Update of /cvsroot/playerstage/code/gazebo/server/sensors/Camera
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26991/server/sensors/Camera
Modified Files:
Tag: ogre
Camera.cc Camera.hh
Log Message:
Updates
Index: Camera.hh
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/sensors/Camera/Camera.hh,v
retrieving revision 1.39.2.2
retrieving revision 1.39.2.3
diff -C2 -d -r1.39.2.2 -r1.39.2.3
*** Camera.hh 14 Apr 2006 14:23:45 -0000 1.39.2.2
--- Camera.hh 7 Aug 2006 20:52:27 -0000 1.39.2.3
***************
*** 28,31 ****
--- 28,33 ----
#define CAMERA_HH
+ #include <OGRE/Ogre.h>
+
#include "Error.hh"
#include "Sensor.hh"
***************
*** 43,47 ****
namespace Ogre
{
! class RenderTexture;
class Camera;
class Viewport;
--- 45,50 ----
namespace Ogre
{
! class TexturePtr;
! class RenderTarget;
class Camera;
class Viewport;
***************
*** 163,167 ****
private: int imageWidth, imageHeight;
! private: Ogre::RenderTexture *renderTexture;
private: Ogre::Camera *camera;
private: Ogre::Viewport *viewport;
--- 166,171 ----
private: int imageWidth, imageHeight;
! private: Ogre::TexturePtr renderTexture;
! private: Ogre::RenderTarget *renderTarget;
private: Ogre::Camera *camera;
private: Ogre::Viewport *viewport;
Index: Camera.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/sensors/Camera/Camera.cc,v
retrieving revision 1.72.2.3
retrieving revision 1.72.2.4
diff -C2 -d -r1.72.2.3 -r1.72.2.4
*** Camera.cc 14 Apr 2006 20:38:03 -0000 1.72.2.3
--- Camera.cc 7 Aug 2006 20:52:26 -0000 1.72.2.4
***************
*** 98,104 ****
// Create the render texture
! this->renderTexture =
this->world->ogreAdaptor->root->getRenderSystem()->createRenderTexture("Camera1",
this->imageWidth, this->imageHeight, Ogre::TEX_TYPE_2D, Ogre::PF_R8G8B8);
! this->renderTexture->setAutoUpdated(true);
// Create the camera
--- 98,106 ----
// Create the render texture
! this->renderTexture =
Ogre::TextureManager::getSingleton().createManual("Camera1",Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D, this->imageWidth, this->imageHeight, 0, Ogre::PF_R8G8B8,
Ogre::TU_RENDERTARGET);
! this->renderTarget = this->renderTexture->getBuffer()->getRenderTarget();
!
! this->renderTarget->setAutoUpdated(true);
// Create the camera
***************
*** 111,118 ****
// Setup the viewport
! this->viewport = this->renderTexture->addViewport(this->camera);
this->viewport->setClearEveryFrame(true);
this->viewport->setBackgroundColour( Ogre::ColourValue::Black );
// Initialize display options
--- 113,121 ----
// Setup the viewport
! this->viewport = this->renderTarget->addViewport(this->camera);
this->viewport->setClearEveryFrame(true);
this->viewport->setBackgroundColour( Ogre::ColourValue::Black );
+ //this->viewport->setDimensions(0, 0, this->imageWidth, this->imageHeight);
// Initialize display options
***************
*** 143,162 ****
void Camera::Update()
{
- printf("Camera Render\n");
//this->renderTexture->writeContentsToTimestampedFile("test",".jpg");
// Later on I update the render texture then get a textureptr
! /* this->renderTexture->update();
! Ogre::TexturePtr mRndrTexPtr =
Ogre::TextureManager::getSingleton().getByName(this->renderTexture->getName());
// Get access to the buffer and make an image and write it to file
! Ogre::HardwarePixelBufferSharedPtr mBuffer = mRndrTexPtr->getBuffer(0, 0);
// copyToMemory
Ogre::ImageCodec::ImageData *imgData = new Ogre::ImageCodec::ImageData();
! imgData->width = 640;
! imgData->height = 480;
imgData->depth = 1;
imgData->format = Ogre::PF_BYTE_RGBA;
--- 146,166 ----
void Camera::Update()
{
//this->renderTexture->writeContentsToTimestampedFile("test",".jpg");
// Later on I update the render texture then get a textureptr
! this->renderTarget->update();
! this->renderTarget->writeContentsToFile("testFile.jpeg");
!
! //Ogre::TexturePtr mRndrTexPtr =
Ogre::TextureManager::getSingleton().getByName(this->renderTexture.getName());
// Get access to the buffer and make an image and write it to file
! Ogre::HardwarePixelBufferSharedPtr mBuffer =
this->renderTexture->getBuffer(0, 0);
// copyToMemory
Ogre::ImageCodec::ImageData *imgData = new Ogre::ImageCodec::ImageData();
! imgData->width = this->imageWidth;
! imgData->height = this->imageHeight;
imgData->depth = 1;
imgData->format = Ogre::PF_BYTE_RGBA;
***************
*** 167,171 ****
// Read pixels
! mBuffer->blitToMemory( Ogre::Box(0, 0, 640, 480), Ogre::PixelBox(640, 480,
1, imgData->format, pBuffer));
// Wrap buffer in a chunk
--- 171,175 ----
// Read pixels
! mBuffer->blitToMemory( Ogre::Box(0, 0, this->imageWidth,
this->imageHeight), Ogre::PixelBox(this->imageWidth, this->imageHeight, 1,
imgData->format, pBuffer));
// Wrap buffer in a chunk
***************
*** 191,199 ****
delete [] pBuffer;
- */
/* // Save image frames
if (this->saveEnable)
this->SaveFrame();
*/
return;
}
--- 195,203 ----
delete [] pBuffer;
/* // Save image frames
if (this->saveEnable)
this->SaveFrame();
*/
+
return;
}
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