Revision: 6667
http://playerstage.svn.sourceforge.net/playerstage/?rev=6667&view=rev
Author: alexcb
Date: 2008-06-23 14:17:23 -0700 (Mon, 23 Jun 2008)
Log Message:
-----------
added color to camera data visualization, and created a floor used instead of
grid for camera model rendering
Modified Paths:
--------------
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/libstage/stage.hh
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-06-23 19:04:30 UTC (rev 6666)
+++ code/stage/trunk/libstage/canvas.cc 2008-06-23 21:17:23 UTC (rev 6667)
@@ -437,8 +437,21 @@
glDisable(GL_POLYGON_OFFSET_FILL );
}
+void StgCanvas::DrawFloor()
+{
+ stg_bounds3d_t bounds = world->GetExtent();
+ glColor3f( 0.6, 0.6, 1.0 );
+ glBegin(GL_QUADS);
+ glVertex3f( bounds.x.min, bounds.y.min, 0 );
+ glVertex3f( bounds.x.max, bounds.y.min, 0 );
+ glVertex3f( bounds.x.max, bounds.y.max, 0 );
+ glVertex3f( bounds.x.min, bounds.y.max, 0 );
+ glEnd();
+}
+
void StgCanvas::renderFrame( bool robot_camera )
{
+ //create a localy scopped showflags variable - WARNING: changing it
will NOT change the class instance's value
uint32_t showflags = this->showflags;
if( robot_camera == true )
showflags = STG_SHOW_BLOCKS;
@@ -446,10 +459,13 @@
if( ! (showflags & STG_SHOW_TRAILS) || robot_camera == true )
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
- if( showflags & STG_SHOW_GRID && robot_camera == false )
+ if( robot_camera == true )
+ DrawFloor();
+ else if( showflags & STG_SHOW_GRID )
DrawGlobalGrid();
- if( (showflags & STG_SHOW_QUADTREE) || (showflags & STG_SHOW_OCCUPANCY)
&& robot_camera == false )
+
+ if( (showflags & STG_SHOW_QUADTREE) || (showflags & STG_SHOW_OCCUPANCY)
)
{
glPushMatrix();
glScalef( 1.0/world->Resolution(), 1.0/world->Resolution(), 0 );
@@ -753,7 +769,7 @@
if( (showflags & STG_SHOW_FOLLOW) && last_selection ) {
//Follow the selected robot
stg_pose_t gpose = last_selection->GetGlobalPose();
- perspective_camera.setPose( gpose.x, gpose.y, 0.1 );
+ perspective_camera.setPose( gpose.x, gpose.y, 0.2 );
perspective_camera.setYaw( rtod( gpose.a ) - 90.0 );
}
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-06-23 19:04:30 UTC (rev
6666)
+++ code/stage/trunk/libstage/model_camera.cc 2008-06-23 21:17:23 UTC (rev
6667)
@@ -12,6 +12,7 @@
//#define DEBUG 1
#include "stage_internal.hh"
#include <sstream>
+#include <iomanip>
StgModelCamera::StgModelCamera( StgWorld* world, StgModel* parent )
@@ -130,12 +131,51 @@
return NULL; //_frame_data;
}
+void StgModelCamera::PrintData( void ) const
+{
+ //create depth matrix
+ std::cout << "depth <- matrix( c( ";
+ for( int j = 0; j < _height; j++ ) {
+ for( int i = 0; i < _width; i++ ) {
+ int index = i + j * _width;
+ const GLubyte* color = _frame_color_data + index * 4;
//TODO might be buggy indexing
+ const float length = _frame_data[ index ];
+ if( i != 0 || j != 0 )
+ std::cout << " ,";
+ std::cout << length;
+ }
+ }
+ std::cout << "), " << std::dec << _width << ", " << _height << " )\n\n";
+
+ //create color matrix
+ std::cout << "hex_cols <- matrix( c( ";
+ for( int j = 0; j < _height; j++ ) {
+ for( int i = 0; i < _width; i++ ) {
+ int index = i + j * _width;
+ const GLubyte* color = _frame_color_data + index * 4;
//TODO might be buggy indexing
+ const float length = _frame_data[ index ];
+ if( i != 0 || j != 0 )
+ std::cout << " ,";
+ std::cout << "\"#"
+ << std::setw( 2 ) << std::setfill('0') <<
std::hex << (int)color[ 0 ]
+ << std::setw( 2 ) << std::setfill('0') << std::hex <<
(int)color[ 1 ]
+ << std::setw( 2 ) << std::setfill('0') << std::hex <<
(int)color[ 2 ]
+ << "\"" ;
+ }
+ }
+ std::cout << "), " << std::dec << _width << ", " << _height << " )\n\n";
+
+ std::cout << std::endl;
+}
+
//TODO create lines outlineing camera frustrum, then iterate over each depth
measurement and create a square
void StgModelCamera::DataVisualize( void )
{
if( _frame_data == NULL )
return;
+ //PrintData();
+
float w_fov = _camera.horizFov();
float h_fov = _camera.vertFov();
@@ -233,9 +273,9 @@
//colour the points
//TODO color is buggy
- scaled_vertex->r = 0x00; //color[ 0 ];
- scaled_vertex->g = 0x00; //color[ 1 ];
- scaled_vertex->b = 0x00; //color[ 2 ];
+ scaled_vertex->r = color[ 0 ];
+ scaled_vertex->g = color[ 1 ];
+ scaled_vertex->b = color[ 2 ];
scaled_vertex->a = 0xFF;
}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-06-23 19:04:30 UTC (rev 6666)
+++ code/stage/trunk/libstage/stage.hh 2008-06-23 21:17:23 UTC (rev 6667)
@@ -1944,6 +1944,7 @@
void DrawRays();
void ClearRays();
void DrawGlobalGrid();
+ void DrawFloor(); //simpler floor compared to grid
public:
@@ -2483,6 +2484,8 @@
StgPerspectiveCamera _camera;
int _yaw_offset;
+ void PrintData( void ) const;
+
public:
StgModelCamera( StgWorld* world,
StgModel* parent );
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