Revision: 7140
http://playerstage.svn.sourceforge.net/playerstage/?rev=7140&view=rev
Author: natepak
Date: 2008-11-13 20:45:50 +0000 (Thu, 13 Nov 2008)
Log Message:
-----------
Fixed the initial rendering of the GL Frame, and added some debug code to
StereoCameraSensor
Modified Paths:
--------------
code/gazebo/trunk/server/gui/GLFrame.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
code/gazebo/trunk/worlds/models/bandit.model
Modified: code/gazebo/trunk/server/gui/GLFrame.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLFrame.cc 2008-11-12 23:54:19 UTC (rev
7139)
+++ code/gazebo/trunk/server/gui/GLFrame.cc 2008-11-13 20:45:50 UTC (rev
7140)
@@ -129,6 +129,9 @@
this->glWindow->GetCamera()->SetSaveFramePathname(this->savePathname);
CameraManager::Instance()->ConnectAddCameraSignal(
boost::bind(&GLFrame::CameraAddedSlot, this, _1) );
+
+ this->show();
+ this->redraw();
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-11-12 23:54:19 UTC (rev 7139)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-11-13 20:45:50 UTC (rev 7140)
@@ -186,6 +186,42 @@
this->depthBuffer[1] = new float[this->depthBufferSize];
this->rgbBuffer[0] = new unsigned char[this->rgbBufferSize];
this->rgbBuffer[1] = new unsigned char[this->rgbBufferSize];
+
+ Ogre::MaterialPtr debugMat = Ogre::MaterialManager::getSingleton().create(
+ "Ogre/DebugShadowMap0",
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+
+ debugMat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
+ Ogre::TexturePtr shadowTex =
OgreAdaptor::Instance()->sceneMgr->getShadowTexture(0);
+ Ogre::TextureUnitState *t =
debugMat->getTechnique(0)->getPass(0)->createTextureUnitState(shadowTex->getName());
+ t->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
+
+ /*debugMat = Ogre::MaterialManager::getSingleton().create(
+ "Ogre/DebugShadowMap1",
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ debugMat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
+ shadowTex = OgreAdaptor::Instance()->sceneMgr->getShadowTexture(1);
+ t =
debugMat->getTechnique(0)->getPass(0)->createTextureUnitState(shadowTex->getName());
+ t->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
+
+
+ Ogre::OverlayContainer* debugPanel = (Ogre::OverlayContainer*)
+ (Ogre::OverlayManager::getSingleton().createOverlayElement("Panel",
"Ogre/DebugShadowPanel0"));
+ debugPanel->_setPosition(0.8, 0);
+ debugPanel->_setDimensions(0.2, 0.2);
+ debugPanel->setMaterialName("Ogre/DebugShadowMap0");
+ Ogre::Overlay* debugOverlay =
Ogre::OverlayManager::getSingleton().getByName("Core/DebugOverlay");
+ if (!debugOverlay)
+ printf("NULL\n");
+ debugOverlay->add2D(debugPanel);
+
+ debugPanel = (Ogre::OverlayContainer*)
+ (Ogre::OverlayManager::getSingleton().createOverlayElement("Panel",
"Ogre/DebugShadowPanel1"));
+ debugPanel->_setPosition(0.8, 0.2);
+ debugPanel->_setDimensions(0.2, 0.2);
+ debugPanel->setMaterialName("Ogre/DebugShadowMap1");
+ debugOverlay->add2D(debugPanel);
+ */
}
//////////////////////////////////////////////////////////////////////////////
@@ -281,10 +317,10 @@
sceneMgr->_suppressRenderStateChanges(false);
// Render the image texture
- for (i=0; i<2; i++)
+ /*for (i=0; i<2; i++)
{
this->renderTargets[i]->update();
- }
+ }*/
if (gridNode)
gridNode->setVisible(true);
Modified: code/gazebo/trunk/worlds/models/bandit.model
===================================================================
--- code/gazebo/trunk/worlds/models/bandit.model 2008-11-12 23:54:19 UTC
(rev 7139)
+++ code/gazebo/trunk/worlds/models/bandit.model 2008-11-13 20:45:50 UTC
(rev 7140)
@@ -74,7 +74,7 @@
<hfov>60</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
- <saveFrames>false</saveFrames>
+ <saveFrames>true</saveFrames>
<saveFramePath>frames</saveFramePath>
<baseline>0.2</baseline>
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