Revision: 8196
http://playerstage.svn.sourceforge.net/playerstage/?rev=8196&view=rev
Author: rtv
Date: 2009-08-13 01:06:05 +0000 (Thu, 13 Aug 2009)
Log Message:
-----------
tweaked fiducial vis. working on lights
Modified Paths:
--------------
code/stage/trunk/libstage/block.cc
code/stage/trunk/libstage/model_fiducial.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/worlds/chatterbox.inc
Modified: code/stage/trunk/libstage/block.cc
===================================================================
--- code/stage/trunk/libstage/block.cc 2009-08-11 21:04:09 UTC (rev 8195)
+++ code/stage/trunk/libstage/block.cc 2009-08-13 01:06:05 UTC (rev 8196)
@@ -13,7 +13,7 @@
stg_meters_t zmin,
stg_meters_t zmax,
Color color,
- bool inherit_color
+ bool inherit_color
) :
mod( mod ),
mpts(),
@@ -22,6 +22,7 @@
local_z( zmin, zmax ),
color( color ),
inherit_color( inherit_color ),
+ glow( 0.0 ),
rendered_cells( new CellPtrVec ),
candidate_cells( new CellPtrVec ),
gpts()
@@ -32,21 +33,21 @@
// copy the argument point data into the member vector
this->pts.reserve( pt_count );
for( size_t p=0; p<pt_count; p++ )
- this->pts.push_back( pts[p] );
+ this->pts.push_back( pts[p] );
}
/** A from-file constructor */
Block::Block( Model* mod,
- Worldfile* wf,
- int entity)
+ Worldfile* wf,
+ int entity)
: mod( mod ),
- mpts(),
+ mpts(),
pt_count(0),
pts(),
color(0),
inherit_color(true),
- rendered_cells( new CellPtrVec ),
- candidate_cells( new CellPtrVec )
+ rendered_cells( new CellPtrVec ),
+ candidate_cells( new CellPtrVec )
{
assert(mod);
assert(wf);
@@ -405,10 +406,7 @@
DrawTop();
glDisable(GL_POLYGON_OFFSET_FILL);
- // // draw the block outline in a darker version of the same color
- //double r,g,b,a;
- //stg_color_unpack( col, &r, &g, &b, &a );
- //mod->PushColor( stg_color_pack( r/2.0, g/2.0, b/2.0, a ));
+ // draw the block outline in a darker version of the same color
mod->PushColor( Color( col.r/2.0, col.g/2.0, col.b/2.0, col.a ));
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
@@ -417,7 +415,12 @@
DrawSides();
glDepthMask(GL_TRUE);
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
-
+
+ if( glow > 0.0 )
+ {
+
+ }
+
mod->PopColor();
mod->PopColor();
}
@@ -457,4 +460,6 @@
}
else
inherit_color = true;
+
+ glow = wf->ReadFloat( entity, "glow", glow );
}
Modified: code/stage/trunk/libstage/model_fiducial.cc
===================================================================
--- code/stage/trunk/libstage/model_fiducial.cc 2009-08-11 21:04:09 UTC (rev
8195)
+++ code/stage/trunk/libstage/model_fiducial.cc 2009-08-13 01:06:05 UTC (rev
8196)
@@ -25,7 +25,8 @@
static const stg_watts_t DEFAULT_WATTS = 10.0;
//TODO make instance attempt to register an option (as customvisualizations do)
-Option ModelFiducial::showFiducialData( "Fiducials", "show_fiducial", "",
true, NULL );
+Option ModelFiducial::showData( "Fiducials", "show_fiducial", "", true, NULL );
+Option ModelFiducial::showFov( "Fiducial FOV", "show_fiducial_fov", "", false,
NULL );
/**
@ingroup model
@@ -65,34 +66,35 @@
the angular field of view of the scanner, in radians.
*/
-
-ModelFiducial::ModelFiducial( World* world,
-
Model* parent )
- : Model( world, parent, MODEL_TYPE_FIDUCIAL ),
- fiducials(),
- max_range_anon( DEFAULT_RANGEMAXANON ),
- max_range_id( DEFAULT_RANGEMAXID ),
- min_range( DEFAULT_RANGEMIN ),
- fov( DEFAULT_FOV ),
- heading( 0 ),
- key( 0 )
+
+ ModelFiducial::ModelFiducial( World* world,
+
Model* parent ) :
+ Model( world, parent, MODEL_TYPE_FIDUCIAL ),
+ fiducials(),
+ max_range_anon( DEFAULT_RANGEMAXANON ),
+ max_range_id( DEFAULT_RANGEMAXID ),
+ min_range( DEFAULT_RANGEMIN ),
+ fov( DEFAULT_FOV ),
+ heading( 0 ),
+ key( 0 )
{
- //PRINT_DEBUG2( "Constructing ModelFiducial %d (%s)\n",
- // id, typestr );
-
- // assert that Update() is reentrant for this derived model
- thread_safe = true;
-
- // sensible fiducial defaults
- // interval = 200; // common for a SICK LMS200
-
- this->ClearBlocks();
-
- Geom geom;
- memset( &geom, 0, sizeof(geom));
- SetGeom( geom );
-
- RegisterOption( &showFiducialData );
+ //PRINT_DEBUG2( "Constructing ModelFiducial %d (%s)\n",
+ // id, typestr );
+
+ // assert that Update() is reentrant for this derived model
+ thread_safe = true;
+
+ // sensible fiducial defaults
+ // interval = 200; // common for a SICK LMS200
+
+ this->ClearBlocks();
+
+ Geom geom;
+ geom.Zero();
+ SetGeom( geom );
+
+ RegisterOption( &showData );
+ RegisterOption( &showFov );
}
ModelFiducial::~ModelFiducial( void )
@@ -239,67 +241,69 @@
void ModelFiducial::DataVisualize( Camera* cam )
{
- if ( !showFiducialData )
- return;
+ if( showFov )
+ {
+ PushColor( 1,0,1,0.2 ); // magenta, with a bit of alpha
- PushColor( 1,0,1,0.7 ); // magenta, with a bit of alpha
+ GLUquadric* quadric = gluNewQuadric();
+
+ gluQuadricDrawStyle( quadric, GLU_SILHOUETTE );
+
+ gluPartialDisk( quadric,
+ 0,
+ max_range_anon,
+ 20, // slices
+ 1, // loops
+ rtod( M_PI/2.0 +
fov/2.0), // start angle
+ rtod(-fov) ); //
sweep angle
+
+ gluDeleteQuadric( quadric );
+
+ PopColor();
+ }
- // draw the FOV
-// GLUquadric* quadric = gluNewQuadric();
-// gluQuadricDrawStyle( quadric, GLU_SILHOUETTE );
-
-// gluPartialDisk( quadric,
-// 0,
-//
max_range_anon,
-// 20, //
slices
-// 1, //
loops
-// rtod(
M_PI/2.0 + fov/2.0), // start angle
-//
rtod(-fov) ); // sweep angle
-
-// gluDeleteQuadric( quadric );
-
- // draw fuzzy dotted lines
- glLineWidth( 2.0 );
- glLineStipple( 1, 0x00FF );
-
- // draw lines to the fiducials
- for( unsigned int f=0; f<fiducials.size(); f++ )
- {
- Fiducial& fid = fiducials[f];
-
- double dx = fid.range * cos( fid.bearing);
- double dy = fid.range * sin( fid.bearing);
-
-
- glEnable(GL_LINE_STIPPLE);
- glBegin( GL_LINES );
- glVertex2f( 0,0 );
- glVertex2f( dx, dy );
- glEnd();
- glDisable(GL_LINE_STIPPLE);
-
- PushColor( 1,0,1,1 ); // magenta, no alpha
-
- glPushMatrix();
- Gl::coord_shift( dx,dy,0,fid.geom.a );
-
- glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
- glRectf( -fid.geom.x/2.0, -fid.geom.y/2.0,
- fid.geom.x/2.0,
fid.geom.y/2.0 );
-
- // show the fiducial ID
- char idstr[32];
- snprintf(idstr, 31, "%d", fid.id );
- Gl::draw_string( 0,0,0, idstr );
-
- PopColor();
-
- glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
- glPopMatrix();
- }
-
- PopColor();
- glLineWidth( 1.0 );
+ if( showData )
+ {
+ PushColor( 1,0,1,0.4 ); // magenta, with a bit of alpha
+
+ // draw fuzzy dotted lines
+ glLineWidth( 2.0 );
+ glLineStipple( 1, 0x00FF );
+
+ // draw lines to the fiducials
+ for( unsigned int f=0; f<fiducials.size(); f++ )
+ {
+ Fiducial& fid = fiducials[f];
+
+ double dx = fid.range * cos( fid.bearing);
+ double dy = fid.range * sin( fid.bearing);
+
+ glEnable(GL_LINE_STIPPLE);
+ glBegin( GL_LINES );
+ glVertex2f( 0,0 );
+ glVertex2f( dx, dy );
+ glEnd();
+ glDisable(GL_LINE_STIPPLE);
+
+ glPushMatrix();
+ Gl::coord_shift( dx,dy,0,fid.geom.a );
+
+ glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
+ glRectf( -fid.geom.x/2.0, -fid.geom.y/2.0,
+ fid.geom.x/2.0,
fid.geom.y/2.0 );
+
+ // show the fiducial ID
+ char idstr[32];
+ snprintf(idstr, 31, "%d", fid.id );
+ Gl::draw_string( 0,0,0, idstr );
+
+ glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
+ glPopMatrix();
+ }
+
+ PopColor();
+ glLineWidth( 1.0 );
+ }
}
void ModelFiducial::Shutdown( void )
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2009-08-11 21:04:09 UTC (rev
8195)
+++ code/stage/trunk/libstage/model_laser.cc 2009-08-13 01:06:05 UTC (rev
8196)
@@ -330,7 +330,6 @@
laser->PushColor( 0, 0, 1, 0.1 );
glDrawArrays( GL_POLYGON, 0, sample_count+1 );
laser->PopColor();
- //glDepthMask( GL_TRUE );
}
glDepthMask( GL_TRUE );
@@ -356,7 +355,6 @@
laser->PushColor( 0, 0, 1, 0.5 );
glDrawArrays( GL_POLYGON, 0, sample_count+1 );
laser->PopColor();
- // glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
}
if( showBeams )
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-08-11 21:04:09 UTC (rev 8195)
+++ code/stage/trunk/libstage/stage.hh 2009-08-13 01:06:05 UTC (rev 8196)
@@ -114,10 +114,10 @@
MODEL_TYPE_BLOBFINDER,
MODEL_TYPE_BLINKENLIGHT,
MODEL_TYPE_CAMERA,
- MODEL_TYPE_GRIPPER,
- MODEL_TYPE_ACTUATOR,
- MODEL_TYPE_LOADCELL,
- MODEL_TYPE_LIGHTINDICATOR,
+ MODEL_TYPE_GRIPPER,
+ MODEL_TYPE_ACTUATOR,
+ MODEL_TYPE_LOADCELL,
+ MODEL_TYPE_LIGHTINDICATOR,
MODEL_TYPE_COUNT // must be the last entry, to count the number of types
} stg_model_type_t;
@@ -262,6 +262,9 @@
void Load( Worldfile* wf, int section, const char* keyword );
void Save( Worldfile* wf, int section, const char* keyword );
+
+ void Zero()
+ { x=y=z=0.0; }
};
/** Specify a 3 axis position, in x, y and heading. */
@@ -385,6 +388,12 @@
/** construct from a prior pose and size */
Geom( const Pose& p, const Size& s ) : pose(p), size(s) {}
+
+ void Zero()
+ {
+ pose.Zero();
+ size.Zero();
+ }
};
/** Specify a point in space. Arrays of Waypoints can be attached to
@@ -1159,26 +1168,22 @@
private:
Model* mod; ///< model to which this block belongs
-
- std::vector<stg_point_t> mpts; ///< cache of this->pts in model
coordindates
- size_t pt_count; ///< the number of points
-
- std::vector<stg_point_t> pts; ///< points defining a polygonx
- //stg_point_t* pts; ///< points defining a polygon
-
- Size size;
-
+ std::vector<stg_point_t> mpts; ///< cache of this->pts in model
coordindates
+ size_t pt_count; ///< the number of points
+ std::vector<stg_point_t> pts; ///< points defining a polygonx
+ Size size;
Bounds local_z; ///< z extent in local coords
-
Color color;
bool inherit_color;
+ /** experimental - range 0 - 1, render glowing */
+ double glow;
+
void DrawTop();
void DrawSides();
/** z extent in global coordinates */
- Bounds global_z;
-
+ Bounds global_z;
bool mapped;
/** record the cells into which this block has been rendered to
@@ -2684,10 +2689,11 @@
virtual void Update();
virtual void DataVisualize( Camera* cam );
- static Option showFiducialData;
+ static Option showData;
+ static Option showFov;
+
+ std::vector<Fiducial> fiducials;
- std::vector<Fiducial> fiducials;
-
public:
ModelFiducial( World* world, Model* parent );
virtual ~ModelFiducial();
Modified: code/stage/trunk/worlds/chatterbox.inc
===================================================================
--- code/stage/trunk/worlds/chatterbox.inc 2009-08-11 21:04:09 UTC (rev
8195)
+++ code/stage/trunk/worlds/chatterbox.inc 2009-08-13 01:06:05 UTC (rev
8196)
@@ -11,7 +11,6 @@
joules 100000 # todo
joules_capacity 400000 # todo
watts 100 # todo
- obstacle_return 0
# charging connection
model
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