Revision: 6529
http://playerstage.svn.sourceforge.net/playerstage/?rev=6529&view=rev
Author: alexcb
Date: 2008-06-10 15:22:24 -0700 (Tue, 10 Jun 2008)
Log Message:
-----------
added getFrame method to take a snapshot from the robot's camera
Modified Paths:
--------------
code/stage/trunk/libstage/camera.cc
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/texture_manager.cc
Modified: code/stage/trunk/libstage/camera.cc
===================================================================
--- code/stage/trunk/libstage/camera.cc 2008-06-10 21:44:07 UTC (rev 6528)
+++ code/stage/trunk/libstage/camera.cc 2008-06-10 22:22:24 UTC (rev 6529)
@@ -33,7 +33,7 @@
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
- gluPerspective( 60.0, pixels_width/pixels_height, 0.01, 100 );
+ gluPerspective( 120.0, pixels_width/pixels_height, 0.01, 100 );
glMatrixMode (GL_MODELVIEW);
}
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-06-10 21:44:07 UTC (rev 6528)
+++ code/stage/trunk/libstage/canvas.cc 2008-06-10 22:22:24 UTC (rev 6529)
@@ -335,14 +335,18 @@
PopColor();
}
-void StgCanvas::renderFrame()
+void StgCanvas::renderFrame( bool robot_camera )
{
- if( ! (showflags & STG_SHOW_TRAILS) )
+ uint32_t showflags = this->showflags;
+ if( robot_camera == true )
+ showflags = STG_SHOW_BLOCKS;
+
+ if( ! (showflags & STG_SHOW_TRAILS) || robot_camera )
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
// if following selected, shift the view to above the selected robot
- if( (showflags & STG_SHOW_FOLLOW) && last_selection )
+ if( (showflags & STG_SHOW_FOLLOW) && last_selection && robot_camera ==
false )
{
glLoadIdentity ();
double zclip = 20 * camera.getScale(); //hypot(world->Width(),
world->Height()) * camera.getScale();
@@ -372,7 +376,7 @@
glDisable(GL_POLYGON_OFFSET_FILL);
- if( (showflags & STG_SHOW_QUADTREE) || (showflags & STG_SHOW_OCCUPANCY)
)
+ if( (showflags & STG_SHOW_QUADTREE) || (showflags & STG_SHOW_OCCUPANCY)
&& robot_camera == false )
{
glDisable( GL_LINE_SMOOTH );
glLineWidth( 1 );
@@ -392,7 +396,7 @@
glPopMatrix();
- if( showflags & STG_SHOW_GRID )
+ if( showflags & STG_SHOW_GRID && robot_camera == false )
DrawGlobalGrid();
for( GList* it=selected_models; it; it=it->next )
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-06-10 21:44:07 UTC (rev
6528)
+++ code/stage/trunk/libstage/model_camera.cc 2008-06-10 22:22:24 UTC (rev
6529)
@@ -11,38 +11,49 @@
//#define DEBUG 1
#include "stage_internal.hh"
+#include <sstream>
+
StgModelCamera::StgModelCamera( StgWorld* world,
StgModel* parent,
stg_id_t id,
char* typestr )
-: StgModel( world, parent, id, typestr )
+: StgModel( world, parent, id, typestr ),
+_frame_data( NULL ), _frame_data_width( 0 ), _frame_data_height( 0 )
{
PRINT_DEBUG2( "Constructing StgModelCamera %d (%s)\n",
id, typestr );
+ StgWorldGui* world_gui = dynamic_cast< StgWorldGui* >( world );
+
+ if( world_gui == NULL ) {
+ printf( "Unable to use Camera Model - it must be run with a GUI
world\n" );
+ assert( 0 );
+ }
+
+ _canvas = world_gui->GetCanvas();
+
// Set up sensible defaults
- this->SetColor( stg_lookup_color( "green" ) );
+ SetColor( stg_lookup_color( "green" ) );
-
stg_geom_t geom;
memset( &geom, 0, sizeof(geom)); // no size
- geom.size.x = 0.02;
- geom.size.y = 0.02;
- geom.size.z = 0.02;
- this->SetGeom( geom );
+ //TODO can't draw this as it blocks the laser
+ SetGeom( geom );
- this->Startup();
+ Startup();
}
StgModelCamera::~StgModelCamera()
{
+ if( _frame_data != NULL )
+ delete _frame_data;
}
void StgModelCamera::Load( void )
{
- StgModel::Load();
+ StgModel::Load();
Worldfile* wf = world->GetWorldFile();
}
@@ -51,15 +62,39 @@
void StgModelCamera::Update( void )
{
StgModel::Update();
- static StgPerspectiveCamera camera;
+}
+
+
+const char* StgModelCamera::GetFrame( int width, int height )
+{
+ static StgPerspectiveCamera camera; //shared between _ALL_ instances
+
+ if( width == 0 || height == 0 )
+ return NULL;
+
+ if( width != _frame_data_width || height != _frame_data_height ) {
+ if( _frame_data != NULL )
+ delete _frame_data;
+ _frame_data = new char[ 3 * width * height ];
+ }
+
+ glViewport( 0, 0, width, height );
+
camera.update();
- camera.SetProjection( 400, 300, 0.01, 200.0 );
+ camera.SetProjection( width, height, 0.01, 200.0 );
camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y,
0.1 );
camera.setYaw( rtod( parent->GetGlobalPose().a ) - 90.0 );
- //camera.setPose( 0.1, 0.1, 0.1 );
camera.Draw();
- std::cout << "updated" << std::endl;
- std::cout << parent->GetGlobalPose().x << std::endl;
+
+ _canvas->renderFrame( true );
+
+ glReadPixels(0, 0, width, height,
+ GL_RGB,
+ GL_UNSIGNED_BYTE,
+ _frame_data );
+
+ _canvas->invalidate();
+ return _frame_data;
}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-06-10 21:44:07 UTC (rev 6528)
+++ code/stage/trunk/libstage/stage.hh 2008-06-10 22:22:24 UTC (rev 6529)
@@ -1819,7 +1819,8 @@
StgWorld* world;
void FixViewport(int W,int H);
- virtual void renderFrame();
+ //robot_camera = true
+ virtual void renderFrame( bool robot_camera = false );
virtual void draw();
virtual int handle( int event );
void resize(int X,int Y,int W,int H);
@@ -1897,6 +1898,8 @@
void DrawTree( bool leaves );
void DrawFloor();
+
+ StgCanvas* GetCanvas( void ) { return canvas; }
};
@@ -2343,6 +2346,13 @@
// CAMERA MODEL ----------------------------------------------------
class StgModelCamera : public StgModel
{
+ private:
+ StgCanvas* _canvas;
+
+ char* _frame_data;
+ int _frame_data_width;
+ int _frame_data_height;
+
public:
StgModelCamera( StgWorld* world,
@@ -2355,6 +2365,9 @@
virtual void Load();
virtual void Update();
virtual void Draw( uint32_t flags, StgCanvas* canvas );
+
+ ///Take a screenshot from the camera's perspective
+ const char* GetFrame( int width, int height );
// static wrapper for the constructor - all models must
implement
// this method and add an entry in typetable.cc
Modified: code/stage/trunk/libstage/texture_manager.cc
===================================================================
--- code/stage/trunk/libstage/texture_manager.cc 2008-06-10 21:44:07 UTC
(rev 6528)
+++ code/stage/trunk/libstage/texture_manager.cc 2008-06-10 22:22:24 UTC
(rev 6529)
@@ -16,7 +16,7 @@
if( filename[ 0 ] == '/' || filename[ 0 ] == '~' )
return Fl_Shared_Image::get( filename );
- //TODO move this somewhere else, and include STAGE_PATH, and path
relative to user supplied world file
+ //TODO move this somewhere else, and include STAGEPATH, and path
relative to user supplied world file
const char* prefixes[] = {
".",
INSTALL_PREFIX "/share/stage",
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