void UpdateCameraView::operator()( osg::Node* node, osg::NodeVisitor* nv )
{
Chronometer timer;
timer.tic();
cv::Mat currentImg;
videoStream >> currentImg;
if (!currentImg.empty())
{
if ((!augEnvironment->posFound)&&(augEnvironment->synchroniser.tac() > 200)) //wait 1s to match
{
cvImg = augEnvironment->match(currentImg);
augEnvironment->posFound = true;
}
else if ((augEnvironment->hasProjected)&&(augEnvironment->synchroniser.tac() > 300)&&(!imageCaptured))
{
static int count = 0;
int lastindex = augEnvironment->parameterFileName.find_last_of("/");
string dir = augEnvironment->parameterFileName.substr(0, lastindex);
string errFilename = dir + "/" + augEnvironment->errorFileNameBase + "err.png";
imwrite(errFilename, currentImg);
if (augEnvironment->calculateErr)
{
double meanErr, maxErr;
augEnvironment->calculateReprojectionErr(augEnvironment->groundTruthFileName, currentImg);
cout<<meanErr<<" "<<maxErr<<endl;
}
cvImg = currentImg.clone();
imageCaptured = true;
}
else
{
cvImg = currentImg.clone();
}
osg::ref_ptr<osg::Group> backgroundCameraNode = dynamic_cast<osg::Group*>(node);
for (unsigned int i = 0 ; i < backgroundCameraNode->getNumChildren() ; i++)
{
if (backgroundCameraNode->getChild(i)->getName() == string("Background texture"))
{
updateBackgroundTexture(backgroundCameraNode->getChild(i));
}
}
if (augEnvironment->recordVideo)
{
if (! vWriter.isOpened())
{
vWriter.open("recordedStream.mpg", CV_FOURCC('P','I','M','1'), 20.0f, currentImg.size(), true);
}
vWriter << currentImg;
if (! vWriter2.isOpened())
{
vWriter2.open("outStream.mpg", CV_FOURCC('P','I','M','1'), 20.0f, currentImg.size(), true);
}
vWriter2 << cvImg;
}
traverse( node, nv );
}
}
