bool DummySensor::update(osg::NodeVisitor* nv) {
//this is the main function of your video plugin
//you can either retrieve images from your video stream/camera/file
//or communicate with a thread to synchronize and get the data out
//the most important is to synchronize your data
//and copy the result to the VideoImageSteam used in this plugin
//
//0. you can collect some stats, for that you can use a timer
osg::Timer t;
{
//1. mutex lock access to the image video stream
OpenThreads::ScopedLock<OpenThreads::Mutex> _lock(this->getMutex());
//2. you can copy here the video buffer to the main image video stream
//with a call like
//std::memcpy(_videoStreamList[0]->data(),newImage, _videoStreamList[0]->getImageSizeInBytes());
// the newImage can be retrieved from another thread
// in this example we do nothing (already make a dummy copy in init())
osg::notify(osg::DEBUG_INFO)<<"osgART::DummySensor::update() get new image.."<<std::endl;
//3. don't forget to call this to notify the rest of the application
//that you have a new video image
//_sensorDataList[0]->dirty();
}
//4. hopefully report some interesting data
if (nv) {
const osg::FrameStamp *framestamp = nv->getFrameStamp();
if (framestamp && _stats.valid())
{
_stats->setAttribute(framestamp->getFrameNumber(),
"Capture time taken", t.time_m());
}
}
// Increase modified count every X ms to ensure tracker updates
if (updateTimer.time_m() > 50) {
// _sensorDataList[0]->dirty();
updateTimer.setStartTick();
}
return true;
}
void HeartBeat::timerEvent( QTimerEvent */*event*/ )
{
osg::ref_ptr< osgViewer::ViewerBase > viewer;
if( !_viewer.lock( viewer ) )
{
// viewer has been deleted -> stop timer
stopTimer();
return;
}
// limit the frame rate
if( viewer->getRunMaxFrameRate() > 0.0)
{
double dt = _lastFrameStartTime.time_s();
double minFrameTime = 1.0 / viewer->getRunMaxFrameRate();
if (dt < minFrameTime)
OpenThreads::Thread::microSleep(static_cast<unsigned int>(1000000.0*(minFrameTime-dt)));
}
else
{
// avoid excessive CPU loading when no frame is required in ON_DEMAND mode
if( viewer->getRunFrameScheme() == osgViewer::ViewerBase::ON_DEMAND )
{
double dt = _lastFrameStartTime.time_s();
if (dt < 0.01)
OpenThreads::Thread::microSleep(static_cast<unsigned int>(1000000.0*(0.01-dt)));
}
// record start frame time
_lastFrameStartTime.setStartTick();
// make frame
if( viewer->getRunFrameScheme() == osgViewer::ViewerBase::ON_DEMAND )
{
if( viewer->checkNeedToDoFrame() )
{
viewer->frame();
}
}
else
{
viewer->frame();
}
}
}
/// Initializes the loop for viewer. Must be called from main thread.
void HeartBeat::init( osgViewer::ViewerBase *viewer )
{
if( _viewer == viewer )
return;
stopTimer();
_viewer = viewer;
if( viewer )
{
_timerId = startTimer( 0 );
_lastFrameStartTime.setStartTick( 0 );
}
}
virtual void operator()(osg::Node* node, osg::NodeVisitor* nv)
{
osg::Timer_t currTime = _timer.tick();
if (_timer.delta_s(_prevShaderUpdateTime, currTime) > 1.0) //one second interval for shader-changed-do-reload check
{
osg::ref_ptr<osg::Shader> reloadedshader;
std::string runningSource;
std::string reloadedstring;
if (_computeNode->_computeShader.valid())
{
runningSource = _computeNode->_computeShader->getShaderSource();
reloadedshader = osgDB::readRefShaderFile(osg::Shader::COMPUTE, _computeNode->_computeShaderSourcePath);
reloadedstring = reloadedshader->getShaderSource();
if (!osgDB::equalCaseInsensitive(runningSource.c_str(), reloadedstring.c_str()))
{
_computeNode->_computeProgram->removeShader(_computeNode->_computeShader.get());
_computeNode->_computeShader = reloadedshader.get();
_computeNode->_computeProgram->addShader(_computeNode->_computeShader.get());
}
}
if (_computeNode->_vertexShader.valid())
{
runningSource = _computeNode->_vertexShader->getShaderSource();
reloadedshader = osgDB::readRefShaderFile(osg::Shader::VERTEX, _computeNode->_vertexShaderSourcePath);
reloadedstring = reloadedshader->getShaderSource();
if (!osgDB::equalCaseInsensitive(runningSource.c_str(), reloadedstring.c_str()))
{
_computeNode->_computationResultsRenderProgram->removeShader(_computeNode->_vertexShader.get());
_computeNode->_vertexShader = reloadedshader.get();
_computeNode->_computationResultsRenderProgram->addShader(_computeNode->_vertexShader.get());
}
}
if (_computeNode->_geometryShader.valid())
{
runningSource = _computeNode->_geometryShader->getShaderSource();
reloadedshader = osgDB::readRefShaderFile(osg::Shader::GEOMETRY, _computeNode->_geometryShaderSourcePath);
reloadedstring = reloadedshader->getShaderSource();
if (!osgDB::equalCaseInsensitive(runningSource.c_str(), reloadedstring.c_str()))
{
_computeNode->_computationResultsRenderProgram->removeShader(_computeNode->_geometryShader.get());
_computeNode->_geometryShader = reloadedshader.get();
_computeNode->_computationResultsRenderProgram->addShader(_computeNode->_geometryShader.get());
}
}
if (_computeNode->_fragmentShader.valid())
{
runningSource = _computeNode->_fragmentShader->getShaderSource();
reloadedshader = osgDB::readRefShaderFile(osg::Shader::FRAGMENT, _computeNode->_fragmentShaderSourcePath);
reloadedstring = reloadedshader->getShaderSource();
if (!osgDB::equalCaseInsensitive(runningSource.c_str(), reloadedstring.c_str()))
{
_computeNode->_computationResultsRenderProgram->removeShader(_computeNode->_fragmentShader.get());
_computeNode->_fragmentShader = reloadedshader.get();
_computeNode->_computationResultsRenderProgram->addShader(_computeNode->_fragmentShader.get());
}
}
_prevShaderUpdateTime = _timer.tick();
}
traverse(node, nv);
}
//==========================================================
//!Compare the accuracy of the probability functions.
void testAccuracy()
{
osg::Timer_t startTick=0.0, endTick=0.0;
std::ofstream fout("probAccuracy.csv");
std::cout << " Testing accuracy of prob func...\n ";
std::cout.flush();
osg::ref_ptr<osg::Geode> osgGeode=new osg::Geode();
osg::ref_ptr<osg::Vec3Array> osgVertices=new osg::Vec3Array();
osg::ref_ptr<osg::Vec4Array> osgColours=new osg::Vec4Array();
const size_t numSamples=10000;
startTick=timer.tick();
fout << "probRef" << ", " << "probVolumeLookup" << ", " << "probGaus" << ", " << "Q.length()" << ", " << "area" << "\n";
for (size_t sampleNum=0; sampleNum<numSamples; ++sampleNum)
{
const stitch::Vec3 Q=stitch::Vec3::randDisc()*6.0f;
const float radius=0.25f;
const float theta=stitch::GlobalRand::uniformSampler()*(2.0*M_PI);
const stitch::Vec3 A=Q + stitch::Vec3(radius*cos(theta - (0.0f*M_PI/180.0f)), radius*sin(theta - (0.0f*M_PI/180.0f)), 0.0);
const stitch::Vec3 B=Q + stitch::Vec3(radius*cos(theta - (120.0f*M_PI/180.0f)), radius*sin(theta - (120.0f*M_PI/180.0f)), 0.0);
const stitch::Vec3 C=Q + stitch::Vec3(radius*cos(theta - (240.0f*M_PI/180.0f)), radius*sin(theta - (240.0f*M_PI/180.0f)), 0.0);
/*
const stitch::Vec3 A=stitch::Vec3::randDisc()*5.0f;
const stitch::Vec3 B=stitch::Vec3::randDisc()*5.0f;
const stitch::Vec3 C=stitch::Vec3::randDisc()*5.0f;
const stitch::Vec3 Q(A, B, C, 0.5f, 0.5f, 0.5f);
*/
const float probRef=stitch::BeamSegment::gaussVolumeBarycentricRandomABC(A, B, C, 1.0f, 25000).length();
const float probGaus=stitch::BeamSegment::gaussVolumeGaussSubd(A, B, C);
const float probVolumeLookup=stitch::BeamSegment::gaussVolumeLookUpOptimisedABC(A, B, C, 1.0f).length();
//const float prob=stitch::Beam::gaussVolumeRecurABCNormInit(A, B, C);
//const float prob=stitch::Beam::gaussVolumeBarycentricRandomABC(A, B, C, 1.0f, 250000).length();
const float area=stitch::Vec3::crossLength(A, B, C)*0.5f;
const float err=fabsf(probGaus - probRef)*1000.0f;
{
fout << probRef << ", " << probVolumeLookup << ", " << probGaus << ", " << Q.length() << ", " << area << "\n";
fout.flush();
const float colour=probRef;
osgVertices->push_back(osg::Vec3(A.x(), A.y(), A.z()+err));
osgColours->push_back(osg::Vec4(colour,
colour,
colour,
1.0));
osgVertices->push_back(osg::Vec3(B.x(), B.y(), B.z()+err));
osgColours->push_back(osg::Vec4(colour,
colour,
colour,
1.0));
osgVertices->push_back(osg::Vec3(C.x(), C.y(), C.z()+err));
osgColours->push_back(osg::Vec4(colour,
colour,
colour,
1.0));
}
}
endTick=timer.tick();
if (osgVertices->size()>0)
{
osg::ref_ptr<osg::Geometry> osgGeometry=new osg::Geometry();
osgGeometry->setVertexArray(osgVertices.get());
osgGeometry->setColorArray(osgColours.get());
osgGeometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX);
osgGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::TRIANGLES,0,osgVertices->size()));
osg::ref_ptr<osg::StateSet> osgStateset=osgGeometry->getOrCreateStateSet();
osgStateset->setNestRenderBins(false);
osgStateset->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);
osgStateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
osgStateset->setMode(GL_BLEND,osg::StateAttribute::ON);
osg::Depth* depth = new osg::Depth();
osgStateset->setAttributeAndModes(depth, osg::StateAttribute::ON);
osg::BlendFunc *fn = new osg::BlendFunc();
fn->setFunction(osg::BlendFunc::SRC_ALPHA, osg::BlendFunc::ONE_MINUS_SRC_ALPHA);
osgStateset->setAttributeAndModes(fn, osg::StateAttribute::ON);
osg::Material *material = new osg::Material();
material->setColorMode(osg::Material::DIFFUSE);
material->setDiffuse(osg::Material::FRONT_AND_BACK, osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f));
osgStateset->setAttributeAndModes(material, osg::StateAttribute::ON);
osgGeode->addDrawable(osgGeometry.get());
{
OpenThreads::ScopedLock<OpenThreads::Mutex> sceneGraphLock(g_sceneGraphMutex);
g_rootGroup_->removeChildren(0, g_rootGroup_->getNumChildren());
g_rootGroup_->addChild(osgGeode);
}
}
std::cout << " " << timer.delta_m(startTick, endTick) << " ms...done.\n\n";
std::cout.flush();
fout.close();
}
//==========================================================
int main(void)
{
stitch::GlobalRand::initialiseUniformSamplerArray();
//stitch::BeamSegment::generateVolumeTexture();
{
int argc=1;
char **argv=new char *[10];
argv[0]=new char [256];
strcpy(argv[0], "Prob Calc Test");
osg::ArgumentParser arguments(&argc,argv);
g_viewer=new osgViewer::CompositeViewer(arguments);
delete [] argv[0];
delete [] argv;
}
g_viewer->setThreadingModel(osgViewer::ViewerBase::SingleThreaded);
g_rootGroup_=new osg::Group;
g_view3D=new stitch::View3D(g_ulWindowWidth, g_ulWindowHeight, g_rootGroup_);
g_view3D->init();
//g_view3D->getOSGView()->addEventHandler(new KeyboardEventHandler());
g_viewer->addView(g_view3D->getOSGView());
if (!g_viewer->isRealized())
{
g_viewer->realize();
}
g_view3D->setCamera(stitch::Vec3(0.0f, g_eye_distance, g_eye_distance), stitch::Vec3(0.0f, 0.0f, 0.0f), stitch::Vec3(0.0f, 0.0f, 1.0f));
g_renderInBackground=true;
std::thread displayUpdateThread(displayUpdateRun);
osg::Timer_t startTick=0.0, endTick=0.0;
startTick=timer.tick();
//========================//
//=== Start Prob Calc tests ===//
//========================//
//visualiseProbFunc();
testAccuracy();
//========================//
//========================//
//========================//
endTick=timer.tick();
std::cout << "Completed in " << timer.delta_s(startTick, endTick) << " seconds.\n\n";
std::cout.flush();
//====================================//
//=== Continue rendering until ESC ===//
//====================================//
g_renderInBackground=false;
displayUpdateThread.join();//Wait for background render thread to exit.
//Continue rendering in main thread until viewer exited.
while (!g_viewer->done())
{
g_view3D->preframe();
g_viewer->frame();
std::chrono::milliseconds dura(50);
std::this_thread::sleep_for(dura);
}
//====================================//
//====================================//
//====================================//
std::chrono::milliseconds dura(1000);
std::this_thread::sleep_for(dura);
delete g_viewer;
}
//==========================================================
//!Visualise the probability function.
void visualiseProbFunc()
{
osg::Timer_t startTick=0.0, endTick=0.0;
startTick=timer.tick();
std::cout << " Visualising prob func...\n ";
std::cout.flush();
osg::ref_ptr<osg::Geode> osgGeode=new osg::Geode();
osg::ref_ptr<osg::Vec3Array> osgVertices=new osg::Vec3Array();
osg::ref_ptr<osg::Vec4Array> osgColours=new osg::Vec4Array();
for (size_t iz=0; iz<256; iz+=4)
{
for (size_t iy=0; iy<512; iy+=4)
{
for (size_t ix=0; ix<512; ix+=4)
{
const stitch::Vec3 B=stitch::Vec3(0.0f, 0.0f, 0.0f);
const stitch::Vec3 A=stitch::Vec3(1.0f, 0.0f, 0.0f)*(((ix+0.5f)/512.0f)*4.0f) + B;
const stitch::Vec3 orthA=stitch::Vec3(0.0f, 1.0f, 0.0f);
const float theta=((iz+0.5f)/256.0f)*M_PI;
const stitch::Vec3 C=(A.normalised()*cos(theta) + orthA.normalised()*sin(theta)) * (((iy+0.5f)/512.0f)*4.0f) + B;
const float prob=stitch::BeamSegment::gaussVolumeBarycentricRandomABC(A, B, C, 1.0f, 10000).length();
//const float prob=stitch::Beam::gaussVolumeGaussMC(A, B, C);
//const float prob=stitch::Beam::gaussVolumeGaussSubd(A, B, C);
//const float prob=stitch::Beam::gaussVolumeLookUpOptimisedABC(A, B, C, 1.0f).length();
//const float prob=stitch::Beam::gaussVolumeRecurABCNormInit(A, B, C);
if (prob>0.075f)
{
osg::Vec3 coord=osg::Vec3(ix/512.0f,
iy/512.0f,
iz/256.0f);
osgVertices->push_back(coord);
osgColours->push_back(osg::Vec4(prob, prob, prob, 1.0));
}
}
}
}
if (osgVertices->size()>0)
{
osg::ref_ptr<osg::Geometry> osgGeometry=new osg::Geometry();
osgGeometry->setVertexArray(osgVertices.get());
osgGeometry->setColorArray(osgColours.get());
osgGeometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX);
osgGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POINTS,0,osgVertices->size()));
osgGeometry->getOrCreateStateSet()->setAttribute( new osg::Point( 6.0f ), osg::StateAttribute::ON);
osg::ref_ptr<osg::StateSet> osgStateset=osgGeometry->getOrCreateStateSet();
osgStateset->setNestRenderBins(false);
osgStateset->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);
osgStateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
osgStateset->setMode(GL_BLEND,osg::StateAttribute::ON);
osg::Depth* depth = new osg::Depth();
osgStateset->setAttributeAndModes(depth, osg::StateAttribute::ON);
osg::BlendFunc *fn = new osg::BlendFunc();
fn->setFunction(osg::BlendFunc::SRC_ALPHA, osg::BlendFunc::ONE_MINUS_SRC_ALPHA);
osgStateset->setAttributeAndModes(fn, osg::StateAttribute::ON);
osg::Material *material = new osg::Material();
material->setColorMode(osg::Material::DIFFUSE);
material->setDiffuse(osg::Material::FRONT_AND_BACK, osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f));
osgStateset->setAttributeAndModes(material, osg::StateAttribute::ON);
osgGeode->addDrawable(osgGeometry.get());
{
OpenThreads::ScopedLock<OpenThreads::Mutex> sceneGraphLock(g_sceneGraphMutex);
g_rootGroup_->removeChildren(0, g_rootGroup_->getNumChildren());
g_rootGroup_->addChild(osgGeode);
}
}
endTick=timer.tick();
std::cout << " " << timer.delta_m(startTick, endTick) << " ms...done.\n\n";
std::cout.flush();
}
bool OpenNIVideo::update(osg::NodeVisitor* nv) {
//this is the main function of your video plugin
//you can either retrieve images from your video stream/camera/file
//or communicate with a thread to synchronize and get the data out
//the most important is to synchronize your data
//and copy the result to the VideoImageSteam used in this plugin
//
//0. you can collect some stats, for that you can use a timer
osg::Timer t;
{
//1. mutex lock access to the image video stream
OpenThreads::ScopedLock<OpenThreads::Mutex> _lock(this->getMutex());
osg::notify(osg::DEBUG_INFO)<<"osgART::OpenNIVideo::update() get new image.."<<std::endl;
XnStatus nRetVal = XN_STATUS_OK;
nRetVal=context.WaitAndUpdateAll();
CHECK_RC(nRetVal, "Update Data");
xnFPSMarkFrame(&xnFPS);
depth_generator.GetMetaData(depthMD);
const XnDepthPixel* pDepthMap = depthMD.Data();
//depth pixel floating point depth map.
image_generator.GetMetaData(imageMD);
const XnUInt8* pImageMap = imageMD.Data();
// Hybrid mode isn't supported in this sample
if (imageMD.FullXRes() != depthMD.FullXRes() || imageMD.FullYRes() != depthMD.FullYRes())
{
std::cerr<<"The device depth and image resolution must be equal!"<<std::endl;
exit(1);
}
// RGB is the only image format supported.
if (imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
std::cerr<<"The device image format must be RGB24"<<std::endl;
exit(1);
}
const XnDepthPixel* pDepth=pDepthMap;
const XnUInt8* pImage=pImageMap;
XnDepthPixel zMax = depthMD.ZRes();
//convert float buffer to unsigned short
for ( unsigned int i=0; i<(depthMD.XRes() * depthMD.YRes()); ++i )
{
*(_depthBufferByte + i) = 255 * (float(*(pDepth + i)) / float(zMax));
}
memcpy(_videoStreamList[0]->data(),pImage, _videoStreamList[0]->getImageSizeInBytes());
memcpy(_videoStreamList[1]->data(),_depthBufferByte, _videoStreamList[1]->getImageSizeInBytes());
//3. don't forget to call this to notify the rest of the application
//that you have a new video image
_videoStreamList[0]->dirty();
_videoStreamList[1]->dirty();
}
//4. hopefully report some interesting data
if (nv) {
const osg::FrameStamp *framestamp = nv->getFrameStamp();
if (framestamp && _stats.valid())
{
_stats->setAttribute(framestamp->getFrameNumber(),
"Capture time taken", t.time_m());
}
}
// Increase modified count every X ms to ensure tracker updates
if (updateTimer.time_m() > 50) {
_videoStreamList[0]->dirty();
_videoStreamList[1]->dirty();
updateTimer.setStartTick();
}
return true;
}