Revision: 6585
http://playerstage.svn.sourceforge.net/playerstage/?rev=6585&view=rev
Author: alexcb
Date: 2008-06-16 10:48:06 -0700 (Mon, 16 Jun 2008)
Log Message:
-----------
camera model data visualization
Modified Paths:
--------------
code/stage/trunk/libstage/camera.cc
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/libstage/stage.hh
Modified: code/stage/trunk/libstage/camera.cc
===================================================================
--- code/stage/trunk/libstage/camera.cc 2008-06-16 16:15:18 UTC (rev 6584)
+++ code/stage/trunk/libstage/camera.cc 2008-06-16 17:48:06 UTC (rev 6585)
@@ -18,6 +18,20 @@
{
}
+void StgPerspectiveCamera::move( float x, float y, float z )
+{
+ //scale relative to zoom level
+ x *= _z / 100.0;
+ y *= _z / 100.0;
+
+ //adjust for yaw angle
+ _x += cos( dtor( _yaw ) ) * x;
+ _x += -sin( dtor( _yaw ) ) * y;
+
+ _y += sin( dtor( _yaw ) ) * x;
+ _y += cos( dtor( _yaw ) ) * y;
+ }
+
void StgPerspectiveCamera::Draw( void ) const
{
glMatrixMode (GL_MODELVIEW);
@@ -33,7 +47,26 @@
void StgPerspectiveCamera::SetProjection( float pixels_width, float
pixels_height, float y_min, float y_max ) const
{
- SetProjection( pixels_width/pixels_height );
+// SetProjection( pixels_width/pixels_height );
+
+ glMatrixMode (GL_PROJECTION);
+ glLoadIdentity ();
+
+ float near_clip = _z_near;
+ float far_clip = _z_far;
+ float aspect = 1.0;
+ float top = tan( dtor( _fov ) /2.0 ) * near_clip;
+ float bottom = -top;
+ float left = - aspect * top;
+ float right = -left;
+
+ top = 0.001;
+ bottom = -top;
+
+ glFrustum( left, right, bottom, top, near_clip, far_clip );
+
+ glMatrixMode (GL_MODELVIEW);
+
}
void StgPerspectiveCamera::SetProjection( float aspect ) const
@@ -42,6 +75,7 @@
glLoadIdentity ();
gluPerspective( _fov, aspect, _z_near, _z_far );
+// glFrustum( -10, 10, -10, 10, _z_near, _z_far );
glMatrixMode (GL_MODELVIEW);
}
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-06-16 16:15:18 UTC (rev 6584)
+++ code/stage/trunk/libstage/canvas.cc 2008-06-16 17:48:06 UTC (rev 6585)
@@ -574,7 +574,7 @@
gl_font( FL_HELVETICA, 12 );
if( use_perspective_camera == true ) {
- perspective_camera.SetProjection( w(), h(), 0.01, 0.5 );
+ perspective_camera.SetProjection( w() / h() );
} else {
stg_bounds3d_t extent = world->GetExtent();
camera.SetProjection( w(), h(), extent.y.min,
extent.y.max );
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-06-16 16:15:18 UTC (rev
6584)
+++ code/stage/trunk/libstage/model_camera.cc 2008-06-16 17:48:06 UTC (rev
6585)
@@ -19,7 +19,7 @@
stg_id_t id,
char* typestr )
: StgModel( world, parent, id, typestr ),
-_frame_data( NULL ), _frame_data_width( 0 ), _frame_data_height( 0 )
+_frame_data( NULL ), _frame_data_width( 0 ), _frame_data_height( 0 ), _width(
0 )
{
PRINT_DEBUG2( "Constructing StgModelCamera %d (%s)\n",
id, typestr );
@@ -55,55 +55,60 @@
{
StgModel::Load();
Worldfile* wf = world->GetWorldFile();
- int fov = wf->ReadLength( id, "fov", -1 );
- if( fov > 0 ) {
- _camera.setFov( fov );
- }
+
+ _camera.setFov( wf->ReadLength( id, "fov", _camera.fov() ) );
+ _camera.setYaw( wf->ReadLength( id, "yaw", _camera.yaw() ) );
+ _camera.setPitch( wf->ReadLength( id, "pitch", _camera.pitch() ) );
+
+ _width = wf->ReadLength( id, "width", _width );
+
+ //TODO move to constructor
+ _frame_data_width = _width;
+ _frame_data_height = 100;
}
void StgModelCamera::Update( void )
{
+ GetFrame( _frame_data_width, _frame_data_height, true );
+
StgModel::Update();
}
float* StgModelCamera::laser()
{
- //TODO allow the h and w to be passed by user
- int h = 320;
- int w = 320;
-
- static GLfloat* data_gl = NULL;
- static GLfloat* data = NULL;
- if( data == NULL ) {
- data = new GLfloat[ h * w ];
- data_gl = new GLfloat[ h * w ];
-
- }
-
- glViewport( 0, 0, w, h );
- _camera.update();
- _camera.SetProjection( 1.0 );
-
- _camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y,
0.3 );
- _camera.setYaw( rtod( parent->GetGlobalPose().a ) - 90.0 );
- _camera.Draw();
-
- _canvas->renderFrame( true );
-
- glReadPixels(0, h / 2, w, 1, GL_DEPTH_COMPONENT, GL_FLOAT, data_gl );
-
- for( int i = 0; i < w; i++ ) {
- data[ w-1-i ] = _camera.realDistance( data_gl[ i ] );
- }
- for( int i = 0; i < 32; i++ ) {
- for( int j = 1; j < 10; j++ )
- data[ i ] += data[ i * 10 + j ];
- data[ i ] /= 10.0;
- }
- _canvas->invalidate();
- return data;
+ return NULL;
+// //TODO allow the h and w to be passed by user
+// int w = _width;
+// int h = 1;
+//
+// static GLfloat* data_gl = NULL;
+// static GLfloat* data = NULL;
+// if( data == NULL ) {
+// data = new GLfloat[ h * w ];
+// data_gl = new GLfloat[ h * w ];
+//
+// }
+//
+// glViewport( 0, 0, w, h );
+// _camera.update();
+// _camera.SetProjection( w, h, 0.1, 40.0 );
+//
+// _camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y,
0.3 );
+// _camera.setYaw( rtod( parent->GetGlobalPose().a ) - 90.0 );
+// _camera.Draw();
+//
+// _canvas->renderFrame( true );
+//
+// glReadPixels(0, 0, w, h, GL_DEPTH_COMPONENT, GL_FLOAT, data_gl );
+//
+// for( int i = 0; i < w; i++ ) {
+// data[ w-1-i ] = _camera.realDistance( data_gl[ i ]);
+// }
+//
+// _canvas->invalidate();
+// return data;
}
const char* StgModelCamera::GetFrame( int width, int height, bool depth_buffer
)
@@ -113,7 +118,7 @@
if( width == 0 || height == 0 )
return NULL;
- if( width != _frame_data_width || height != _frame_data_height ) {
+ if( width != _frame_data_width || height != _frame_data_height ||
_frame_data == NULL ) {
if( _frame_data != NULL )
delete _frame_data;
_frame_data = new char[ 4 * width * height ]; //assumes a max
of depth 4
@@ -134,6 +139,11 @@
GL_DEPTH_COMPONENT, //GL_RGB,
GL_FLOAT, //GL_UNSIGNED_BYTE,
_frame_data );
+ //transform length into linear length
+ float* data = ( float* )( _frame_data ); //TODO use static_cast
here
+ int buf_size = width * height;
+ for( int i = 0; i < buf_size; i++ )
+ data[ i ] = _camera.realDistance( data[ i ] ) + 0.1;
} else {
glReadPixels(0, 0, width, height,
GL_RGB,
@@ -146,7 +156,50 @@
return _frame_data;
}
+//TODO create lines outlineing camera frustrum, then iterate over each depth
measurement and create a square
+void StgModelCamera::DataVisualize( void )
+{
+ float w_fov = _camera.fov();
+ float h_fov = _camera.fov();
+ float length = 8.0;
+
+ float start_fov = 90 + w_fov / 2.0;
+ float end_fov = 90 - w_fov / 2.0;
+
+ float x, y;
+
+ glPolygonMode( GL_FRONT_AND_BACK, GL_LINE ); //TODO this doesn't seem
to work.
+ float z = cos( dtor( h_fov / 2.0 ) ) * length;
+
+ glColor4f(1.0, 0.0, 0.0, 1.0 );
+
+ const float* data = ( float* )( _frame_data ); //TODO use static_cast
here
+ int w = _frame_data_width, h = _frame_data_height;
+ for( int i = 0; i < w; i++ ) {
+ float z_a = h_fov / _width * static_cast< float >( i );
+ for( int j = 0; j < h; j++ ) {
+ float length = data[ i + j * w ];
+ float a;
+ float z = cos( z_a ) * length;
+ //TODO rename j to not conflict with loop
+ int j = i + 1;
+ if( j < _width/2 )
+ a = 90 - w_fov / _width * static_cast< float >(
_width/2 - 1 - j );
+ else
+ a = 90 + w_fov / _width * static_cast< float >(
j - _width/2 );
+ x = sin( dtor( a ) ) * length;
+ y = cos( dtor( a ) ) * length;
+ glBegin( GL_LINE_LOOP );
+ glVertex3f( 0.0, 0.0, 0.0 );
+ glVertex3f( x, y, 0.0 );
+ glEnd();
+
+ }
+ }
+
+}
+
void StgModelCamera::Draw( uint32_t flags, StgCanvas* canvas )
{
StgModel::Draw( flags, canvas );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-06-16 16:15:18 UTC (rev 6584)
+++ code/stage/trunk/libstage/stage.hh 2008-06-16 17:48:06 UTC (rev 6585)
@@ -1769,22 +1769,12 @@
inline void setPose( float x, float y, float z ) { _x = x; _y =
y; _z = z; }
inline void addPose( float x, float y, float z ) { _x += x; _y
+= y; _z += z; if( _z < 0.1 ) _z = 0.1; }
- inline void move( float x, float y, float z )
- {
- //scale relative to zoom level
- _x *= _z;
- _y *= _z;
-
- //adjust for yaw angle
- std::cout << "yaw:" << _yaw << std::endl;
- _x += cos( dtor( _yaw ) ) * x;
- _y += -sin( dtor( _yaw ) ) * x;
-
- _x += sin( dtor( _yaw ) ) * y;
- _y += cos( dtor( _yaw ) ) * y;
- }
+ void move( float x, float y, float z );
inline void setFov( float fov ) { _fov = fov; }
inline void setYaw( float yaw ) { _yaw = yaw; }
+ inline float yaw( void ) const { return _yaw; }
+ inline float pitch( void ) const { return _pitch; }
+ inline float fov( void ) const { return _fov; }
inline void addYaw( float yaw ) { _yaw += yaw; }
inline void setPitch( float pitch ) { _pitch = pitch; }
inline void addPitch( float pitch ) { _pitch += pitch; }
@@ -2428,6 +2418,8 @@
int _frame_data_width;
int _frame_data_height;
+ int _width; //TODO merge into frame_data_width
+
StgPerspectiveCamera _camera;
public:
@@ -2442,7 +2434,10 @@
virtual void Load();
virtual void Update();
virtual void Draw( uint32_t flags, StgCanvas* canvas );
+ virtual void DataVisualize();
+ inline int getWidth( void ) const { return _width; }
+
///Take a screenshot from the camera's perspective
const char* GetFrame( int width, int height, bool depth_buffer
);
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