Revision: 8413
http://playerstage.svn.sourceforge.net/playerstage/?rev=8413&view=rev
Author: natepak
Date: 2009-11-15 22:34:05 +0000 (Sun, 15 Nov 2009)
Log Message:
-----------
Fixed setting the FOV for user camera. Added triangle rendering count display
Modified Paths:
--------------
code/gazebo/trunk/Media/materials/scripts/Gazebo.material
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/gui/GLFrame.cc
code/gazebo/trunk/server/gui/GLFrame.hh
code/gazebo/trunk/server/gui/GLWindow.cc
code/gazebo/trunk/server/gui/GLWindow.hh
code/gazebo/trunk/server/gui/StatusBar.cc
code/gazebo/trunk/server/gui/StatusBar.hh
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/OgreCamera.hh
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/rendering/UserCamera.cc
code/gazebo/trunk/server/rendering/UserCamera.hh
code/gazebo/trunk/worlds/empty.world
code/gazebo/trunk/worlds/willowgarage.world
Modified: code/gazebo/trunk/Media/materials/scripts/Gazebo.material
===================================================================
--- code/gazebo/trunk/Media/materials/scripts/Gazebo.material 2009-11-15
20:08:47 UTC (rev 8412)
+++ code/gazebo/trunk/Media/materials/scripts/Gazebo.material 2009-11-15
22:34:05 UTC (rev 8413)
@@ -570,6 +570,7 @@
pass
{
depth_write off
+ lighting off
texture_unit
{
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-11-15 20:08:47 UTC (rev
8412)
+++ code/gazebo/trunk/server/Simulator.cc 2009-11-15 22:34:05 UTC (rev
8413)
@@ -327,7 +327,7 @@
{
double currTime = 0;
double lastTime = 0;
- double freq = 40.0;
+ double freq = 80.0;
#ifdef TIMING
double tmpT1 = this->GetWallTime();
@@ -351,6 +351,8 @@
if (this->renderEngineEnabled)
OgreAdaptor::Instance()->UpdateCameras();
+ currTime = this->GetWallTime();
+
if (this->gui)
this->gui->Update();
@@ -359,8 +361,6 @@
if (this->renderEngineEnabled)
World::Instance()->GraphicsUpdate();
- currTime = this->GetWallTime();
-
if (currTime - lastTime < 1/freq)
{
double sleepTime = (1/freq - (currTime - lastTime));
Modified: code/gazebo/trunk/server/gui/GLFrame.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLFrame.cc 2009-11-15 20:08:47 UTC (rev
8412)
+++ code/gazebo/trunk/server/gui/GLFrame.cc 2009-11-15 22:34:05 UTC (rev
8413)
@@ -81,15 +81,38 @@
this->outputXYZ->textsize(10);
this->outputXYZ->value("[0.0 0.0 0.0]");
- x1 += this->outputXYZ->w() + 5;
+ x1 += this->outputXYZ->w() + 20;
this->outputRPY = new Fl_Output(x1, y1, 150, 20,"RPY");
this->outputRPY->box(FL_NO_BOX);
this->outputRPY->labelsize(10);
this->outputRPY->textsize(10);
this->outputRPY->value("[0.0 0.0 0.0]");
+ x1 += this->outputRPY->w();
+
+ Fl_Box *fillerBox = new Fl_Box(x1,y1,this->w() - (x1-x + 175) ,20);
+
+ x1 += fillerBox->w();
+
+ Fl_Group *statsGroup = new Fl_Group(x1, y1,100,20);
+ this->fps = new Fl_Value_Output(x1,y1,25,20,"FPS");
+ this->fps->labelsize(10);
+ this->fps->textsize(10);
+ this->fps->align(FL_ALIGN_RIGHT);
+ this->fps->precision(0);
+
+ x1 += this->fps->w() + 30;
+ this->triangleCount = new Fl_Value_Output(x1,y1,50,20,"Triangles");
+ this->triangleCount->labelsize(10);
+ this->triangleCount->textsize(10);
+ this->triangleCount->align(FL_ALIGN_RIGHT);
+ this->triangleCount->precision(0);
+ statsGroup->resizable(NULL);
+ statsGroup->end();
+
this->footerBar->end();
this->footerBar->resizable(NULL);
+ this->footerBar->resizable(fillerBox);
this->end();
@@ -170,6 +193,9 @@
RTOD(pose.rot.GetPitch()), RTOD(pose.rot.GetYaw()) );
this->outputRPY->value(buff);
+ this->fps->value(this->glWindow->GetAvgFPS());
+ this->triangleCount->value(this->glWindow->GetTriangleCount());
+
this->footerBar->redraw();
}
Modified: code/gazebo/trunk/server/gui/GLFrame.hh
===================================================================
--- code/gazebo/trunk/server/gui/GLFrame.hh 2009-11-15 20:08:47 UTC (rev
8412)
+++ code/gazebo/trunk/server/gui/GLFrame.hh 2009-11-15 22:34:05 UTC (rev
8413)
@@ -31,6 +31,7 @@
#include <FL/Fl_Choice.H>
#include <FL/Fl_Value_Output.H>
#include <FL/Fl_Output.H>
+#include <FL/Fl_Box.H>
#include <string>
#include "Pose3d.hh"
@@ -97,6 +98,9 @@
private: Fl_Output *outputXYZ;
private: Fl_Output *outputRPY;
+ private: Fl_Value_Output *fps;
+ private: Fl_Value_Output *triangleCount;
+
/// Starting pose of the camera
private: Pose3d startPose;
Modified: code/gazebo/trunk/server/gui/GLWindow.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.cc 2009-11-15 20:08:47 UTC (rev
8412)
+++ code/gazebo/trunk/server/gui/GLWindow.cc 2009-11-15 22:34:05 UTC (rev
8413)
@@ -195,6 +195,13 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Get the number of triangles being rendered
+unsigned int GLWindow::GetTriangleCount() const
+{
+ return this->activeCamera->GetTriangleCount();
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Handle a mouse button push
void GLWindow::HandleMousePush()
{
Modified: code/gazebo/trunk/server/gui/GLWindow.hh
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.hh 2009-11-15 20:08:47 UTC (rev
8412)
+++ code/gazebo/trunk/server/gui/GLWindow.hh 2009-11-15 22:34:05 UTC (rev
8413)
@@ -93,9 +93,12 @@
/// \brief Get a pointer to the camera
public: UserCamera *GetCamera() const;
- // \brief Get the average FPS for this window
+ /// \brief Get the average FPS for this window
public: float GetAvgFPS() const;
+ /// \brief Get the number of triangles being rendered
+ public: unsigned int GetTriangleCount() const;
+
/// \brief Set the active camera
public: void SetActiveCamera( OgreCamera *camera );
Modified: code/gazebo/trunk/server/gui/StatusBar.cc
===================================================================
--- code/gazebo/trunk/server/gui/StatusBar.cc 2009-11-15 20:08:47 UTC (rev
8412)
+++ code/gazebo/trunk/server/gui/StatusBar.cc 2009-11-15 22:34:05 UTC (rev
8413)
@@ -46,13 +46,7 @@
y += 5;
this->box(FL_UP_BOX);
- this->fps = new Fl_Value_Output(x,y,25,20,"FPS");
- this->fps->labelsize(11);
- this->fps->textsize(11);
- this->fps->align(FL_ALIGN_RIGHT);
- this->fps->precision(0);
- x = this->fps->x() + this->fps->w() + 35;
this->percentOutput = new Fl_Value_Output(x,y,40,20,"x Real Time");
this->percentOutput->labelsize(11);
this->percentOutput->align(FL_ALIGN_RIGHT);
@@ -109,15 +103,12 @@
/// Update the toolbar data
void StatusBar::Update()
{
- float avgFPS = 0;
//float percent = 0;
float sim = 0;
float real = 0;
if (Simulator::Instance()->GetRealTime() - this->lastUpdateTime >
this->statusUpdatePeriod)
{
- avgFPS = this->gui->GetAvgFPS();
-
if (Simulator::Instance()->GetRealTime() < this->statusUpdatePeriod )
{
this->percent = (Simulator::Instance()->GetSimTime() /
Simulator::Instance()->GetRealTime());
@@ -177,7 +168,6 @@
}
//this->iterations->value(Simulator::Instance()->GetIterations());
- this->fps->value(avgFPS);
this->percentOutput->value(this->percent);
//if (Simulator::Instance()->GetRealTime() - this->realTime->value() > 0.1)
Modified: code/gazebo/trunk/server/gui/StatusBar.hh
===================================================================
--- code/gazebo/trunk/server/gui/StatusBar.hh 2009-11-15 20:08:47 UTC (rev
8412)
+++ code/gazebo/trunk/server/gui/StatusBar.hh 2009-11-15 22:34:05 UTC (rev
8413)
@@ -55,7 +55,6 @@
private: Fl_Value_Output *iterations;
private: Fl_Value_Output *percentOutput;
- private: Fl_Value_Output *fps;
private: Fl_Value_Output *realTime;
private: Fl_Value_Output *pauseTime;
private: Fl_Value_Output *simTime;
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-11-15 20:08:47 UTC
(rev 8412)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-11-15 22:34:05 UTC
(rev 8413)
@@ -68,7 +68,7 @@
Param::Begin(&this->camParameters);
this->nearClipP = new ParamT<double>("nearClip",0.1,0);
- this->farClipP = new ParamT<double>("farClip",100,0);
+ this->farClipP = new ParamT<double>("farClip",50,0);
this->saveFramesP = new ParamT<bool>("saveFrames",false,0);
this->savePathnameP = new ParamT<std::string>("saveFramePath","",0);
this->imageSizeP = new ParamT< Vector2<int> >("imageSize", Vector2<int>(320,
240),0);
@@ -188,7 +188,9 @@
if (!Simulator::Instance()->GetRenderEngineEnabled())
return;
- this->camera = OgreCreator::CreateCamera(this->cameraName,
this->nearClipP->GetValue(), this->farClipP->GetValue(),
*(this->hfovP->GetValue()), this->renderTarget );
+ this->camera = OgreCreator::CreateCamera(this->cameraName,
+ **this->nearClipP, **this->farClipP, *(**this->hfovP),
+ this->renderTarget );
// Create a scene node to control pitch motion
this->pitchNode = this->sceneNode->createChildSceneNode( this->cameraName +
"PitchNode");
Modified: code/gazebo/trunk/server/rendering/OgreCamera.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.hh 2009-11-15 20:08:47 UTC
(rev 8412)
+++ code/gazebo/trunk/server/rendering/OgreCamera.hh 2009-11-15 22:34:05 UTC
(rev 8413)
@@ -184,6 +184,9 @@
/// \brief Get the average FPS
public: virtual float GetAvgFPS() { return 0;}
+ /// \brief Get the triangle count
+ public: virtual unsigned int GetTriangleCount() {return 0;}
+
/// \brief Set the aspect ratio
public: void SetAspectRatio( float ratio );
@@ -211,7 +214,6 @@
// Save the camera frame
protected: virtual void SaveFrame();
-
private: std::string name;
protected: ParamT<Angle> *hfovP;
@@ -219,7 +221,7 @@
protected: ParamT< Vector2<int> > *imageSizeP;
protected: unsigned int textureWidth, textureHeight;
- private: Ogre::Camera *camera;
+ protected: Ogre::Camera *camera;
protected: Ogre::SceneNode *sceneNode;
protected: Ogre::SceneNode *pitchNode;
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-11-15 20:08:47 UTC
(rev 8412)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-11-15 22:34:05 UTC
(rev 8413)
@@ -288,11 +288,11 @@
// Setup the viewport to use the texture
cviewport = renderTarget->addViewport(camera);
cviewport->setClearEveryFrame(true);
- //cviewport->setBackgroundColour(
*OgreAdaptor::Instance()->backgroundColor );
- cviewport->setBackgroundColour( Ogre::ColourValue::Blue );
+ cviewport->setBackgroundColour( *OgreAdaptor::Instance()->backgroundColor
);
double ratio = (double)cviewport->getActualWidth() /
(double)cviewport->getActualHeight();
double vfov = 2.0 * atan(tan(hfov / 2.0) / ratio);
+ std::cout << "VFOV[" << vfov << "]\n";
camera->setAspectRatio(ratio);
camera->setFOVy(Ogre::Radian(vfov));
}
@@ -397,7 +397,8 @@
{*/
Ogre::Quaternion orientation;
orientation.FromAngleAxis( Ogre::Degree(90), Ogre::Vector3(1,0,0));
- OgreAdaptor::Instance()->sceneMgr->setSkyDome(true,material,5,8, 4000,
true, orientation);
+ //OgreAdaptor::Instance()->sceneMgr->setSkyDome(true,material,5,8, 4000,
true, orientation);
+ OgreAdaptor::Instance()->sceneMgr->setSkyDome(true,material,10,8, 4,
true, orientation);
//}
}
Modified: code/gazebo/trunk/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/UserCamera.cc 2009-11-15 20:08:47 UTC
(rev 8412)
+++ code/gazebo/trunk/server/rendering/UserCamera.cc 2009-11-15 22:34:05 UTC
(rev 8413)
@@ -69,9 +69,8 @@
{
OgreCamera::LoadCam(node);
- this->SetClipDist(0.1, 50);
this->SetFOV( DTOR(60) );
-
+ this->SetClipDist(0.2, 50);
}
////////////////////////////////////////////////////////////////////////////////
@@ -138,10 +137,17 @@
this->visual->AttachObject(line);
- //this->renderTarget = this->window;
-
this->SetCamera(this);
this->lastUpdate = Simulator::Instance()->GetRealTime();
+
+ double ratio = (double)this->viewport->getActualWidth() /
(double)this->viewport->getActualHeight();
+ double vfov = fabs(2.0 * atan(tan(this->GetHFOV().GetAsRadian() / 2.0) /
ratio));
+ this->GetOgreCamera()->setAspectRatio(ratio);
+ this->GetOgreCamera()->setFOVy(Ogre::Radian(vfov));
+
+ this->viewport->setClearEveryFrame(true);
+ this->viewport->setBackgroundColour(
*OgreAdaptor::Instance()->backgroundColor );
+ this->viewport->setVisibilityMask(this->visibilityMask);
}
void UserCamera::SetCamera( OgreCamera *cam )
@@ -152,11 +158,9 @@
cam = this;
this->viewport = this->window->addViewport(cam->GetOgreCamera());
- this->viewport->setBackgroundColour(Ogre::ColourValue::Black);
this->SetAspectRatio( Ogre::Real(this->viewport->getActualWidth()) /
Ogre::Real(this->viewport->getActualHeight()) );
- this->viewport->setVisibilityMask(this->visibilityMask);
}
@@ -230,6 +234,13 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Get the triangle count
+unsigned int UserCamera::GetTriangleCount()
+{
+ return this->window->getTriangleCount();
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Get the ogre window
Ogre::RenderWindow *UserCamera::GetWindow()
{
Modified: code/gazebo/trunk/server/rendering/UserCamera.hh
===================================================================
--- code/gazebo/trunk/server/rendering/UserCamera.hh 2009-11-15 20:08:47 UTC
(rev 8412)
+++ code/gazebo/trunk/server/rendering/UserCamera.hh 2009-11-15 22:34:05 UTC
(rev 8413)
@@ -75,6 +75,9 @@
/// \brief Get the average FPS
public: virtual float GetAvgFPS();
+ /// \brief Get the triangle count
+ public: unsigned int GetTriangleCount();
+
/// \brief Get the ogre window
public: Ogre::RenderWindow *GetWindow();
Modified: code/gazebo/trunk/worlds/empty.world
===================================================================
--- code/gazebo/trunk/worlds/empty.world 2009-11-15 20:08:47 UTC (rev
8412)
+++ code/gazebo/trunk/worlds/empty.world 2009-11-15 22:34:05 UTC (rev
8413)
@@ -37,6 +37,7 @@
<shadowTechnique>stencilAdditive</shadowTechnique>
<grid>false</grid>
</rendering:ogre>
+
<!-- Ground Plane -->
<model:physical name="plane1_model">
<xyz>0 0 0</xyz>
Modified: code/gazebo/trunk/worlds/willowgarage.world
===================================================================
--- code/gazebo/trunk/worlds/willowgarage.world 2009-11-15 20:08:47 UTC (rev
8412)
+++ code/gazebo/trunk/worlds/willowgarage.world 2009-11-15 22:34:05 UTC (rev
8413)
@@ -87,6 +87,7 @@
</body:trimesh>
</model:physical>
+ <!--
<model:physical name="pr2_model">
<xyz>0 0 0</xyz>
<rpy>0.0 0.0 0.0</rpy>
@@ -107,8 +108,8 @@
<updateRate>20.0</updateRate>
</sensor:camera>
</body:box>
-
</model:physical>
+ -->
<!-- White Point light -->
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day
trial. Simplify your report design, integration and deployment - and focus on
what you do best, core application coding. Discover what's new with
Crystal Reports now. http://p.sf.net/sfu/bobj-july
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
