Revision: 4455
http://playerstage.svn.sourceforge.net/playerstage/?rev=4455&view=rev
Author: natepak
Date: 2008-03-28 13:32:08 -0700 (Fri, 28 Mar 2008)
Log Message:
-----------
Updates to stereo
Modified Paths:
--------------
code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
Modified: code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2008-03-28
15:43:42 UTC (rev 4454)
+++ code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2008-03-28
20:32:08 UTC (rev 4455)
@@ -133,7 +133,7 @@
const unsigned char *MonoCameraSensor::GetImageData(unsigned int i)
{
if (i!=0)
- gzmsg(0, "Camera index must be zero for mono cam");
+ gzmsg(0) << "Camera index must be zero for mono cam";
Ogre::HardwarePixelBufferSharedPtr mBuffer;
size_t size;
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-03-28 15:43:42 UTC (rev 4454)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-03-28 20:32:08 UTC (rev 4455)
@@ -74,16 +74,16 @@
void StereoCameraSensor::InitChild()
{
this->ogreTextureName[0] = this->GetName() + "_RttTex_Stereo_Left";
- this->ogreTextureName[1] = this->GetName() + "_RttTex_Stereo_Right";
+ //this->ogreTextureName[1] = this->GetName() + "_RttTex_Stereo_Right";
this->ogreDepthTextureName[0] = this->GetName() +"_RttTex_Stereo_Left_Depth";
- this->ogreDepthTextureName[1] = this->GetName()
+"_RttTex_Stereo_Right_Depth";
+ //this->ogreDepthTextureName[1] = this->GetName()
+"_RttTex_Stereo_Right_Depth";
this->ogreMaterialName[0] = this->GetName() + "_RttMat_Stereo_Left";
- this->ogreMaterialName[1] = this->GetName() + "_RttMat_Stereo_Right";
+ //this->ogreMaterialName[1] = this->GetName() + "_RttMat_Stereo_Right";
this->ogreDepthMaterialName[0] = this->GetName()+"_RttMat_Stereo_Left_Depth";
- this->ogreDepthMaterialName[1] =
this->GetName()+"_RttMat_Stereo_Right_Depth";
+ //this->ogreDepthMaterialName[1] =
this->GetName()+"_RttMat_Stereo_Right_Depth";
// Create the left render texture
@@ -93,10 +93,12 @@
Ogre::TEX_TYPE_2D,
this->imageWidth, this->imageHeight, 0,
Ogre::PF_R8G8B8,
+ //Ogre::PF_L8,
+ //Ogre::PF_FLOAT16_R,
Ogre::TU_RENDERTARGET);
this->renderTarget[0] =
this->renderTexture[0]->getBuffer()->getRenderTarget();
-
+/*
// Create the right render texture
this->renderTexture[1] = Ogre::TextureManager::getSingleton().createManual(
this->ogreTextureName[1],
@@ -107,9 +109,10 @@
Ogre::TU_RENDERTARGET);
this->renderTarget[1] =
this->renderTexture[1]->getBuffer()->getRenderTarget();
+ */
// Create the left depth render texture
- this->depthRenderTexture[0] =
+ /*this->depthRenderTexture[0] =
Ogre::TextureManager::getSingleton().createManual(
this->ogreDepthTextureName[0],
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
@@ -121,9 +124,10 @@
Ogre::TU_RENDERTARGET);
this->depthRenderTarget[0] =
this->depthRenderTexture[0]->getBuffer()->getRenderTarget();
+ */
// Create the right depth render texture
- this->depthRenderTexture[1] =
+ /*this->depthRenderTexture[1] =
Ogre::TextureManager::getSingleton().createManual(
this->ogreDepthTextureName[1],
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
@@ -135,15 +139,16 @@
Ogre::TU_RENDERTARGET);
this->depthRenderTarget[1] =
this->depthRenderTexture[1]->getBuffer()->getRenderTarget();
+ */
-
// Create the camera
this->camera = OgreCreator::CreateCamera(this->GetName(),
this->nearClip, this->farClip, this->hfov,
this->renderTarget[0]);
+
// Hack to make the camera use the right render target too
- {
+ /*{
Ogre::Viewport *cviewport;
// Setup the viewport to use the texture
@@ -161,42 +166,54 @@
cviewport->setClearEveryFrame(true);
cviewport->setBackgroundColour( *OgreAdaptor::Instance()->backgroundColor
);
cviewport->setOverlaysEnabled(false);
- }
+ }*/
Ogre::MaterialPtr leftmat = Ogre::MaterialManager::getSingleton().create(
this->ogreMaterialName[0],
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
- Ogre::MaterialPtr rightmat = Ogre::MaterialManager::getSingleton().create(
+ Ogre::MaterialPtr depthMat =
Ogre::MaterialManager::getSingleton().getByName("Gazebo/DepthMap");
+
+ /*Ogre::MaterialPtr rightmat = Ogre::MaterialManager::getSingleton().create(
this->ogreMaterialName[1],
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ */
+
+
//depthMat->getTechnique(0)->getPass(0)->getTextureUnitState(0)->setTextureName(this->renderTexture[0]->getName());
+
depthMat->getTechnique(0)->getPass(0)->createTextureUnitState(this->renderTexture[0]->getName());
-
leftmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreTextureName[0]);
-
rightmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreTextureName[1]);
+ /*leftmat->getTechnique(0)->getPass(0)->removeAllTextureUnitStates();
+ leftmat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
+ Ogre::TextureUnitState *texUnit =
leftmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreTextureName[0]);
+ texUnit->setTextureBorderColour(Ogre::ColourValue::White);
+ texUnit->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
+ */
+
+
//rightmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreTextureName[1]);
- Ogre::MaterialPtr leftdepthmat =
Ogre::MaterialManager::getSingleton().create(
- this->ogreDepthMaterialName[0],
- Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ //Ogre::MaterialPtr leftdepthmat =
Ogre::MaterialManager::getSingleton().create(
+ //this->ogreDepthMaterialName[0],
+
//Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
- Ogre::MaterialPtr rightdepthmat=Ogre::MaterialManager::getSingleton().create(
+ /*Ogre::MaterialPtr
rightdepthmat=Ogre::MaterialManager::getSingleton().create(
this->ogreDepthMaterialName[1],
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ */
-
//leftdepthmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreDepthTextureName[0]);
- Ogre::TextureUnitState *t =
leftdepthmat->getTechnique(0)->getPass(0)->createTextureUnitState(OgreAdaptor::Instance()->sceneMgr->getShadowTexture(0)->getName());
- leftdepthmat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
- t->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
+ //Ogre::TextureUnitState *t =
leftdepthmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreDepthTextureName[0]);
+ //Ogre::TextureUnitState *t =
leftdepthmat->getTechnique(0)->getPass(0)->createTextureUnitState(OgreAdaptor::Instance()->sceneMgr->getShadowTexture(0)->getName());
+ //leftdepthmat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
+ //t->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
//leftdepthmat->getTechnique(0)->getPass(0)->setDepthWriteEnabled(true);
//leftdepthmat->getTechnique(0)->getPass(0)->setColourWriteEnabled(false);
-
rightdepthmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreDepthTextureName[1]);
- rightdepthmat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
+
//rightdepthmat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreDepthTextureName[1]);
+ //rightdepthmat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
//rightdepthmat->getTechnique(0)->getPass(0)->setDepthWriteEnabled(true);
//rightdepthmat->getTechnique(0)->getPass(0)->setColourWriteEnabled(false);
-
Ogre::HardwarePixelBufferSharedPtr mBuffer;
// Get access to the buffer and make an image and write it to file
@@ -205,11 +222,11 @@
this->textureWidth = mBuffer->getWidth();
this->textureHeight = mBuffer->getHeight();
- this->leftCameraListener.Init(this, this->renderTarget[0], true);
- this->rightCameraListener.Init(this, this->renderTarget[1], false);
+ //this->leftCameraListener.Init(this, this->renderTarget[0], true);
+ //this->rightCameraListener.Init(this, this->renderTarget[1], false);
- this->renderTarget[0]->addListener(&this->leftCameraListener);
- this->renderTarget[1]->addListener(&this->rightCameraListener);
+ //this->renderTarget[0]->addListener(&this->leftCameraListener);
+ //this->renderTarget[1]->addListener(&this->rightCameraListener);
CameraSensor::InitChild();
}
@@ -225,13 +242,15 @@
void StereoCameraSensor::UpdateChild(UpdateParams ¶ms)
{
CameraSensor::UpdateChild(params);
+
+ this->renderTarget[0]->writeContentsToFile("texture.png");
}
////////////////////////////////////////////////////////////////////////////////
// Return the material the camera renders to
std::string StereoCameraSensor::GetMaterialName() const
{
- return this->ogreDepthMaterialName[0];
+ return "Gazebo/DepthMap";//this->ogreMaterialName[0];
}
//////////////////////////////////////////////////////////////////////////////
@@ -243,7 +262,7 @@
if (i > 1)
{
- gzmsg(0, "Camera index must be 0=Left or 1=Right for stereo camera");
+ gzmsg(0) << "Camera index must be 0=Left or 1=Right for stereo camera";
i = 1;
}
@@ -290,12 +309,12 @@
Ogre::Codec * pCodec;
size_t size, pos;
- for (int i=0; i<2; i++)
+// for (int i=0; i<2; i++)
{
- this->GetImageData(i);
+ this->GetImageData(0);
// Get access to the buffer and make an image and write it to file
- mBuffer = this->renderTexture[i]->getBuffer(0, 0);
+ mBuffer = this->depthRenderTexture[0]->getBuffer(0, 0);
// Create image data structure
imgData = new Ogre::ImageCodec::ImageData();
@@ -312,19 +331,19 @@
char tmp[1024];
if (!this->savePathname.empty())
{
- if (i==0)
+ //if (i==0)
sprintf(tmp, "%s/%s-%04d-left.png", this->savePathname.c_str(),
this->GetName().c_str(), this->saveCount);
- else
- sprintf(tmp, "%s/%s-%04d-right.png", this->savePathname.c_str(),
- this->GetName().c_str(), this->saveCount);
+ //else
+ //sprintf(tmp, "%s/%s-%04d-right.png", this->savePathname.c_str(),
+ //this->GetName().c_str(), this->saveCount);
}
else
{
- if (i==0)
+ //if (i==0)
sprintf(tmp, "%s-%04d-left.png", this->GetName().c_str(),
this->saveCount);
- else
- sprintf(tmp, "%s-%04d-right.png", this->GetName().c_str(),
this->saveCount);
+ //else
+ // sprintf(tmp, "%s-%04d-right.png", this->GetName().c_str(),
this->saveCount);
}
// Get codec
@@ -363,50 +382,7 @@
return this->baseline;
}
-////////////////////////////////////////////////////////////////////////////////
-// Read the depth data
-void StereoCameraSensor::ReadDepthImage()
-{
- float *depthImage = new float[this->imageWidth * this->imageHeight];
- glPixelStorei(GL_PACK_ALIGNMENT, 1);
- glReadBuffer(GL_BACK);
- glReadPixels(0, 0, this->imageWidth, this->imageHeight, GL_DEPTH_COMPONENT,
GL_FLOAT, depthImage);
-
- char tmp[1024];
- FILE *fp;
-
- // Save depth image
- sprintf(tmp, "left_depth_%04d.pnm", this->saveCount++);
- fp = fopen( tmp, "wb" );
- if (!fp)
- {
- printf( "unable to open file %s\n for writing\n", tmp );
- return;
- }
-
- fprintf( fp, "P5\n# Gazebo\n%d %d\n255\n", this->imageWidth,
this->imageHeight);
- unsigned char *dst = new unsigned char[this->imageWidth];
- float a = (this->nearClip * this->farClip) / (this->farClip -
this->nearClip);
- float b = -this->nearClip / (this->farClip - this->nearClip);
-
- for (int i = this->imageHeight-1; i >= 0; i--)
- {
- float *src = depthImage + i * this->imageWidth;
- for (int j = 0; j < this->imageWidth; j++)
- {
- if (src[j] < 1e-6)
- dst[j] = 0;
- else
- dst[j] = (int) (255 * (a / src[j] + b));
- }
- printf("\n");
- fwrite( dst, 1, this->imageWidth, fp);
- }
- fclose( fp);
-
-}
-
void StereoCameraSensor::StereoCameraListener::Init(
StereoCameraSensor *cam, Ogre::RenderTarget *target, bool isLeft)
{
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