Revision: 6670
http://playerstage.svn.sourceforge.net/playerstage/?rev=6670&view=rev
Author: natepak
Date: 2008-06-23 15:51:30 -0700 (Mon, 23 Jun 2008)
Log Message:
-----------
Added Vertical and Horizontal field of view attributes to the cameras
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/gazebo.h
code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/OgreCamera.hh
code/gazebo/trunk/server/rendering/UserCamera.cc
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2008-06-23 22:19:19 UTC (rev
6669)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2008-06-23 22:51:30 UTC (rev
6670)
@@ -572,6 +572,9 @@
/// Horizontal field of view of the camera in radians
public: double hfov;
+ /// Vertical field of view of the camera in radians
+ public: double vfov;
+
/// Pose of the camera
public: Pose camera_pose;
@@ -1351,7 +1354,10 @@
/// Horizontal field of view of the camera in radians
public: double hfov;
- /// Left image size
+ /// Vertical field of view of the camera in radians
+ public: double vfov;
+
+ // Left image size
public: unsigned int left_rgb_size;
/// left image (R8G8B8)
Modified: code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
2008-06-23 22:19:19 UTC (rev 6669)
+++ code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
2008-06-23 22:51:30 UTC (rev 6670)
@@ -107,7 +107,8 @@
data->image_size = data->width * data->height * 3;
// GetFOV() returns radians
- data->hfov = this->myParent->GetFOV();
+ data->hfov = this->myParent->GetHFOV();
+ data->vfov = this->myParent->GetVFOV();
// Set the pose of the camera
cameraPose = this->myParent->GetWorldPose();
Modified: code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-06-23 22:19:19 UTC (rev 6669)
+++ code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-06-23 22:51:30 UTC (rev 6670)
@@ -136,7 +136,8 @@
stereo_data->farClip = this->myParent->GetFarClip();
stereo_data->nearClip = this->myParent->GetNearClip();
- stereo_data->hfov = this->myParent->GetFOV();
+ stereo_data->hfov = this->myParent->GetHFOV();
+ stereo_data->vfov = this->myParent->GetVFOV();
//stereo_data->right_rgb_size = stereo_data->width * stereo_data->height * 3;
//stereo_data->left_rgb_size = stereo_data->width * stereo_data->height * 3;
@@ -190,7 +191,9 @@
camera_data->image_size = camera_data->width * camera_data->height * 3;
assert (camera_data->image_size <= sizeof(camera_data->image));
- camera_data->hfov = this->myParent->GetFOV();
+ camera_data->hfov = this->myParent->GetHFOV();
+ camera_data->vfov = this->myParent->GetVFOV();
+
// Set the pose of the camera
cameraPose = this->myParent->GetWorldPose();
camera_data->camera_pose.pos.x = cameraPose.pos.x;
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2008-06-23 22:19:19 UTC
(rev 6669)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2008-06-23 22:51:30 UTC
(rev 6670)
@@ -237,12 +237,19 @@
//////////////////////////////////////////////////////////////////////////////
/// Get the horizontal field of view of the camera
-double OgreCamera::GetFOV() const
+double OgreCamera::GetHFOV() const
{
return this->hfov;
}
//////////////////////////////////////////////////////////////////////////////
+/// Get the vertical field of view of the camera
+double OgreCamera::GetVFOV() const
+{
+ return this->camera->getFOVy().valueRadians();
+}
+
+//////////////////////////////////////////////////////////////////////////////
/// Get the width of the image
unsigned int OgreCamera::GetImageWidth() const
{
Modified: code/gazebo/trunk/server/rendering/OgreCamera.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.hh 2008-06-23 22:19:19 UTC
(rev 6669)
+++ code/gazebo/trunk/server/rendering/OgreCamera.hh 2008-06-23 22:51:30 UTC
(rev 6670)
@@ -100,7 +100,10 @@
public: void SetFOV( float radians );
/// \brief Get the camera FOV (horizontal)
- public: double GetFOV() const;
+ public: double GetHFOV() const;
+
+ /// \brief Get the camera FOV (vertical)
+ public: double GetVFOV() const;
/// \brief Get the width of the image
public: unsigned int GetImageWidth() const;
Modified: code/gazebo/trunk/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/UserCamera.cc 2008-06-23 22:19:19 UTC
(rev 6669)
+++ code/gazebo/trunk/server/rendering/UserCamera.cc 2008-06-23 22:51:30 UTC
(rev 6670)
@@ -57,7 +57,7 @@
{
OgreCamera::LoadCam(node);
- this->SetClipDist(0.1, 1000);
+ this->SetClipDist(0.1, 100);
this->SetFOV( DTOR(60) );
}
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