Revision: 6500
http://playerstage.svn.sourceforge.net/playerstage/?rev=6500&view=rev
Author: natepak
Date: 2008-06-09 21:38:58 -0700 (Mon, 09 Jun 2008)
Log Message:
-----------
Fixed stereo camera
Modified Paths:
--------------
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-06-10 01:13:51 UTC (rev 6499)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-06-10 04:38:58 UTC (rev 6500)
@@ -42,7 +42,7 @@
#include "CameraManager.hh"
#include "StereoCameraSensor.hh"
-#define PF_FLOAT Ogre::PF_FLOAT16_R
+#define PF_FLOAT Ogre::PF_FLOAT32_R
using namespace gazebo;
@@ -195,6 +195,7 @@
}
catch (...)
{
+ gridNode = NULL;
}
CameraSensor::UpdateChild(params);
@@ -330,7 +331,7 @@
{
hardwareBuffer->blitToMemory (Ogre::Box(left,top,right,bottom),
Ogre::PixelBox( this->imageWidth, this->imageHeight,
- 1, Ogre::PF_FLOAT32_R, this->depthBuffer[i-2])
+ 1, PF_FLOAT, this->depthBuffer[i-2])
);
}
@@ -361,9 +362,9 @@
{
for (unsigned int j =0; j<this->imageWidth; j++)
{
- float f = this->depthBuffer[0][i*this->imageWidth+j];
-
- unsigned char value = static_cast<unsigned char>((double)f * 255);
+ double f = this->depthBuffer[0][i*this->imageWidth+j];
+
+ unsigned char value = static_cast<unsigned char>(f * 255);
fwrite( &value, 1, 1, fp );
fwrite( &value, 1, 1, fp );
fwrite( &value, 1, 1, fp );
@@ -505,7 +506,7 @@
Ogre::PixelFormat pf;
if (depth)
- pf = Ogre::PF_FLOAT16_R;
+ pf = PF_FLOAT;
else
pf = Ogre::PF_R8G8B8;
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
2008-06-10 01:13:51 UTC (rev 6499)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
2008-06-10 04:38:58 UTC (rev 6500)
@@ -44,102 +44,102 @@
namespace gazebo
{
-/// \addtogroup gazebo_sensor
-/// \brief Stereo camera sensor
-/// \{
-/// \defgroup gazebo_stereo_camera Stereo Camera
-/// \brief Stereo camera sensor
-// \{
+ /// \addtogroup gazebo_sensor
+ /// \brief Stereo camera sensor
+ /// \{
+ /// \defgroup gazebo_stereo_camera Stereo Camera
+ /// \brief Stereo camera sensor
+ // \{
+
+
+ /// \brief Stereo camera sensor
+ ///
+ /// This sensor is used for simulating a stereo camera.
+ class StereoCameraSensor : public CameraSensor
+ {
+
+ enum Sides {LEFT, RIGHT, D_LEFT, D_RIGHT};
+
+ /// \brief Constructor
+ public: StereoCameraSensor(Body *body);
+
+ /// \brief Destructor
+ public: virtual ~StereoCameraSensor();
+
+ /// \brief Load the camera using parameter from an XMLConfig node
+ /// \param node The XMLConfig node
+ protected: virtual void LoadChild( XMLConfigNode *node );
+
+ /// \brief Initialize the camera
+ protected: virtual void InitChild();
+
+ /// \brief Update the sensor information
+ protected: virtual void UpdateChild(UpdateParams ¶ms);
+
+ /// Finalize the camera
+ protected: virtual void FiniChild();
+
+ /// \brief Return the material the camera renders to
+ public: virtual std::string GetMaterialName() const;
+
+ /// \brief Get a pointer to the image data
+ /// \param i 0=left, 1=right
+ public: virtual const unsigned char *GetImageData(unsigned int i=0);
+
+ /// \brief Get a point to the disparity data
+ /// \param i 0=left, 1=right
+ public: const float *GetDisparityData(unsigned int i=0);
+
+ /// \brief Get the baselien of the camera
+ public: double GetBaseline() const;
+
+ // Save the camera frame
+ protected: virtual void SaveFrame();
+
+ /// \brief Fill all the image buffers
+ private: void FillBuffers();
+
+ private: Ogre::TexturePtr CreateRTT( const std::string &name, bool depth);
+
+ //private: void UpdateAllDependentRenderTargets();
+
+ private: Ogre::TexturePtr renderTexture[4];
+ private: Ogre::RenderTarget *renderTarget[4];
+ private: Ogre::MaterialPtr depthMaterial;
+
+ private: std::string textureName[4];
+ private: std::string materialName[4];
+
+ private: unsigned int depthBufferSize;
+ private: unsigned int rgbBufferSize;
+ private: float *depthBuffer[2];
+ private: unsigned char *rgbBuffer[2];
+ private: double baseline;
+
+ private: Ogre::Camera *depthCamera;
+
+ /*private:
+ class StereoCameraListener : public Ogre::RenderTargetListener
+ {
+ public: StereoCameraListener() : Ogre::RenderTargetListener() {}
+
+ public: void Init(StereoCameraSensor *sensor,
Ogre::RenderTarget *target, bool isLeft);
+ public: void preViewportUpdate(const
Ogre::RenderTargetViewportEvent &evt);
+ public: void postViewportUpdate(const
Ogre::RenderTargetViewportEvent &evt);
+
+ private: Ogre::Vector3 pos;
+ private: StereoCameraSensor *sensor;
+ private: Ogre::Camera *camera;
+ private: Ogre::RenderTarget *renderTarget;
+ private: bool isLeftCamera;
+ };
+
+
+ private: StereoCameraListener leftCameraListener;
+ private: StereoCameraListener rightCameraListener;
+ */
+ };
-
-/// \brief Stereo camera sensor
-///
-/// This sensor is used for simulating a stereo camera.
-class StereoCameraSensor : public CameraSensor
-{
-
- enum Sides {LEFT, RIGHT, D_LEFT, D_RIGHT};
-
- /// \brief Constructor
- public: StereoCameraSensor(Body *body);
-
- /// \brief Destructor
- public: virtual ~StereoCameraSensor();
-
- /// \brief Load the camera using parameter from an XMLConfig node
- /// \param node The XMLConfig node
- protected: virtual void LoadChild( XMLConfigNode *node );
-
- /// \brief Initialize the camera
- protected: virtual void InitChild();
-
- /// \brief Update the sensor information
- protected: virtual void UpdateChild(UpdateParams ¶ms);
-
- /// Finalize the camera
- protected: virtual void FiniChild();
-
- /// \brief Return the material the camera renders to
- public: virtual std::string GetMaterialName() const;
-
- /// \brief Get a pointer to the image data
- /// \param i 0=left, 1=right
- public: virtual const unsigned char *GetImageData(unsigned int i=0);
-
- /// \brief Get a point to the disparity data
- /// \param i 0=left, 1=right
- public: const float *GetDisparityData(unsigned int i=0);
-
- /// \brief Get the baselien of the camera
- public: double GetBaseline() const;
-
- // Save the camera frame
- protected: virtual void SaveFrame();
-
- /// \brief Fill all the image buffers
- private: void FillBuffers();
-
- private: Ogre::TexturePtr CreateRTT( const std::string &name, bool depth);
-
- //private: void UpdateAllDependentRenderTargets();
-
- private: Ogre::TexturePtr renderTexture[4];
- private: Ogre::RenderTarget *renderTarget[4];
- private: Ogre::MaterialPtr depthMaterial;
-
- private: std::string textureName[4];
- private: std::string materialName[4];
-
- private: unsigned int depthBufferSize;
- private: unsigned int rgbBufferSize;
- private: float *depthBuffer[2];
- private: unsigned char *rgbBuffer[2];
- private: double baseline;
-
- private: Ogre::Camera *depthCamera;
-
- /*private:
- class StereoCameraListener : public Ogre::RenderTargetListener
- {
- public: StereoCameraListener() : Ogre::RenderTargetListener() {}
-
- public: void Init(StereoCameraSensor *sensor, Ogre::RenderTarget
*target, bool isLeft);
- public: void preViewportUpdate(const
Ogre::RenderTargetViewportEvent &evt);
- public: void postViewportUpdate(const
Ogre::RenderTargetViewportEvent &evt);
-
- private: Ogre::Vector3 pos;
- private: StereoCameraSensor *sensor;
- private: Ogre::Camera *camera;
- private: Ogre::RenderTarget *renderTarget;
- private: bool isLeftCamera;
- };
-
-
- private: StereoCameraListener leftCameraListener;
- private: StereoCameraListener rightCameraListener;
- */
-};
-
/// \}
/// \}
}
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