frame = frame + FRAME_SKIP;
}
});
pangolin::RegisterKeyPressCallback(',', [&](){
if(video_playback) {
frame = video_playback->Seek(frame - 1) -1;
end_frame = frame+1;
}else{
pango_print_warn("Unable to skip backward.");
}
});
pangolin::RegisterKeyPressCallback('.', [&](){
// Pause at next frame
end_frame = frame+1;
});
pangolin::RegisterKeyPressCallback('0', [&](){
video.RecordOneFrame();
});
pangolin::RegisterKeyPressCallback('a', [&](){
// Adapt scale
for(unsigned int i=0; i<images.size(); ++i) {
if(container[i].HasFocus()) {
pangolin::Image<unsigned char>& img = images[i];
pangolin::ImageViewHandler& ivh = handlers[i];
const bool have_selection = std::isfinite(ivh.GetSelection().Area()) && std::abs(ivh.GetSelection().Area()) >= 4;
pangolin::XYRangef froi = have_selection ? ivh.GetSelection() : ivh.GetViewToRender();
gloffsetscale[i] = pangolin::GetOffsetScale(img, froi.Cast<int>(), glfmt[i]);
}
}
});
pangolin::RegisterKeyPressCallback('g', [&](){
std::pair<float,float> os_default(0.0f, 1.0f);
// Get the scale and offset from the container that has focus.
for(unsigned int i=0; i<images.size(); ++i) {
if(container[i].HasFocus()) {
pangolin::Image<unsigned char>& img = images[i];
pangolin::ImageViewHandler& ivh = handlers[i];
const bool have_selection = std::isfinite(ivh.GetSelection().Area()) && std::abs(ivh.GetSelection().Area()) >= 4;
pangolin::XYRangef froi = have_selection ? ivh.GetSelection() : ivh.GetViewToRender();
os_default = pangolin::GetOffsetScale(img, froi.Cast<int>(), glfmt[i]);
break;
}
}
// Adapt scale for all images equally
// TODO : we're assuming the type of all the containers images' are the same.
for(unsigned int i=0; i<images.size(); ++i) {
gloffsetscale[i] = os_default;
}
});
#endif // CALLEE_HAS_CPP11
#ifdef DEBUGVIDEOVIEWER
unsigned int delayms = 0;
pangolin::RegisterKeyPressCallback('z', [&](){
// Adapt delay
delayms += 1;
std::cout << " Fake delay " << delayms << "ms" << std::endl;
});
pangolin::RegisterKeyPressCallback('x', [&](){
// Adapt delay
delayms = (delayms > 1) ? delayms-1 : 0;
});
pangolin::basetime start,now;
#endif // DEBUGVIDEOVIEWER
// Stream and display video
while(!pangolin::ShouldQuit())
{
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
glColor3f(1.0f, 1.0f, 1.0f);
if(frame.GuiChanged()) {
if(video_playback) {
frame = video_playback->Seek(frame) -1;
}
end_frame = frame + 1;
}
#ifdef DEBUGVIDEOVIEWER
boostd::this_thread::sleep_for(boostd::chrono::milliseconds(delayms));
std::cout << "-------------------------------------------------------" << std::endl;
now = pangolin::TimeNow();
std::cout << " FPS: " << 1.0/pangolin::TimeDiff_s(start, now) << " artificial delay: " << delayms <<"ms"<< std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
start = now;
#endif
if ( frame < end_frame ) {
if( video.Grab(&buffer[0], images, video_wait, video_newest) ) {
frame = frame +1;
}
}
#ifdef DEBUGVIDEOVIEWER
const pangolin::basetime end = pangolin::TimeNow();
std::cout << "Total grab time: " << 1000*pangolin::TimeDiff_s(start, end) << "ms" << std::endl;
#endif
glLineWidth(1.5f);
glDisable(GL_DEPTH_TEST);
for(unsigned int i=0; i<images.size(); ++i)
{
if(container[i].IsShown()) {
container[i].Activate();
pangolin::Image<unsigned char>& image = images[i];
// Get texture of correct dimension / format
const pangolin::GlPixFormat& fmt = glfmt[i];
pangolin::GlTexture& tex = pangolin::TextureCache::I().GlTex((GLsizei)image.w, (GLsizei)image.h, fmt.scalable_internal_format, fmt.glformat, GL_FLOAT);
// Upload image data to texture
tex.Bind();
if(fmt.gltype == GL_DOUBLE) {
// Convert to float first, using scrath_buffer for storage
pangolin::Image<float> fimage(image.w, image.h, image.w*sizeof(float), (float*)scratch_buffer.data());
ConvertPixels<float,double>( fimage, image.Reinterpret<double>() );
glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
tex.Upload(fimage.ptr,0,0, (GLsizei)fimage.w, (GLsizei)fimage.h, fmt.glformat, GL_FLOAT);
}else{
glPixelStorei(GL_UNPACK_ROW_LENGTH, (GLint)strides[i]);
tex.Upload(image.ptr,0,0, (GLsizei)image.w, (GLsizei)image.h, fmt.glformat, fmt.gltype);
}
// Render
handlers[i].UpdateView();
handlers[i].glSetViewOrtho();
const std::pair<float,float> os = gloffsetscale[i];
pangolin::GlSlUtilities::OffsetAndScale(os.first, os.second);
handlers[i].glRenderTexture(tex);
pangolin::GlSlUtilities::UseNone();
handlers[i].glRenderOverlay();
}
}
glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
// leave in pixel orthographic for slider to render.
pangolin::DisplayBase().ActivatePixelOrthographic();
if(video.IsRecording()) {
pangolin::glRecordGraphic(pangolin::DisplayBase().v.w-14.0f, pangolin::DisplayBase().v.h-14.0f, 7.0f);
}
pangolin::FinishFrame();
}
}
GLXContext CreateGlContext(::Display *display, ::GLXFBConfig chosenFbc, GLXContext share_context = 0)
{
int glx_major, glx_minor;
if ( !glXQueryVersion( display, &glx_major, &glx_minor ) ||
( ( glx_major == 1 ) && ( glx_minor < 3 ) ) || ( glx_major < 1 ) )
{
throw std::runtime_error("Pangolin X11: Invalid GLX version. Require GLX >= 1.3");
}
GLXContext new_ctx;
// Get the default screen's GLX extension list
const char *glxExts = glXQueryExtensionsString( display, DefaultScreen( display ) );
glXCreateContextAttribsARBProc glXCreateContextAttribsARB =
(glXCreateContextAttribsARBProc) glXGetProcAddressARB(
(const GLubyte *) "glXCreateContextAttribsARB"
);
// Install an X error handler so the application won't exit if GL 3.0
// context allocation fails. Handler is global and shared across all threads.
ctxErrorOccurred = false;
int (*oldHandler)(::Display*, ::XErrorEvent*) = XSetErrorHandler(&ctxErrorHandler);
if ( isExtensionSupported( glxExts, "GLX_ARB_create_context" ) && glXCreateContextAttribsARB )
{
int context_attribs[] = {
GLX_CONTEXT_MAJOR_VERSION_ARB, 3,
GLX_CONTEXT_MINOR_VERSION_ARB, 0,
//GLX_CONTEXT_FLAGS_ARB , GLX_CONTEXT_FORWARD_COMPATIBLE_BIT_ARB,
None
};
new_ctx = glXCreateContextAttribsARB( display, chosenFbc, share_context, True, context_attribs );
// Sync to ensure any errors generated are processed.
XSync( display, False );
if ( ctxErrorOccurred || !new_ctx ) {
ctxErrorOccurred = false;
// Fall back to old-style 2.x context. Implementations will return the newest
// context version compatible with OpenGL versions less than version 3.0.
context_attribs[1] = 1; // GLX_CONTEXT_MAJOR_VERSION_ARB = 1
context_attribs[3] = 0; // GLX_CONTEXT_MINOR_VERSION_ARB = 0
new_ctx = glXCreateContextAttribsARB( display, chosenFbc, share_context, True, context_attribs );
}
} else {
// Fallback to GLX 1.3 Context
new_ctx = glXCreateNewContext( display, chosenFbc, GLX_RGBA_TYPE, share_context, True );
}
// Sync to ensure any errors generated are processed.
XSync( display, False );
// Restore the original error handler
XSetErrorHandler( oldHandler );
if ( ctxErrorOccurred || !new_ctx ) {
throw std::runtime_error("Pangolin X11: Failed to create an OpenGL context");
}
// Verifying that context is a direct context
if ( ! glXIsDirect ( display, new_ctx ) ) {
pango_print_warn("Pangolin X11: Indirect GLX rendering context obtained\n");
}
return new_ctx;
}
int CreateX11Window(
const std::string& title, int width, int height,
bool glx_doublebuffer,int glx_sample_buffers, int glx_samples
) {
display = XOpenDisplay(NULL);
if (!display) {
throw std::runtime_error("Pangolin X11: Failed to open X display");
}
// Desired attributes
static int visual_attribs[] =
{
GLX_X_RENDERABLE , True,
GLX_DRAWABLE_TYPE , GLX_WINDOW_BIT,
GLX_RENDER_TYPE , GLX_RGBA_BIT,
GLX_X_VISUAL_TYPE , GLX_TRUE_COLOR,
GLX_RED_SIZE , 8,
GLX_GREEN_SIZE , 8,
GLX_BLUE_SIZE , 8,
GLX_ALPHA_SIZE , 8,
GLX_DEPTH_SIZE , 24,
GLX_STENCIL_SIZE , 8,
GLX_DOUBLEBUFFER , glx_doublebuffer ? True : False,
GLX_SAMPLE_BUFFERS , glx_sample_buffers,
GLX_SAMPLES , glx_sample_buffers > 0 ? glx_samples : 0,
None
};
int glx_major, glx_minor;
if ( !glXQueryVersion( display, &glx_major, &glx_minor ) ||
( ( glx_major == 1 ) && ( glx_minor < 3 ) ) || ( glx_major < 1 ) )
{
// FBConfigs were added in GLX version 1.3.
throw std::runtime_error("Pangolin X11: Invalid GLX version. Require GLX >= 1.3");
}
int fbcount;
GLXFBConfig* fbc = glXChooseFBConfig(display, DefaultScreen(display), visual_attribs, &fbcount);
if (!fbc) {
throw std::runtime_error("Pangolin X11: Unable to retrieve framebuffer options");
}
int best_fbc = -1;
int worst_fbc = -1;
int best_num_samp = -1;
int worst_num_samp = 999;
// Enumerate framebuffer options, storing the best and worst that match our attribs
for (int i=0; i<fbcount; ++i)
{
XVisualInfo *vi = glXGetVisualFromFBConfig( display, fbc[i] );
if ( vi )
{
int samp_buf, samples;
glXGetFBConfigAttrib( display, fbc[i], GLX_SAMPLE_BUFFERS, &samp_buf );
glXGetFBConfigAttrib( display, fbc[i], GLX_SAMPLES , &samples );
if ( (best_fbc < 0) || (samp_buf>0 && samples>best_num_samp) )
best_fbc = i, best_num_samp = samples;
if ( (worst_fbc < 0) || (samp_buf>0 && samples<worst_num_samp) )
worst_fbc = i, worst_num_samp = samples;
}
XFree( vi );
}
// Select the minimum suitable option. The 'best' is often too slow.
GLXFBConfig bestFbc = fbc[ worst_fbc ];
XFree( fbc );
// Get a visual
XVisualInfo *vi = glXGetVisualFromFBConfig( display, bestFbc );
// Create colourmap
XSetWindowAttributes swa;
swa.colormap = cmap = XCreateColormap( display,
RootWindow( display, vi->screen ),
vi->visual, AllocNone );
swa.background_pixmap = None ;
swa.border_pixel = 0;
swa.event_mask = StructureNotifyMask;
// Create window
win = XCreateWindow( display, RootWindow( display, vi->screen ),
0, 0, width, height, 0, vi->depth, InputOutput,
vi->visual,
CWBorderPixel|CWColormap|CWEventMask, &swa );
XFree( vi );
if ( !win ) {
throw std::runtime_error("Pangolin X11: Failed to create window." );
}
XStoreName( display, win, title.c_str() );
XMapWindow( display, win );
// Request to be notified of these events
XSelectInput(display, win, EVENT_MASKS );
// Get the default screen's GLX extension list
const char *glxExts = glXQueryExtensionsString( display, DefaultScreen( display ) );
glXCreateContextAttribsARBProc glXCreateContextAttribsARB =
(glXCreateContextAttribsARBProc) glXGetProcAddressARB(
(const GLubyte *) "glXCreateContextAttribsARB"
);
// Install an X error handler so the application won't exit if GL 3.0
// context allocation fails. Handler is global and shared across all threads.
ctxErrorOccurred = false;
int (*oldHandler)(Display*, XErrorEvent*) = XSetErrorHandler(&ctxErrorHandler);
if ( isExtensionSupported( glxExts, "GLX_ARB_create_context" ) && glXCreateContextAttribsARB )
{
int context_attribs[] = {
GLX_CONTEXT_MAJOR_VERSION_ARB, 3,
GLX_CONTEXT_MINOR_VERSION_ARB, 0,
//GLX_CONTEXT_FLAGS_ARB , GLX_CONTEXT_FORWARD_COMPATIBLE_BIT_ARB,
None
};
ctx = glXCreateContextAttribsARB( display, bestFbc, 0, True, context_attribs );
// Sync to ensure any errors generated are processed.
XSync( display, False );
if ( ctxErrorOccurred || !ctx ) {
ctxErrorOccurred = false;
// Fall back to old-style 2.x context. Implementations will return the newest
// context version compatible with OpenGL versions less than version 3.0.
context_attribs[1] = 1; // GLX_CONTEXT_MAJOR_VERSION_ARB = 1
context_attribs[3] = 0; // GLX_CONTEXT_MINOR_VERSION_ARB = 0
ctx = glXCreateContextAttribsARB( display, bestFbc, 0, True, context_attribs );
}
} else {
// Fallback to GLX 1.3 Context
ctx = glXCreateNewContext( display, bestFbc, GLX_RGBA_TYPE, 0, True );
}
// Sync to ensure any errors generated are processed.
XSync( display, False );
// Restore the original error handler
XSetErrorHandler( oldHandler );
if ( ctxErrorOccurred || !ctx )
{
throw std::runtime_error("Pangolin X11: Failed to create an OpenGL context");
}
// Verifying that context is a direct context
if ( ! glXIsDirect ( display, ctx ) ) {
pango_print_warn("Pangolin X11: Indirect GLX rendering context obtained\n");
}
glXMakeCurrent( display, win, ctx );
return 0;
}
::GLXFBConfig ChooseFrameBuffer(
::Display *display, bool glx_doublebuffer,
int glx_sample_buffers, int glx_samples
) {
// Desired attributes
int visual_attribs[] =
{
GLX_X_RENDERABLE , True,
GLX_DRAWABLE_TYPE , GLX_WINDOW_BIT,
GLX_RENDER_TYPE , GLX_RGBA_BIT,
GLX_X_VISUAL_TYPE , GLX_TRUE_COLOR,
GLX_RED_SIZE , 8,
GLX_GREEN_SIZE , 8,
GLX_BLUE_SIZE , 8,
GLX_ALPHA_SIZE , 8,
GLX_DEPTH_SIZE , 24,
GLX_STENCIL_SIZE , 8,
GLX_DOUBLEBUFFER , glx_doublebuffer ? True : False,
None
};
int fbcount;
GLXFBConfig* fbc = glXChooseFBConfig(display, DefaultScreen(display), visual_attribs, &fbcount);
if (!fbc) {
throw std::runtime_error("Pangolin X11: Unable to retrieve framebuffer options");
}
int best_fbc = -1;
int worst_fbc = -1;
int best_num_samp = -1;
int worst_num_samp = 999;
// Enumerate framebuffer options, storing the best and worst that match our attribs
for (int i=0; i<fbcount; ++i)
{
XVisualInfo *vi = glXGetVisualFromFBConfig( display, fbc[i] );
if ( vi )
{
int samp_buf, samples;
glXGetFBConfigAttrib( display, fbc[i], GLX_SAMPLE_BUFFERS, &samp_buf );
glXGetFBConfigAttrib( display, fbc[i], GLX_SAMPLES , &samples );
// Filter for the best available.
if ( samples > best_num_samp ) {
best_fbc = i;
best_num_samp = samples;
}
// Filter lowest settings which match minimum user requirement.
if ( samp_buf >= glx_sample_buffers && samples >= glx_samples && samples < worst_num_samp ) {
worst_fbc = i;
worst_num_samp = samples;
}
}
XFree( vi );
}
// Select the minimum suitable option. The 'best' is often too slow.
int chosen_fbc_id = worst_fbc;
// If minimum requested isn't available, return the best that is.
if(chosen_fbc_id < 0) {
pango_print_warn("Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.");
chosen_fbc_id = best_fbc;
}
::GLXFBConfig chosenFbc = fbc[ chosen_fbc_id ];
XFree( fbc );
return chosenFbc;
}
void PleoraVideo::SetDeviceParams(Params& p) {
lStart = dynamic_cast<PvGenCommand*>( lDeviceParams->Get( "AcquisitionStart" ) );
lStop = dynamic_cast<PvGenCommand*>( lDeviceParams->Get( "AcquisitionStop" ) );
for(Params::ParamMap::iterator it = p.params.begin(); it != p.params.end(); it++) {
if(it->first == "get_temperature"){
getTemp = p.Get<bool>("get_temperature",false);
} else {
if (it->second == "Execute") {
// This is a command, deal with it accordingly.
PvGenCommand* cmd = dynamic_cast<PvGenCommand*>(lDeviceParams->Get(it->first.c_str()));
if(cmd) {
PvResult r = cmd->Execute();
if(!r.IsOK()){
pango_print_error("Error executing command %s Reason:%s\n", it->first.c_str(), r.GetDescription().GetAscii());
} else {
pango_print_info("Executed Command %s\n", it->first.c_str());
}
bool done;
int attempts = 20;
do {
cmd->IsDone(done);
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
attempts--;
} while(!done && (attempts > 0));
if(attempts == 0) {
pango_print_error("Timeout while waiting for command %s done\n", it->first.c_str());
}
} else {
pango_print_error("Command %s not recognized\n", it->first.c_str());
}
} else {
try {
PvGenParameter* par = lDeviceParams->Get(PvString(it->first.c_str()));
if(par) {
PvResult r = par->FromString(PvString(it->second.c_str()));
if(!r.IsOK()){
pango_print_error("Error setting parameter %s to:%s Reason:%s\n", it->first.c_str(), it->second.c_str(), r.GetDescription().GetAscii());
} else {
pango_print_info("Setting parameter %s to:%s\n", it->first.c_str(), it->second.c_str());
}
} else {
pango_print_error("Parameter %s not recognized\n", it->first.c_str());
}
} catch(std::runtime_error e) {
pango_print_error("Set parameter %s: %s\n", it->first.c_str(), e.what());
}
}
}
}
// Get Handles to properties we'll be using.
lAnalogGain = lDeviceParams->GetInteger("AnalogGain");
lGamma = lDeviceParams->GetFloat("Gamma");
lAnalogBlackLevel = lDeviceParams->GetInteger("AnalogBlackLevel");
lExposure = lDeviceParams->GetFloat("ExposureTime");
lAquisitionMode = lDeviceParams->GetEnum("AcquisitionMode");
lTriggerSource = lDeviceParams->GetEnum("TriggerSource");
lTriggerMode = lDeviceParams->GetEnum("TriggerMode");
if(getTemp) {
lTemperatureCelcius = lDeviceParams->GetFloat("DeviceTemperatureCelsius");
pango_print_warn("Warning: get_temperature might add a blocking call taking several ms to each frame read.");
}
}