Move OpenCVTexture, ARToolKit and WebcamVideo to a new "vision" module

panda/src/grutil/Sources.pp

@@ -1,7 +1,7 @@
 #define OTHER_LIBS interrogatedb:c dconfig:c dtoolconfig:m \
                    dtoolutil:c dtoolbase:c dtool:m prc:c
 
-#define USE_PACKAGES opencv ffmpeg artoolkit
+#define USE_PACKAGES ffmpeg
 
 #begin lib_target
   #define TARGET grutil
@@ -13,7 +13,6 @@
   #define SOURCES \
     pipeOcclusionCullTraverser.I pipeOcclusionCullTraverser.h \
     cardMaker.I cardMaker.h \
-    arToolKit.I arToolKit.h \
     config_grutil.h \
     ffmpegTexture.I ffmpegTexture.h \
     movieTexture.I movieTexture.h \
@@ -26,12 +25,10 @@
     lineSegs.I lineSegs.h \
     multitexReducer.I multitexReducer.h multitexReducer.cxx \
     nodeVertexTransform.I nodeVertexTransform.h \
-    openCVTexture.I openCVTexture.h \
     rigidBodyCombiner.I rigidBodyCombiner.h
     
   #define INCLUDED_SOURCES \
     cardMaker.cxx \
-    arToolKit.cxx \
     ffmpegTexture.cxx \
     movieTexture.cxx \
     fisheyeMaker.cxx \
@@ -41,15 +38,13 @@
     geoMipTerrain.cxx \
     sceneGraphAnalyzerMeter.cxx \
     heightfieldTesselator.cxx \
-    nodeVertexTransform.cxx \
-    openCVTexture.cxx \    
+    nodeVertexTransform.cxx \    
     pipeOcclusionCullTraverser.cxx \
     lineSegs.cxx \
     rigidBodyCombiner.cxx
     
   #define INSTALL_HEADERS \
     cardMaker.I cardMaker.h \
-    arToolKit.I arToolKit.h \
     ffmpegTexture.I ffmpegTexture.h \
     movieTexture.I movieTexture.h \
     fisheyeMaker.I fisheyeMaker.h \
@@ -61,7 +56,6 @@
     lineSegs.I lineSegs.h \
     multitexReducer.I multitexReducer.h \
     nodeVertexTransform.I nodeVertexTransform.h \
-    openCVTexture.I openCVTexture.h \
     rigidBodyCombiner.I rigidBodyCombiner.h
 
   #define IGATESCAN all

panda/src/grutil/config_grutil.cxx

@@ -17,7 +17,6 @@
 #include "sceneGraphAnalyzerMeter.h"
 #include "meshDrawer.h"
 #include "geoMipTerrain.h"
-#include "openCVTexture.h"
 #include "ffmpegTexture.h"
 #include "movieTexture.h"
 #include "pandaSystem.h"
@@ -98,34 +97,20 @@ init_libgrutil() {
   MovieTexture::init_type();
   MovieTexture::register_with_read_factory();
 #endif  // HAVE_AUDIO
-#ifdef HAVE_OPENCV
-  OpenCVTexture::init_type();
-  OpenCVTexture::register_with_read_factory();
-#endif
+
 #ifdef HAVE_FFMPEG
   av_register_all();
   FFMpegTexture::init_type();
   FFMpegTexture::register_with_read_factory();
 #endif
 
-#ifdef HAVE_OPENCV
-  PandaSystem *ps = PandaSystem::get_global_ptr();
-  ps->add_system("OpenCV");
-#endif
-
+#if defined(HAVE_FFMPEG)
   TexturePool *ts = TexturePool::get_global_ptr();
   if (use_movietexture) {
-#if defined(HAVE_FFMPEG)
     ts->register_texture_type(MovieTexture::make_texture, "avi mov mpg wmv asf flv nut ogm");
-#elif defined(HAVE_OPENCV)
-    ts->register_texture_type(OpenCVTexture::make_texture, "avi");
-#endif
   } else {
-#if defined(HAVE_FFMPEG)
     ts->register_texture_type(FFMpegTexture::make_texture, "avi mov mpg wmv asf flv nut ogm");
-#elif defined(HAVE_OPENCV)
-    ts->register_texture_type(OpenCVTexture::make_texture, "avi");
-#endif
   }
+#endif
 }
 

panda/src/grutil/grutil_composite1.cxx

@@ -1,5 +1,4 @@
 #include "cardMaker.cxx"
-#include "arToolKit.cxx"
 #include "heightfieldTesselator.cxx"
 #include "geoMipTerrain.cxx"
 #include "config_grutil.cxx"

panda/src/grutil/grutil_composite2.cxx

@@ -1,4 +1,3 @@
-#include "openCVTexture.cxx"
 #include "ffmpegTexture.cxx"
 #include "movieTexture.cxx"
 #include "nodeVertexTransform.cxx"

panda/src/movies/Sources.pp

@@ -25,7 +25,6 @@
     ffmpegVirtualFile.h ffmpegVirtualFile.I \
     userDataAudio.h userDataAudio.I \
     userDataAudioCursor.h userDataAudioCursor.I \
-    webcamVideo.h webcamVideo.I \
     microphoneAudio.h microphoneAudio.I \
     config_movies.h
     
@@ -43,8 +42,6 @@
     ffmpegVirtualFile.cxx \
     userDataAudio.cxx \
     userDataAudioCursor.cxx \
-    webcamVideo.cxx \
-    webcamVideoDS.cxx \
     microphoneAudio.cxx \
     microphoneAudioDS.cxx \
     config_movies.cxx
@@ -61,7 +58,6 @@
     ffmpegAudio.h ffmpegAudio.I \
     ffmpegAudioCursor.h ffmpegAudioCursor.I \
     ffmpegVirtualFile.h ffmpegVirtualFile.I \
-    webcamVideo.h webcamVideo.I \
     microphoneAudio.h microphoneAudio.I \
     config_movies.h
 

panda/src/movies/config_movies.cxx

@@ -14,7 +14,6 @@
 
 #include "config_movies.h"
 #include "dconfig.h"
-#include "webcamVideo.h"
 
 #ifdef HAVE_FFMPEG
 extern "C" {
@@ -53,7 +52,6 @@ init_libmovies() {
   InkblotVideoCursor::init_type();
   UserDataAudio::init_type();
   UserDataAudioCursor::init_type();
-  WebcamVideo::init_type();
   MicrophoneAudio::init_type();
 #ifdef HAVE_FFMPEG
   FfmpegVideo::init_type();

panda/src/movies/movies_composite1.cxx

@@ -18,9 +18,6 @@
 #include "userDataAudio.cxx"
 #include "userDataAudioCursor.cxx"
 
-#include "webcamVideo.cxx"
-#include "webcamVideoDS.cxx"
-
 #include "microphoneAudio.cxx"
 #include "microphoneAudioDS.cxx"
 

panda/src/vision/Sources.pp

@@ -0,0 +1,34 @@
+#define OTHER_LIBS interrogatedb:c dconfig:c dtoolconfig:m \
+                   dtoolutil:c dtoolbase:c dtool:m prc:c movies:m
+
+#define USE_PACKAGES opencv artoolkit
+
+#begin lib_target
+  #define TARGET vision
+  #define LOCAL_LIBS \
+    display text pgraph gobj linmath putil movies audio
+    
+  #define COMBINED_SOURCES $[TARGET]_composite1.cxx
+
+  #define SOURCES \
+    arToolKit.I arToolKit.h \
+    config_vision.h \
+    openCVTexture.I openCVTexture.h \
+    webcamVideo.h webcamVideo.I
+    
+  #define INCLUDED_SOURCES \
+    arToolKit.cxx \
+    config_vision.cxx \
+    openCVTexture.cxx \
+    webcamVideo.cxx \
+    webcamVideoDS.cxx
+    
+  #define INSTALL_HEADERS \
+    arToolKit.I arToolKit.h \
+    openCVTexture.I openCVTexture.h \
+    webcamVideo.h webcamVideo.I
+
+  #define IGATESCAN all
+
+#end lib_target
+

panda/src/vision/arToolKit.cxx

@@ -21,7 +21,7 @@
 #include "perspectiveLens.h"
 #include "lvecBase3.h"
 #include "compose_matrix.h"
-#include "config_grutil.h"
+#include "config_vision.h"
 extern "C" {
   #include "AR/ar.h"
 };
@@ -123,7 +123,7 @@ make(NodePath camera, const Filename &paramfile, double marker_size) {
       AR_DEFAULT_PIXEL_FORMAT != AR_PIXEL_FORMAT_RGBA &&
       AR_DEFAULT_PIXEL_FORMAT != AR_PIXEL_FORMAT_RGB &&
       AR_DEFAULT_PIXEL_FORMAT != AR_PIXEL_FORMAT_BGR) {
-    grutil_cat.error() <<
+    vision_cat.error() <<
       "The copy of ARToolKit that you are using is not compiled "
       "for RGB, BGR, RGBA or ARGB input.  Panda3D cannot use "
       "this copy of ARToolKit. Please modify the ARToolKit's "
@@ -132,25 +132,25 @@ make(NodePath camera, const Filename &paramfile, double marker_size) {
   }
   
   if (camera.is_empty()) {
-    grutil_cat.error() << "ARToolKit: invalid camera nodepath\n";
+    vision_cat.error() << "ARToolKit: invalid camera nodepath\n";
     return 0;
   }
   PandaNode *node = camera.node();
   if ((node == 0) || (node->get_type() != Camera::get_class_type())) {
-    grutil_cat.error() << "ARToolKit: invalid camera nodepath\n";
+    vision_cat.error() << "ARToolKit: invalid camera nodepath\n";
     return 0;
   }
   Camera *cam = DCAST(Camera, node);
   Lens *lens = cam->get_lens();
   if (lens->get_type() != PerspectiveLens::get_class_type()) {
-    grutil_cat.error() << "ARToolKit: supplied camera node must be perspective.\n";
+    vision_cat.error() << "ARToolKit: supplied camera node must be perspective.\n";
     return 0;
   }
 
   ARParam wparam;
   string fn = paramfile.to_os_specific();
   if( arParamLoad(fn.c_str(), 1, &wparam) < 0 ) {
-    grutil_cat.error() << "Cannot load ARToolKit camera config\n";
+    vision_cat.error() << "Cannot load ARToolKit camera config\n";
     return 0;
   }
   
@@ -221,7 +221,7 @@ get_pattern(const Filename &filename) {
   string fn = filename.to_os_specific();
   int id = arLoadPatt(fn.c_str());
   if (id < 0) {
-    grutil_cat.error() << "Could not load AR ToolKit Pattern: " << fn << "\n";
+    vision_cat.error() << "Could not load AR ToolKit Pattern: " << fn << "\n";
     return -1;
   }
   arDeactivatePatt(id);
@@ -275,7 +275,7 @@ analyze(Texture *tex, bool do_flip_texture) {
   nassertv(tex->get_texture_type() == Texture::TT_2d_texture);
   
   if (tex->get_num_components() != 3 && tex->get_num_components() != 4) {
-    grutil_cat.error() << "ARToolKit can only analyze RGB and RGBA textures.\n";
+    vision_cat.error() << "ARToolKit can only analyze RGB and RGBA textures.\n";
     return;
   }
   
@@ -381,7 +381,7 @@ analyze(Texture *tex, bool do_flip_texture) {
   int marker_num;
 
   if (arDetectMarker(data, _threshold * 256, &marker_info, &marker_num) < 0) {
-    grutil_cat.error() << "ARToolKit detection error.\n";
+    vision_cat.error() << "ARToolKit detection error.\n";
     delete data;
     return;
   }
@@ -423,7 +423,7 @@ analyze(Texture *tex, bool do_flip_texture) {
       decompose_matrix(mat, scale, shear, hpr, pos);
       
       if (np.get_parent().is_empty()) {
-        grutil_cat.error() << "NodePath must have a parent.\n";
+        vision_cat.error() << "NodePath must have a parent.\n";
       } else {
         np.set_pos_hpr(_camera, pos, hpr);
       }

panda/src/vision/arToolKit.h

@@ -40,7 +40,7 @@
 //               This class is a wrapper around the ARToolKit
 //               library.
 ////////////////////////////////////////////////////////////////////
-class EXPCL_PANDA_GRUTIL ARToolKit {
+class EXPCL_VISION ARToolKit {
   
 PUBLISHED:
   static ARToolKit *make(NodePath camera, const Filename &paramfile, double markersize);

panda/src/vision/config_vision.cxx

@@ -0,0 +1,61 @@
+// Filename: config_vision.cxx
+// Created by:  pro-rsoft (07Nov09)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_vision.h"
+#include "openCVTexture.h"
+#include "webcamVideo.h"
+
+#include "pandaSystem.h"
+#include "texturePool.h"
+#include "dconfig.h"
+
+Configure(config_vision);
+NotifyCategoryDef(vision, "");
+
+ConfigureFn(config_vision) {
+  init_libvision();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: init_libvision
+//  Description: Initializes the library.  This must be called at
+//               least once before any of the functions or classes in
+//               this library can be used.  Normally it will be
+//               called by the static initializers and need not be
+//               called explicitly, but special cases exist.
+////////////////////////////////////////////////////////////////////
+void
+init_libvision() {
+  static bool initialized = false;
+  if (initialized) {
+    return;
+  }
+  initialized = true;
+
+  WebcamVideo::init_type();
+
+#ifdef HAVE_OPENCV
+  OpenCVTexture::init_type();
+  OpenCVTexture::register_with_read_factory();
+
+  PandaSystem *ps = PandaSystem::get_global_ptr();
+  ps->add_system("OpenCV");
+
+  TexturePool *ts = TexturePool::get_global_ptr();
+#ifndef HAVE_FFMPEG
+  ts->register_texture_type(OpenCVTexture::make_texture, "avi");
+#endif
+#endif
+}
+

panda/src/vision/config_vision.h

@@ -0,0 +1,26 @@
+// Filename: config_vision.h
+// Created by:  pro-rsoft (07Nov09)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef CONFIG_VISION_H
+#define CONFIG_VISION_H
+
+#include "pandabase.h"
+#include "notifyCategoryProxy.h"
+
+NotifyCategoryDecl(vision, EXPCL_VISION, EXPTP_VISION);
+
+extern EXPCL_VISION void init_libvision();
+
+#endif
+

panda/src/vision/openCVTexture.cxx

@@ -18,7 +18,7 @@
 #include "openCVTexture.h"
 #include "clockObject.h"
 #include "config_gobj.h"
-#include "config_grutil.h"
+#include "config_vision.h"
 #include "bamReader.h"
 #include "bamCacheRecord.h"
 
@@ -156,8 +156,8 @@ do_reconsider_video_properties(const OpenCVTexture::VideoStream &stream,
   if (stream.is_from_file()) {
     frame_rate = cvGetCaptureProperty(stream._capture, CV_CAP_PROP_FPS);
     num_frames = (int)cvGetCaptureProperty(stream._capture, CV_CAP_PROP_FRAME_COUNT);
-    if (grutil_cat.is_debug()) {
-      grutil_cat.debug()
+    if (vision_cat.is_debug()) {
+      vision_cat.debug()
         << "Loaded " << stream._filename << ", " << num_frames << " frames at "
         << frame_rate << " fps\n";
     }
@@ -173,8 +173,8 @@ do_reconsider_video_properties(const OpenCVTexture::VideoStream &stream,
     y_size = up_to_power_2(height);
   }
 
-  if (grutil_cat.is_debug()) {
-    grutil_cat.debug()
+  if (vision_cat.is_debug()) {
+    vision_cat.debug()
       << "Video stream is " << width << " by " << height 
       << " pixels; fitting in texture " << x_size << " by "
       << y_size << " texels.\n";
@@ -188,7 +188,7 @@ do_reconsider_video_properties(const OpenCVTexture::VideoStream &stream,
   if (_loaded_from_image && 
       (get_video_width() != width || get_video_height() != height ||
        get_num_frames() != num_frames || get_frame_rate() != frame_rate)) {
-    grutil_cat.error()
+    vision_cat.error()
       << "Video properties have changed for texture " << get_name()
       << " level " << z << ".\n";
     return false;
@@ -238,7 +238,7 @@ update_frame(int frame) {
 ////////////////////////////////////////////////////////////////////
 void OpenCVTexture::
 update_frame(int frame, int z) {
-  grutil_cat.spam() << "Updating OpenCVTexture page " << z << "\n";
+  vision_cat.spam() << "Updating OpenCVTexture page " << z << "\n";
   VideoPage &page = _pages[z];
   if (page._color.is_valid() || page._alpha.is_valid()) {
     do_modify_ram_image();
@@ -332,13 +332,13 @@ do_read_one(const Filename &fullpath, const Filename &alpha_fullpath,
 
   VideoPage &page = modify_page(z);
   if (!page._color.read(fullpath)) {
-    grutil_cat.error()
+    vision_cat.error()
       << "OpenCV couldn't read " << fullpath << " as video.\n";
     return false;
   }
   if (!alpha_fullpath.empty()) {
     if (!page._alpha.read(alpha_fullpath)) {
-      grutil_cat.error()
+      vision_cat.error()
         << "OpenCV couldn't read " << alpha_fullpath << " as video.\n";
       page._color.clear();
       return false;

panda/src/vision/openCVTexture.h

@@ -31,7 +31,7 @@
 //               with its source taken from an .avi file or from a
 //               camera input.
 ////////////////////////////////////////////////////////////////////
-class EXPCL_PANDA_GRUTIL OpenCVTexture : public VideoTexture {
+class EXPCL_VISION OpenCVTexture : public VideoTexture {
 PUBLISHED:
   OpenCVTexture(const string &name = string());
 protected:

panda/src/vision/vision_composite1.cxx

@@ -0,0 +1,6 @@
+#include "arToolKit.cxx"
+#include "config_vision.cxx"
+#include "openCVTexture.cxx"
+#include "webcamVideo.cxx"
+#include "webcamVideoDS.cxx"
+

panda/src/vision/webcamVideo.h

@@ -22,7 +22,7 @@
 // Description : Allows you to open a webcam or other video capture
 //               device as a video stream.
 ////////////////////////////////////////////////////////////////////
-class EXPCL_PANDA_MOVIES WebcamVideo : public MovieVideo {
+class EXPCL_VISION WebcamVideo : public MovieVideo {
 
 PUBLISHED:
   virtual ~WebcamVideo();