Revision: 6696
http://playerstage.svn.sourceforge.net/playerstage/?rev=6696&view=rev
Author: natepak
Date: 2008-06-26 14:04:18 -0700 (Thu, 26 Jun 2008)
Log Message:
-----------
Fixed camera masking, and fixed generic_camera controller
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.hh
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/UserCamera.cc
code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
code/gazebo/trunk/worlds/models/sonyvid30.model
code/gazebo/trunk/worlds/pioneer2dx_gripper.world
Modified: code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
2008-06-26 20:33:09 UTC (rev 6695)
+++ code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
2008-06-26 21:04:18 UTC (rev 6696)
@@ -35,7 +35,7 @@
#include "gazebo.h"
#include "GazeboError.hh"
#include "ControllerFactory.hh"
-#include "OgreCamera.hh"
+#include "MonoCameraSensor.hh"
#include "Generic_Camera.hh"
using namespace gazebo;
@@ -47,7 +47,7 @@
Generic_Camera::Generic_Camera(Entity *parent)
: Controller(parent)
{
- this->myParent = dynamic_cast<OgreCamera*>(this->parent);
+ this->myParent = dynamic_cast<MonoCameraSensor*>(this->parent);
if (!this->myParent)
gzthrow("Generic_Camera controller requires a Camera Sensor as its
parent");
@@ -123,22 +123,11 @@
assert (data->image_size <= sizeof(data->image));
// Copy the pixel data to the interface
- //src = this->myParent->GetImageData();
+ src = this->myParent->GetImageData(0);
dst = data->image;
memcpy(dst, src, data->image_size);
-
- //unsigned int i, j, k;
- // OGRE image data is A8 B8 G8 R8. Must convert to R8 G8 B8
- /* for (i=0; i<data->height; i++)
- for (j=0; j<data->width; j++)
- for (k=2; k>=0; k--)
- memcpy(dst + i*data->width*3 + j*3 + 2-k,
- src + i*data->width*4 + j*4 + k,
- 1);
- */
-
this->cameraIface->Unlock();
// New data is available
Modified: code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.hh
===================================================================
--- code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.hh
2008-06-26 20:33:09 UTC (rev 6695)
+++ code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.hh
2008-06-26 21:04:18 UTC (rev 6696)
@@ -34,7 +34,7 @@
namespace gazebo
{
class CameraIface;
- class OgreCamera;
+ class MonoCameraSensor;
/// @addtogroup gazebo_controller
/// @{
@@ -97,7 +97,7 @@
private: CameraIface *cameraIface;
/// The parent sensor
- private: OgreCamera *myParent;
+ private: MonoCameraSensor *myParent;
};
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2008-06-26 20:33:09 UTC
(rev 6695)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2008-06-26 21:04:18 UTC
(rev 6696)
@@ -132,7 +132,6 @@
// Initialize the camera
void OgreCamera::InitCam()
{
-
this->camera = OgreCreator::CreateCamera(this->cameraName, this->nearClip,
this->farClip, this->hfov, this->renderTarget );
// Create a scene node to control pitch motion
@@ -142,7 +141,6 @@
this->saveCount = 0;
- //this->camera->getViewport()->setVisibilityMask(this->visibilityMask);
}
//////////////////////////////////////////////////////////////////////////////
@@ -155,6 +153,7 @@
// Update the drawing
void OgreCamera::UpdateCam()
{
+
if (World::Instance()->GetWireframe())
{
this->camera->setPolygonMode(Ogre::PM_WIREFRAME);
Modified: code/gazebo/trunk/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/UserCamera.cc 2008-06-26 20:33:09 UTC
(rev 6695)
+++ code/gazebo/trunk/server/rendering/UserCamera.cc 2008-06-26 21:04:18 UTC
(rev 6696)
@@ -74,7 +74,7 @@
this->SetAspectRatio( Ogre::Real(this->viewport->getActualWidth()) /
Ogre::Real(this->viewport->getActualHeight()) );
- //this->viewport->setVisibilityMask(this->visibilityMask);
+ this->viewport->setVisibilityMask(this->visibilityMask);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2008-06-26
20:33:09 UTC (rev 6695)
+++ code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2008-06-26
21:04:18 UTC (rev 6696)
@@ -124,25 +124,6 @@
this->renderTarget->update();
- if (this->saveFrames)
- this->SaveFrame();
-}
-
-////////////////////////////////////////////////////////////////////////////////
-// Return the material the camera renders to
-std::string MonoCameraSensor::GetMaterialName() const
-{
- return this->ogreMaterialName;
-}
-
-
-//////////////////////////////////////////////////////////////////////////////
-/// Get a pointer to the image data
-const unsigned char *MonoCameraSensor::GetImageData(unsigned int i)
-{
- if (i!=0)
- gzerr(0) << "Camera index must be zero for mono cam";
-
Ogre::HardwarePixelBufferSharedPtr mBuffer;
size_t size;
@@ -176,6 +157,26 @@
mBuffer->unlock();
+
+ if (this->saveFrames)
+ this->SaveFrame();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Return the material the camera renders to
+std::string MonoCameraSensor::GetMaterialName() const
+{
+ return this->ogreMaterialName;
+}
+
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get a pointer to the image data
+const unsigned char *MonoCameraSensor::GetImageData(unsigned int i)
+{
+ if (i!=0)
+ gzerr(0) << "Camera index must be zero for mono cam";
+
return this->saveFrameBuffer;
}
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-06-26 20:33:09 UTC (rev 6695)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-06-26 21:04:18 UTC (rev 6696)
@@ -139,6 +139,7 @@
cviewport->setClearEveryFrame(true);
cviewport->setOverlaysEnabled(false);
cviewport->setBackgroundColour(
*OgreAdaptor::Instance()->backgroundColor );
+ cviewport->setVisibilityMask(this->visibilityMask);
}
// Create materials for all the render textures.
Modified: code/gazebo/trunk/worlds/models/sonyvid30.model
===================================================================
--- code/gazebo/trunk/worlds/models/sonyvid30.model 2008-06-26 20:33:09 UTC
(rev 6695)
+++ code/gazebo/trunk/worlds/models/sonyvid30.model 2008-06-26 21:04:18 UTC
(rev 6696)
@@ -96,6 +96,10 @@
<farClip>100</farClip>
<saveFrames>true</saveFrames>
<saveFramePath>frames</saveFramePath>
+
+ <controller:generic_camera name="sonyvid30_camera_controller">
+ <interface:camera name="camera_iface_0"/>
+ </controller:generic_camera>
</sensor:camera>
</body:box>
Modified: code/gazebo/trunk/worlds/pioneer2dx_gripper.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx_gripper.world 2008-06-26 20:33:09 UTC
(rev 6695)
+++ code/gazebo/trunk/worlds/pioneer2dx_gripper.world 2008-06-26 21:04:18 UTC
(rev 6696)
@@ -93,19 +93,6 @@
</include>
</model:physical>
- <model:physical name="laser">
- <xyz>0.15 0 0.18</xyz>
-
- <attach>
- <parentBody>chassis_body</parentBody>
- <myBody>laser_body</myBody>
- </attach>
-
- <include embedded="true">
- <xi:include href="models/sicklms200.model" />
- </include>
- </model:physical>
-
<!--
The include should be last within a model. All previous statements
will override those in the included file
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