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#ifndef CAMERASENSORBASE_H_
#define CAMERASENSORBASE_H_
// Open scene graph files
#include <osgDB/WriteFile>
#include <osg/Camera>
#include <osg/Texture2D>
#include <osg/Material>
#include <osg/ShapeDrawable>
#include <osgGA/StateSetManipulator>
#include <osgViewer/Viewer>
#include <osgViewer/ViewerEventHandlers>
#include <osgShadow/ShadowedScene>
#include <osgShadow/SoftShadowMap>
// Delta3D files
#include <dtGame/gameapplication.h>
#include <dtGame/gamemanager.h>
#include <dtABC/application.h>
#include <dtCore/deltawin.h>
// Robot3D files
#include <srCore/sensor/sensorBase.h>
//TODO: camera based sensors need to be simulated completly on the GPU, as the data is already there and this would bring a huge speed up.
namespace srCore {
//! screen shot call back class
class CameraScreenShotCallback : public osg::Camera::DrawCallback
{
public:
CameraScreenShotCallback(glType type) :
image (new osg::Image),
mTakeScreenShotNextFrame(false),
type (type)
{}
void setRequestDataToTrue()
{
mTakeScreenShotNextFrame = true;
}
// overwrite operator() of DrawCallback to retrieve the right image
// image will be retrieved after the simulation step, right after it is written
// to the viewport. Only then, it is possible to get the corresponding image, as
// many cameras use the same viewport.
virtual void operator()(const osg::Camera &camera) const
{
if(mTakeScreenShotNextFrame)
{
mTakeScreenShotNextFrame = false;
int x = static_cast<int>(camera.getViewport()->x());
int y = static_cast<int>(camera.getViewport()->y());
unsigned int width = static_cast<unsigned int>(camera.getViewport()->width());
unsigned int height = static_cast<unsigned int>(camera.getViewport()->height());
// std::cout << "cam viewport: " << x << ", " << y << ", " << width << ", " << height << std::endl;
switch (type) {
case DEPTH_CAMERA:
image->allocateImage(width, height, 1, GL_DEPTH_COMPONENT, GL_FLOAT); //GL_RGB, GL_UNSIGNED_BYTE
image->readPixels(x, y, width, height, GL_DEPTH_COMPONENT, GL_FLOAT); //GL_DEPTH_COMPONENT
break;
case RGB_CAMERA:
image->allocateImage(width, height, 1, GL_RGB, GL_UNSIGNED_BYTE); //GL_RGB, GL_UNSIGNED_BYTE
image->readPixels(x, y, width, height, GL_RGB, GL_UNSIGNED_BYTE); //GL_DEPTH_COMPONENT
break;
default:
break;
}
// unsigned char *dst;
// glReadPixels(0, 0, width, height, GL_DEPTH_COMPONENT, GL_FLOAT, dst);
}
}
osg::ref_ptr<osg::Image> getOSGImage() const
{
return image;
}
void requestData()
{
setRequestDataToTrue();
}
protected:
osg::ref_ptr<osg::Image> image;
mutable bool mTakeScreenShotNextFrame;
glType type;
};
//! Camera sensor base class.
/*!
*
* Used for all sensor devices, which need to retrieve information via osg::camera.
*
* @author Lutz Winkler
*
*/
class CameraSensorBase : public SensorBase
{
friend class SimulationGUIComponent;
public:
/**
* \brief Initializes the sensor
*
* \param gm GameManager, which handles the corresponding robot
* \param attachedTo Body, where the camera is attached to
* \param pos Local position of the camera
* \param orient Local orientation of the camera
* \param flareAngle flare angle of the camera
* \param resolution resolution of the camera
* \param name name of the camera
*
*
*/
CameraSensorBase(dtCore::RefPtr<BodyBase> attachedTo,
osg::Vec3f pos, osg::Vec3f orient, std::string name, std::string type, glType cameraType, bool active):
SensorBase (attachedTo, pos, orient, name, type, cameraType, active),
minDistance (1),
maxDistance (1000),
frustumLeft (-1),
frustumRight (1),
frustumUp (-1),
frustumDown (1),
flareAngle (0.5),
clearColor (osg::Vec4(0,0,0,0)),
sensorImage (new osg::Image),
mScreenShotTaker(new CameraScreenShotCallback(cameraType)){mScreenShotTaker->requestData();};
//! sends command to retrieve data
virtual void evaluate(ParameterReturnValue srv) = 0;
//! returns the last image taken by mScreenShotTaker
osg::ref_ptr<osg::Image> getRawData();
//! Request to take a new image after the simulation step
void requestData();
//! Will be called in RobotActorBase::TickLocal()
void update(float deltaSimTme);
virtual void getNewSensorValue() = 0;
/**
* \brief Sets a parameter
*
* See also getParameter()
*
*/
virtual void setParameter(const std::string &name, ParameterReturnValue parameter);
/**
* \brief Writes the parameter value in parameter
*
* The available parameters can be retrieved by calling getParameterList()
* See also: ObjectBase::getParameter()
*
*
*/
void getParameter(const std::string &name, ParameterReturnValue parameter);
//! sets up the camera sensor and put it into the scene
void setup();
// Set rendering order
void setRenderOrder(int renderOrder) {view->SetRenderOrder(renderOrder);}
int getRenderOrder() {return view->GetRenderOrder();}
protected:
virtual ~CameraSensorBase();
float minDistance, maxDistance;
float frustumLeft, frustumRight, frustumUp, frustumDown;
float flareAngle;
osg::Vec4 clearColor;
glType cameraType;
dtCore::RefPtr<dtCore::Transformable> sensor;
osg::Vec2 resolution;
dtCore::DeltaWin* win;
dtCore::View* view;
osg::ref_ptr<osg::Camera> mOsgCamera;
osg::ref_ptr<osg::Image> sensorImage;
osg::ref_ptr<CameraScreenShotCallback> mScreenShotTaker;
};
}
#endif /*CAMERASENSORBASE_H_*/
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