Revision: 6458
http://playerstage.svn.sourceforge.net/playerstage/?rev=6458&view=rev
Author: natepak
Date: 2008-05-29 07:04:32 -0700 (Thu, 29 May 2008)
Log Message:
-----------
Updates to the GUI
Modified Paths:
--------------
code/gazebo/trunk/TODO
code/gazebo/trunk/examples/player/camera/camera.cc
code/gazebo/trunk/examples/player/camera/player.cfg
code/gazebo/trunk/server/gui/GLWindow.cc
code/gazebo/trunk/server/gui/GLWindow.hh
code/gazebo/trunk/server/gui/Toolbar.cc
code/gazebo/trunk/server/gui/Toolbar.hh
code/gazebo/trunk/worlds/models/sonyvid30.model
Modified: code/gazebo/trunk/TODO
===================================================================
--- code/gazebo/trunk/TODO 2008-05-28 18:46:20 UTC (rev 6457)
+++ code/gazebo/trunk/TODO 2008-05-29 14:04:32 UTC (rev 6458)
@@ -1,5 +1,6 @@
Open:
-- Fix the updateRate tags for rendering and phyics to be more intuitive.
+- Mouse picking
+ -Implement in CameraSensor class.
- Shadows draw on multiple surfaces(seem to pass through walls).
- Removing the sky results in a black screen
- Apply Linear and Angular Damping, see OGREODE sources.
@@ -15,7 +16,6 @@
- Implement Speech interface
- Add in user adjustment of simple solids texture units
- Fix sicklms200 PutFiducialData. Breaks when using large angles
-- Mouse picking
- Paging heightmaps.
- Positioning the current heightmap is a big hack
Modified: code/gazebo/trunk/examples/player/camera/camera.cc
===================================================================
--- code/gazebo/trunk/examples/player/camera/camera.cc 2008-05-28 18:46:20 UTC
(rev 6457)
+++ code/gazebo/trunk/examples/player/camera/camera.cc 2008-05-29 14:04:32 UTC
(rev 6458)
@@ -1,25 +1,36 @@
#include <libplayerc++/playerc++.h>
#include <iostream>
+using namespace PlayerCc;
+using namespace std;
+
+
int main()
{
// We throw exceptions on creation if we fail
try
{
- using namespace PlayerCc;
- using namespace std;
-
// Create a player client object, using the variables assigned by the
// call to parse_args()
PlayerClient robot(PlayerCc::PLAYER_HOSTNAME, PlayerCc::PLAYER_PORTNUM);
// Subscribe to the camera proxy
CameraProxy cp(&robot, 0);
+ BlobfinderProxy bp (&robot, 0);
+ while (true)
+ {
+ robot.Read();
+
+ printf("Blobs[%d]\n",bp.GetCount());
+ usleep(10000);
+ }
+
}
catch (PlayerCc::PlayerError e)
{
std::cerr << "Error:" << e << std::endl;
return -1;
}
+
}
Modified: code/gazebo/trunk/examples/player/camera/player.cfg
===================================================================
--- code/gazebo/trunk/examples/player/camera/player.cfg 2008-05-28 18:46:20 UTC
(rev 6457)
+++ code/gazebo/trunk/examples/player/camera/player.cfg 2008-05-29 14:04:32 UTC
(rev 6458)
@@ -10,7 +10,17 @@
(
name "gazebo"
provides ["camera:0"]
- gz_id "camera_iface_1"
+ gz_id "camera_iface_0"
alwayson 1
save 1
)
+
+driver
+(
+ name "cmvision"
+ provides ["blobfinder:0"]
+ requires ["camera:0"]
+
+ colorfile "colors.txt"
+)
+
Modified: code/gazebo/trunk/server/gui/GLWindow.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.cc 2008-05-28 18:46:20 UTC (rev
6457)
+++ code/gazebo/trunk/server/gui/GLWindow.cc 2008-05-29 14:04:32 UTC (rev
6458)
@@ -37,6 +37,7 @@
#include "GazeboMessage.hh"
#include "MainMenu.hh"
#include "CameraManager.hh"
+#include "World.hh"
#include "OgreHUD.hh"
@@ -86,6 +87,8 @@
this->colormap = fl_colormap;
this->windowId = Fl_X::i(this)->xid;
+ this->mouseDrag = false;
+
Fl_Window::show();
}
@@ -214,6 +217,13 @@
this->middleMousePressed = false;
break;
}
+
+ if (!this->mouseDrag)
+ {
+ //Entity *ent = World::Instance()->GetEntityAt(this->mousePos);
+ }
+
+ this->mouseDrag = false;
}
////////////////////////////////////////////////////////////////////////////////
@@ -231,6 +241,8 @@
camera->RotatePitch(d.y * this->rotateAmount);
}
}
+
+ this->mouseDrag = true;
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/gui/GLWindow.hh
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.hh 2008-05-28 18:46:20 UTC (rev
6457)
+++ code/gazebo/trunk/server/gui/GLWindow.hh 2008-05-29 14:04:32 UTC (rev
6458)
@@ -105,6 +105,8 @@
private: std::map<int,int> keys;
private: double lastUpdateTime;
+
+ private: bool mouseDrag;
};
}
Modified: code/gazebo/trunk/server/gui/Toolbar.cc
===================================================================
--- code/gazebo/trunk/server/gui/Toolbar.cc 2008-05-28 18:46:20 UTC (rev
6457)
+++ code/gazebo/trunk/server/gui/Toolbar.cc 2008-05-29 14:04:32 UTC (rev
6458)
@@ -26,6 +26,8 @@
#include <stdio.h>
#include <FL/Fl_Value_Output.H>
+#include <FL/Fl_Output.H>
+#include <FL/Fl_Button.H>
#include "CameraManager.hh"
#include "CameraSensor.hh"
@@ -53,14 +55,37 @@
sprintf(buffer,"Camera");
}
- this->cameraInfoGrp = new Fl_Group(x+10,y+20,w-20,25*3, buffer);
+ this->cameraInfoGrp = new Fl_Group(x+10,y+20,w-20,25*5, "Camera");
// Camera Info Group
this->cameraInfoGrp->box(FL_BORDER_BOX);
- // Camera X output
+ // Camera name output
x = this->cameraInfoGrp->x()+20;
y = this->cameraInfoGrp->y()+2;
+ this->cameraName = new Fl_Output(x,y,this->cameraInfoGrp->w()-44,20);
+
+ // Prev camera button
+ x = this->cameraInfoGrp->x()+2;
+ y = this->cameraInfoGrp->y()+2;
+ this->prevCameraButton = new Fl_Button(x,y,16,20,"<");
+ this->prevCameraButton->callback( &gazebo::Toolbar::PrevCameraButtonCB, this
);
+
+ // Next camera button
+ x = this->cameraInfoGrp->x() + this->cameraInfoGrp->w()-22;
+ y = this->cameraInfoGrp->y()+2;
+ this->nextCameraButton = new Fl_Button(x,y,16,20,">");
+ this->nextCameraButton->callback( &gazebo::Toolbar::NextCameraButtonCB, this
);
+
+ // Camera dimensions
+ x = this->cameraInfoGrp->x() + 40;
+ y = this->cameraName->y()+this->cameraName->h()+5;
+ this->cameraDimensions = new
Fl_Output(x,y,this->cameraName->w()-20,20,"WxH");
+
+
+ // Camera X output
+ x = this->cameraInfoGrp->x() + 20;
+ y = this->cameraDimensions->y() + this->cameraDimensions->h()+5;
this->outputX = new Fl_Value_Output(x,y,60,20,"X");
this->outputX->precision(2);
@@ -114,13 +139,19 @@
if (camera != NULL)
{
- sprintf(buffer,"%s [%d x %d]", camera->GetName().c_str(),
camera->GetImageWidth(), camera->GetImageHeight());
+ sprintf(buffer,"%s", camera->GetName().c_str());
+ if (strcmp(buffer,this->cameraName->value()) != 0)
+ {
+ this->cameraName->value(buffer);
+ }
- if (strcmp(buffer,this->cameraInfoGrp->label()) != 0)
+ sprintf(buffer,"%d x %d", camera->GetImageWidth(),
camera->GetImageHeight());
+ if (strcmp(buffer,this->cameraDimensions->value()) != 0)
{
- this->cameraInfoGrp->label(buffer);
+ this->cameraDimensions->value(buffer);
}
+
Pose3d pose = camera->GetWorldPose();
this->outputX->value(pose.pos.x);
@@ -132,3 +163,12 @@
}
}
+void Toolbar::PrevCameraButtonCB(Fl_Widget * /*w*/, void *data)
+{
+ CameraManager::Instance()->DecActiveCamera();
+}
+
+void Toolbar::NextCameraButtonCB(Fl_Widget * /*w*/, void *data)
+{
+ CameraManager::Instance()->IncActiveCamera();
+}
Modified: code/gazebo/trunk/server/gui/Toolbar.hh
===================================================================
--- code/gazebo/trunk/server/gui/Toolbar.hh 2008-05-28 18:46:20 UTC (rev
6457)
+++ code/gazebo/trunk/server/gui/Toolbar.hh 2008-05-29 14:04:32 UTC (rev
6458)
@@ -29,6 +29,8 @@
#include <FL/Fl_Group.H>
class Fl_Value_Output;
+class Fl_Output;
+class Fl_Button;
namespace gazebo
{
@@ -45,7 +47,14 @@
/// \brief Update the toolbar data
public: void Update();
+ public: static void PrevCameraButtonCB(Fl_Widget * /*w*/, void *data);
+ public: static void NextCameraButtonCB(Fl_Widget * /*w*/, void *data);
+
private: Fl_Group *cameraInfoGrp;
+ private: Fl_Button *prevCameraButton;
+ private: Fl_Button *nextCameraButton;
+ private: Fl_Output *cameraName;
+ private: Fl_Output *cameraDimensions;
private: Fl_Value_Output *outputX;
private: Fl_Value_Output *outputY;
private: Fl_Value_Output *outputZ;
Modified: code/gazebo/trunk/worlds/models/sonyvid30.model
===================================================================
--- code/gazebo/trunk/worlds/models/sonyvid30.model 2008-05-28 18:46:20 UTC
(rev 6457)
+++ code/gazebo/trunk/worlds/models/sonyvid30.model 2008-05-29 14:04:32 UTC
(rev 6458)
@@ -80,6 +80,13 @@
<material>Gazebo/White</material>
</visual>
</geom:cylinder>
+
+ <sensor:camera name="sonyvid30_camera_sensor">
+ <imageSize>320 240</imageSize>
+ <hfov>60</hfov>
+ <nearClip>0.1</nearClip>
+ <farClip>100</farClip>
+ </sensor:camera>
</body:box>
<joint:hinge name="pan_joint">
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