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;
}
/// 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 );
}
}
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();
}
}
}
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;
}
