Revision: 4454
http://playerstage.svn.sourceforge.net/playerstage/?rev=4454&view=rev
Author: natepak
Date: 2008-03-28 08:43:42 -0700 (Fri, 28 Mar 2008)
Log Message:
-----------
Updates to the stereo camera
Modified Paths:
--------------
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
code/gazebo/trunk/worlds/models/bandit.model
code/gazebo/trunk/worlds/stereocamera.world
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-03-28 09:31:36 UTC
(rev 4453)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-03-28 15:43:42 UTC
(rev 4454)
@@ -197,6 +197,7 @@
gzthrow("Unsupported shadow technique:\n" << shadowTechnique);
this->sceneMgr->setShadowTextureSelfShadow(true);
+ this->sceneMgr->setShadowTexturePixelFormat(Ogre::PF_FLOAT32_R);
this->sceneMgr->setShadowTextureSize(node->GetInt("shadowTextureSize", 512));
this->sceneMgr->setShadowIndexBufferSize(
node->GetInt("shadowIndexSize",this->sceneMgr->getShadowIndexBufferSize()) );
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-03-28 09:31:36 UTC (rev 4453)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-03-28 15:43:42 UTC (rev 4454)
@@ -73,59 +73,130 @@
// Initialize the camera
void StereoCameraSensor::InitChild()
{
- this->leftOgreTextureName = this->GetName() + "_RttTex_Stereo_Left";
- this->rightOgreTextureName = this->GetName() + "_RttTex_Stereo_Right";
+ this->ogreTextureName[0] = this->GetName() + "_RttTex_Stereo_Left";
+ this->ogreTextureName[1] = this->GetName() + "_RttTex_Stereo_Right";
- this->leftOgreMaterialName = this->GetName() + "_RttMat_Stereo_Left";
- this->rightOgreMaterialName = this->GetName() + "_RttMat_Stereo_Right";
+ this->ogreDepthTextureName[0] = this->GetName() +"_RttTex_Stereo_Left_Depth";
+ this->ogreDepthTextureName[1] = this->GetName()
+"_RttTex_Stereo_Right_Depth";
- // Create the render texture
+ this->ogreMaterialName[0] = this->GetName() + "_RttMat_Stereo_Left";
+ this->ogreMaterialName[1] = this->GetName() + "_RttMat_Stereo_Right";
+
+ this->ogreDepthMaterialName[0] = this->GetName()+"_RttMat_Stereo_Left_Depth";
+ this->ogreDepthMaterialName[1] =
this->GetName()+"_RttMat_Stereo_Right_Depth";
+
+
+ // Create the left render texture
this->renderTexture[0] = Ogre::TextureManager::getSingleton().createManual(
- this->leftOgreTextureName,
+ this->ogreTextureName[0],
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D,
this->imageWidth, this->imageHeight, 0,
Ogre::PF_R8G8B8,
Ogre::TU_RENDERTARGET);
- this->leftRenderTarget =
this->renderTexture[0]->getBuffer()->getRenderTarget();
+ this->renderTarget[0] =
this->renderTexture[0]->getBuffer()->getRenderTarget();
+ // Create the right render texture
this->renderTexture[1] = Ogre::TextureManager::getSingleton().createManual(
- this->rightOgreTextureName,
+ this->ogreTextureName[1],
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D,
this->imageWidth, this->imageHeight, 0,
Ogre::PF_R8G8B8,
Ogre::TU_RENDERTARGET);
- this->rightRenderTarget =
this->renderTexture[1]->getBuffer()->getRenderTarget();
+ this->renderTarget[1] =
this->renderTexture[1]->getBuffer()->getRenderTarget();
+ // Create the left depth render texture
+ this->depthRenderTexture[0] =
+ Ogre::TextureManager::getSingleton().createManual(
+ this->ogreDepthTextureName[0],
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
+ Ogre::TEX_TYPE_2D,
+ this->imageWidth, this->imageHeight, 0,
+ Ogre::PF_FLOAT32_R,
+ //Ogre::PF_DEPTH,
+ //Ogre::PF_R8G8B8,
+ Ogre::TU_RENDERTARGET);
+
+ this->depthRenderTarget[0] =
this->depthRenderTexture[0]->getBuffer()->getRenderTarget();
+
+ // Create the right depth render texture
+ this->depthRenderTexture[1] =
+ Ogre::TextureManager::getSingleton().createManual(
+ this->ogreDepthTextureName[1],
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
+ Ogre::TEX_TYPE_2D,
+ this->imageWidth, this->imageHeight, 0,
+ Ogre::PF_FLOAT32_R,
+ //Ogre::PF_DEPTH,
+ //Ogre::PF_R8G8B8,
+ Ogre::TU_RENDERTARGET);
+
+ this->depthRenderTarget[1] =
this->depthRenderTexture[1]->getBuffer()->getRenderTarget();
+
+
+
// Create the camera
this->camera = OgreCreator::CreateCamera(this->GetName(),
- this->nearClip, this->farClip, this->hfov,
this->leftRenderTarget);
+ this->nearClip, this->farClip, this->hfov,
this->renderTarget[0]);
// Hack to make the camera use the right render target too
{
Ogre::Viewport *cviewport;
// Setup the viewport to use the texture
- cviewport = this->rightRenderTarget->addViewport(camera);
+ cviewport = this->renderTarget[1]->addViewport(camera);
cviewport->setClearEveryFrame(true);
cviewport->setBackgroundColour( *OgreAdaptor::Instance()->backgroundColor
);
cviewport->setOverlaysEnabled(false);
+
+ cviewport = this->depthRenderTarget[0]->addViewport(camera);
+ cviewport->setClearEveryFrame(true);
+ cviewport->setBackgroundColour( *OgreAdaptor::Instance()->backgroundColor
);
+ cviewport->setOverlaysEnabled(false);
+
+ cviewport = this->depthRenderTarget[1]->addViewport(camera);
+ cviewport->setClearEveryFrame(true);
+ cviewport->setBackgroundColour( *OgreAdaptor::Instance()->backgroundColor
);
+ cviewport->setOverlaysEnabled(false);
}
Ogre::MaterialPtr leftmat = Ogre::MaterialManager::getSingleton().create(
- this->leftOgreMaterialName,
-
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ this->ogreMaterialName[0],
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+
Ogre::MaterialPtr rightmat = Ogre::MaterialManager::getSingleton().create(
- this->rightOgreMaterialName,
-
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ this->ogreMaterialName[1],
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+
leftmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreTextureName[0]);
+
rightmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreTextureName[1]);
-
leftmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->leftOgreTextureName);
-
rightmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->rightOgreTextureName);
+ Ogre::MaterialPtr leftdepthmat =
Ogre::MaterialManager::getSingleton().create(
+ this->ogreDepthMaterialName[0],
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ Ogre::MaterialPtr rightdepthmat=Ogre::MaterialManager::getSingleton().create(
+ this->ogreDepthMaterialName[1],
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+
+
//leftdepthmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreDepthTextureName[0]);
+ Ogre::TextureUnitState *t =
leftdepthmat->getTechnique(0)->getPass(0)->createTextureUnitState(OgreAdaptor::Instance()->sceneMgr->getShadowTexture(0)->getName());
+ leftdepthmat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
+ t->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
+
+ //leftdepthmat->getTechnique(0)->getPass(0)->setDepthWriteEnabled(true);
+ //leftdepthmat->getTechnique(0)->getPass(0)->setColourWriteEnabled(false);
+
+
rightdepthmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreDepthTextureName[1]);
+ rightdepthmat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
+ //rightdepthmat->getTechnique(0)->getPass(0)->setDepthWriteEnabled(true);
+ //rightdepthmat->getTechnique(0)->getPass(0)->setColourWriteEnabled(false);
+
+
+
Ogre::HardwarePixelBufferSharedPtr mBuffer;
// Get access to the buffer and make an image and write it to file
@@ -134,11 +205,11 @@
this->textureWidth = mBuffer->getWidth();
this->textureHeight = mBuffer->getHeight();
- this->leftCameraListener.Init(this, this->leftRenderTarget, true);
- this->rightCameraListener.Init(this, this->rightRenderTarget, false);
+ this->leftCameraListener.Init(this, this->renderTarget[0], true);
+ this->rightCameraListener.Init(this, this->renderTarget[1], false);
- this->leftRenderTarget->addListener(&this->leftCameraListener);
- this->rightRenderTarget->addListener(&this->rightCameraListener);
+ this->renderTarget[0]->addListener(&this->leftCameraListener);
+ this->renderTarget[1]->addListener(&this->rightCameraListener);
CameraSensor::InitChild();
}
@@ -160,7 +231,7 @@
// Return the material the camera renders to
std::string StereoCameraSensor::GetMaterialName() const
{
- return this->leftOgreMaterialName;
+ return this->ogreDepthMaterialName[0];
}
//////////////////////////////////////////////////////////////////////////////
@@ -177,7 +248,7 @@
}
// Get access to the buffer and make an image and write it to file
- mBuffer = this->renderTexture[i]->getBuffer(0, 0);
+ mBuffer = this->depthRenderTexture[i]->getBuffer(0, 0);
size = this->imageWidth * this->imageHeight * 3;
@@ -324,13 +395,10 @@
float *src = depthImage + i * this->imageWidth;
for (int j = 0; j < this->imageWidth; j++)
{
- dst[j] = src[j];
- printf("%4.2f ",src[j]);
- /*if (src[j] < 1e-6)
+ if (src[j] < 1e-6)
dst[j] = 0;
else
dst[j] = (int) (255 * (a / src[j] + b));
- */
}
printf("\n");
fwrite( dst, 1, this->imageWidth, fp);
@@ -377,7 +445,7 @@
void StereoCameraSensor::StereoCameraListener::postViewportUpdate(const
Ogre::RenderTargetViewportEvent &evt)
{
- this->sensor->ReadDepthImage();
+ //this->sensor->ReadDepthImage();
this->camera->setFrustumOffset(0,0);
this->camera->setPosition(this->pos);
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
2008-03-28 09:31:36 UTC (rev 4453)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
2008-03-28 15:43:42 UTC (rev 4454)
@@ -94,15 +94,18 @@
//private: void UpdateAllDependentRenderTargets();
private: Ogre::TexturePtr renderTexture[2];
- private: Ogre::RenderTarget *leftRenderTarget;
- private: Ogre::RenderTarget *rightRenderTarget;
+ private: Ogre::TexturePtr depthRenderTexture[2];
+ private: Ogre::RenderTarget *renderTarget[2];
+ private: Ogre::RenderTarget *depthRenderTarget[2];
- private: std::string leftOgreTextureName;
- private: std::string rightOgreTextureName;
- private: std::string leftOgreMaterialName;
- private: std::string rightOgreMaterialName;
+ private: std::string ogreTextureName[2];
+ private: std::string ogreMaterialName[2];
+ private: std::string ogreDepthTextureName[2];
+ private: std::string ogreDepthMaterialName[2];
+
+
private: double baseline;
private:
Modified: code/gazebo/trunk/worlds/models/bandit.model
===================================================================
--- code/gazebo/trunk/worlds/models/bandit.model 2008-03-28 09:31:36 UTC
(rev 4453)
+++ code/gazebo/trunk/worlds/models/bandit.model 2008-03-28 15:43:42 UTC
(rev 4454)
@@ -235,8 +235,8 @@
<anchor>right_forearm_body</anchor>
<anchorOffset>0 0 -0.05</anchorOffset>
<axis>0 0 1</axis>
- <lowStop>-1</lowStop>
- <highStop>90</highStop>
+ <lowStop>-90</lowStop>
+ <highStop>1</highStop>
</joint:hinge>
<body:box name="right_hand_body">
Modified: code/gazebo/trunk/worlds/stereocamera.world
===================================================================
--- code/gazebo/trunk/worlds/stereocamera.world 2008-03-28 09:31:36 UTC (rev
4453)
+++ code/gazebo/trunk/worlds/stereocamera.world 2008-03-28 15:43:42 UTC (rev
4454)
@@ -32,6 +32,7 @@
<sky>
<material>Gazebo/CloudySky</material>
</sky>
+ <!--<shadowTechnique>textureAdditive</shadowTechnique>-->
</rendering:ogre>
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