Revision: 6748
http://playerstage.svn.sourceforge.net/playerstage/?rev=6748&view=rev
Author: alexcb
Date: 2008-07-03 13:16:15 -0700 (Thu, 03 Jul 2008)
Log Message:
-----------
worked on panning and tilting camera and documentation
Modified Paths:
--------------
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/libstage/stage.hh
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-07-03 02:26:35 UTC (rev
6747)
+++ code/stage/trunk/libstage/model_camera.cc 2008-07-03 20:16:15 UTC (rev
6748)
@@ -9,6 +9,7 @@
///////////////////////////////////////////////////////////////////////////
#define CAMERA_HEIGHT 0.5
+#define CAMERA_NEAR_CLIP 0.2
#define CAMERA_FAR_CLIP 8.0
//#define DEBUG 1
@@ -18,6 +19,56 @@
Option StgModelCamera::showCameraData( "Show Camera Data", "show_camera", "",
true );
+/**
+ @ingroup model
+ @defgroup model_camera Camera model
+ The camera model simulates a camera
+
+ API: Stg::StgModelCamera
+
+ <h2>Worldfile properties</h2>
+
+ @par Summary and default values
+
+ @verbatim
+ camera
+ (
+ # laser properties
+ width 32
+ height 32
+ range_min 0.0
+ range_max 8.0
+ horizfov 60.0
+ vertfov 60.0
+ yaw 0.0
+ pitch 90.0
+
+ # model properties
+ size [0.15 0.15]
+ color "black"
+ watts 100.0 # TODO find watts for sony pan-tilt camera
+ )
+ @endverbatim
+
+ @par Details
+ - width int
+ - the number of pixel samples
+ - height int
+ - the number of pixel samples
+ - range_min float
+ - the minimum range reported by the camera, in meters. Objects closer than
this will not be displayed. The smaller the number, the less persision in depth
- don't set this value too close to 0.
+ - range_max float
+ - the maximum range reported by the camera, in meters. Objects farther than
this will not be displayed.
+ - horizfov float
+ - angle, in degrees, for the horizontal field of view.
+ - vertfov float
+ - angle, in degrees, for the vertical field of view.
+ - yaw float
+ - angle, in degrees, where the camera is panned to.
+ - pitch float
+ - angle, in degrees, where the camera is tilted to.
+ */
+
//caclulate the corss product, and store results in the first vertex
void cross( float& x1, float& y1, float& z1, float x2, float y2, float z2 )
{
@@ -40,13 +91,14 @@
_frame_color_data( NULL ),
_valid_vertexbuf_cache( false ),
_vertexbuf_cache( NULL ),
-_width( 0 ),
-_height( 0 ),
+_width( 32 ),
+_height( 32 ),
_camera_quads_size( 0 ),
_camera_quads( NULL ),
_camera_colors( NULL ),
_camera(),
-_yaw_offset( 0 )
+_yaw_offset( 0.0 ),
+_pitch_offset( 0.0 )
{
PRINT_DEBUG2( "Constructing StgModelCamera %d (%s)\n",
@@ -62,7 +114,8 @@
_canvas = world_gui->GetCanvas();
// Set up sensible defaults
-
+ _camera.setPitch( 90.0 );
+
SetColor( stg_lookup_color( "green" ) );
stg_geom_t geom;
@@ -92,11 +145,11 @@
StgModel::Load();
_camera.setFov( wf->ReadLength( wf_entity, "horizfov",
_camera.horizFov() ), wf->ReadLength( wf_entity, "vertfov", _camera.vertFov()
) );
- _camera.setPitch( wf->ReadLength( wf_entity, "pitch", _camera.pitch() )
);
- _camera.setClip( wf->ReadLength( wf_entity, "nearclip",
_camera.nearClip() ), wf->ReadLength( wf_entity, "farclip", CAMERA_FAR_CLIP )
);
+ _camera.setClip( wf->ReadLength( wf_entity, "range_min",
CAMERA_NEAR_CLIP ), wf->ReadLength( wf_entity, "range_max", CAMERA_FAR_CLIP )
);
- _yaw_offset = wf->ReadInt( wf_entity, "yaw", _yaw_offset );
+ _yaw_offset = wf->ReadFloat( wf_entity, "yaw", _yaw_offset );
+ _pitch_offset = wf->ReadFloat( wf_entity, "pitch", _pitch_offset );
_width = wf->ReadInt( wf_entity, "width", _width );
_height = wf->ReadInt( wf_entity, "height", _height );
}
@@ -106,6 +159,10 @@
{
GetFrame();
StgModel::Update();
+ static float y = 0;
+ y += 0.1;
+// setYaw( y );
+ setPitch( y );
}
bool StgModelCamera::GetFrame( void )
@@ -148,6 +205,7 @@
//TODO reposition the camera so it isn't inside the model ( or don't
draw the parent when calling renderframe )
_camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y,
CAMERA_HEIGHT ); //TODO use something smarter than a #define - make it
configurable
_camera.setYaw( rtod( parent->GetGlobalPose().a ) - 90.0 - _yaw_offset
); //-90.0 points the camera infront of the robot instead of pointing right
+ _camera.setPitch( 90.0 - _pitch_offset );
_camera.Draw();
@@ -183,14 +241,14 @@
{
if( _frame_data == NULL || !showCameraData )
return;
-
+
// TODO - shift to global CS?
float w_fov = _camera.horizFov();
float h_fov = _camera.vertFov();
float center_horiz = - _yaw_offset;
- float center_vert = 0; // - _pitch_offset;
+ float center_vert = - _pitch_offset;
float start_fov = center_horiz + w_fov / 2.0 + 180.0; //start at right
float start_vert_fov = center_vert + h_fov / 2.0 + 90.0; //start at top
@@ -263,6 +321,7 @@
}
}
+
glEnableClientState( GL_VERTEX_ARRAY );
glEnableClientState( GL_COLOR_ARRAY );
@@ -272,23 +331,8 @@
glDrawArrays( GL_QUADS, 0, w * h * 4 );
glDisableClientState( GL_COLOR_ARRAY );
- glDisableClientState( GL_VERTEX_ARRAY );
+// glDisableClientState( GL_VERTEX_ARRAY ); //TODO FIXME - something is
using vertex arrays without properly enabling it
-
-// glEnd();
- glEnable(GL_CULL_FACE);
-
-
- //TODO see if any of this can be used for the new method
- //TODO: below this point may no longer be needed if we just draw
perfectly square quads based off normal
-// //draw then camera data
-// glDisable (GL_CULL_FACE);
-// glPushClientAttrib( GL_CLIENT_VERTEX_ARRAY_BIT );
-// glPolygonMode( GL_FRONT_AND_BACK, GL_FILL ); //Can also be GL_FILL -
but harder to debug
-// glInterleavedArrays( GL_C4UB_V3F, 0, vertices );
-// glDrawElements( GL_QUADS, 4 * w * h, GL_UNSIGNED_SHORT, vertices_index
);
-// glPopClientAttrib();
-//
}
void StgModelCamera::Draw( uint32_t flags, StgCanvas* canvas )
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-07-03 02:26:35 UTC (rev 6747)
+++ code/stage/trunk/libstage/stage.hh 2008-07-03 20:16:15 UTC (rev 6748)
@@ -2497,7 +2497,8 @@
static Option showCameraData;
StgPerspectiveCamera _camera;
- int _yaw_offset; //position camera is mounted at
+ float _yaw_offset; //position camera is mounted at
+ float _pitch_offset;
///Take a screenshot from the camera's perspective. return:
true for sucess, and data is available via FrameDepth() / FrameColor()
bool GetFrame();
@@ -2533,6 +2534,12 @@
///get a reference to camera color image. 3 bytes (RGB) per
pixel
inline const GLubyte* FrameColor() const { return
_frame_color_data; }
+
+ ///change the pitch
+ inline void setPitch( float pitch ) { _pitch_offset = pitch;
_valid_vertexbuf_cache = false; }
+
+ ///change the yaw
+ inline void setYaw( float yaw ) { _yaw_offset = yaw;
_valid_vertexbuf_cache = false; }
};
// POSITION MODEL --------------------------------------------------------
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