Method processCamera

examples/SharedMemory/PhysicsDirect.cpp:514–602

}

bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
{
	SharedMemoryCommand command = orgCommand;

	const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;

	do
	{
		bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);

		b3Clock clock;
		double startTime = clock.getTimeInSeconds();
		double timeOutInSeconds = m_data->m_timeOutInSeconds;

		while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
		{
			const SharedMemoryStatus* stat = processServerStatus();
			if (stat)
			{
				hasStatus = true;
			}
		}

		m_data->m_hasStatus = hasStatus;
		if (hasStatus)
		{
			btAssert(m_data->m_serverStatus.m_type == CMD_CAMERA_IMAGE_COMPLETED);

			if (m_data->m_verboseOutput)
			{
				b3Printf("Camera image OK\n");
			}

			int numBytesPerPixel = 4;  //RGBA
			int numTotalPixels = serverCmd.m_sendPixelDataArguments.m_startingPixelIndex +
								 serverCmd.m_sendPixelDataArguments.m_numPixelsCopied +
								 serverCmd.m_sendPixelDataArguments.m_numRemainingPixels;

			m_data->m_cachedCameraPixelsWidth = 0;
			m_data->m_cachedCameraPixelsHeight = 0;

			int numPixels = serverCmd.m_sendPixelDataArguments.m_imageWidth * serverCmd.m_sendPixelDataArguments.m_imageHeight;

			m_data->m_cachedCameraPixelsRGBA.reserve(numPixels * numBytesPerPixel);
			m_data->m_cachedCameraDepthBuffer.resize(numTotalPixels);
			m_data->m_cachedSegmentationMask.resize(numTotalPixels);
			m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels * numBytesPerPixel);

			unsigned char* rgbaPixelsReceived =
				(unsigned char*)&m_data->m_bulletStreamDataServerToClient[0];

			float* depthBuffer = (float*)&(m_data->m_bulletStreamDataServerToClient[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied * 4]);
			int* segmentationMaskBuffer = (int*)&(m_data->m_bulletStreamDataServerToClient[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied * 8]);

			//  printf("pixel = %d\n", rgbaPixelsReceived[0]);

			for (int i = 0; i < serverCmd.m_sendPixelDataArguments.m_numPixelsCopied; i++)
			{