vctDynamicNArray<unsigned char,3> osaOSGStereo::GetRGBPlanarImage(size_t idx){
// Get the left/right slave
const osg::View::Slave& slave = getSlave( idx );
osg::Camera* camera = slave._camera.get();
// get the camera final draw callback
osg::Camera::DrawCallback* dcb = NULL;
dcb = camera->getFinalDrawCallback();
osg::ref_ptr<osg::Referenced> ref = dcb->getUserData();
osg::ref_ptr<osaOSGCamera::FinalDrawCallback::Data> data = NULL;
data = dynamic_cast<osaOSGCamera::FinalDrawCallback::Data*>( ref.get() );
if( data != NULL ){
data->RequestRGBImage();
osaSleep( 1.0 );
cv::Mat rgbimage = data->GetRGBImage();
cv::Size size = rgbimage.size();
vctDynamicNArray<unsigned char, 3> x;
x.SetSize( vctDynamicNArray<unsigned char, 3>::nsize_type( size.height,
size.width, 3 ) );
memcpy( x.Pointer(),
rgbimage.ptr<unsigned char>(),
size.height*size.width*3 );
return x;
}
return vctDynamicNArray<unsigned char, 3>();
}
HostAndPort ReplicaSetMonitor::getSlave( const HostAndPort& prev ) {
// make sure its valid
if ( prev.port() > 0 ) {
scoped_lock lk( _lock );
for ( unsigned i=0; i<_nodes.size(); i++ ) {
if ( prev != _nodes[i].addr )
continue;
if ( _nodes[i].ok )
return prev;
break;
}
}
return getSlave();
}
cv::Mat osaOSGStereo::GetRGBImage( size_t idx ) {
// Get the left/right slave
const osg::View::Slave& slave = getSlave( idx );
osg::ref_ptr< osg::Camera > camera = slave._camera.get();
osg::ref_ptr< osg::Camera::DrawCallback > dcb;
dcb = getCamera()->getFinalDrawCallback();
//
osg::ref_ptr<osg::Referenced> ref = dcb->getUserData();
osg::ref_ptr<osaOSGCamera::FinalDrawCallback::Data> data = NULL;
data = dynamic_cast<osaOSGCamera::FinalDrawCallback::Data*>( ref.get() );
if( data != NULL ){
data->RequestRGBImage();
osaSleep( 1.0 );
return data->GetRGBImage();
}
return cv::Mat();
}
void osaOSGStereo::Initialize( const std::string& name ){
// Create the graphic context traits. The reason why this is here is because
// Windows somehow requires the context to be allocated within the same
// thread as the rendering thread. And this method is called within the
// camera thread
{
osg::ref_ptr<osg::GraphicsContext::Traits> traits;
traits = new osg::GraphicsContext::Traits;
traits->readDISPLAY();
traits->x = x + 0;
traits->y = y + 0;
traits->width = width;
traits->height = height;
traits->windowName = name + std::string( "LEFT" );
traits->windowDecoration = true;
traits->doubleBuffer = true;
traits->sharedContext = 0;
// slave "0" is the first slave. In this case the "left" camera
osg::View::Slave& slave = getSlave( osaOSGStereo::LEFT );
osg::Camera* camera = slave._camera.get();
osg::ref_ptr<osg::GraphicsContext> gc;
gc = osg::GraphicsContext::createGraphicsContext( traits.get() );
camera->setGraphicsContext( gc.get() );
GLenum buffer = traits->doubleBuffer ? GL_BACK : GL_FRONT;
camera->setDrawBuffer( buffer );
camera->setReadBuffer( buffer );
camera->setClearColor( osg::Vec4d( 0.0, 0.0, 0.0, 0.0 ) );
if( 0 < huds.size() )
{ huds[0]->Initialize( gc.get() ); }
}
{
osg::ref_ptr<osg::GraphicsContext::Traits> traits;
traits = new osg::GraphicsContext::Traits;
traits->readDISPLAY();
traits->x = x + width;
traits->y = y + 0;
traits->width = width;
traits->height = height;
traits->windowName = name + std::string( "RIGHT" );
traits->windowDecoration = true;
traits->doubleBuffer = true;
traits->sharedContext = 0;
// slave "1" is the second slave. In this case the "right" camera
osg::View::Slave& slave = getSlave( osaOSGStereo::RIGHT );
osg::Camera* camera = slave._camera.get();
osg::ref_ptr<osg::GraphicsContext> gc;
gc = osg::GraphicsContext::createGraphicsContext( traits.get() );
camera->setGraphicsContext( gc.get() );
GLenum buffer = traits->doubleBuffer ? GL_BACK : GL_FRONT;
camera->setDrawBuffer(buffer);
camera->setReadBuffer(buffer);
camera->setClearColor( osg::Vec4d( 0.0, 0.0, 0.0, 0.0 ) );
if( 1 < huds.size() )
{ huds[1]->Initialize( gc.get() ); }
}
}