Revision: 6665
http://playerstage.svn.sourceforge.net/playerstage/?rev=6665&view=rev
Author: natepak
Date: 2008-06-23 07:25:42 -0700 (Mon, 23 Jun 2008)
Log Message:
-----------
Updates to the bandit model and the stereo camera
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
code/gazebo/trunk/worlds/bandit.world
code/gazebo/trunk/worlds/models/bandit.model
Modified: code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-06-22 05:48:02 UTC (rev 6664)
+++ code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-06-23 14:25:42 UTC (rev 6665)
@@ -119,6 +119,8 @@
// Put stereo data to the interface
void Stereo_Camera::PutStereoData()
{
+
+ printf("put stereo data\n");
StereoCameraData *stereo_data = this->stereoIface->data;
//const unsigned char *rgb_src = NULL;
//unsigned char *rgb_dst = NULL;
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-06-22 05:48:02 UTC (rev 6664)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-06-23 14:25:42 UTC (rev 6665)
@@ -43,6 +43,7 @@
#include "StereoCameraSensor.hh"
#define PF_FLOAT Ogre::PF_FLOAT32_R
+#define PF_RGB Ogre::PF_B8G8R8
using namespace gazebo;
@@ -328,7 +329,7 @@
{
hardwareBuffer->blitToMemory ( Ogre::Box(left,top,right,bottom),
Ogre::PixelBox( this->imageWidth, this->imageHeight,
- 1, Ogre::PF_B8G8R8, this->rgbBuffer[i])
+ 1, PF_RGB, this->rgbBuffer[i])
);
}
else
@@ -512,7 +513,7 @@
if (depth)
pf = PF_FLOAT;
else
- pf = Ogre::PF_R8G8B8;
+ pf = PF_RGB;
// Create the left render texture
return Ogre::TextureManager::getSingleton().createManual(
Modified: code/gazebo/trunk/worlds/bandit.world
===================================================================
--- code/gazebo/trunk/worlds/bandit.world 2008-06-22 05:48:02 UTC (rev
6664)
+++ code/gazebo/trunk/worlds/bandit.world 2008-06-23 14:25:42 UTC (rev
6665)
@@ -34,6 +34,11 @@
<material>Gazebo/CloudySky</material>
</sky>
<shadowTechnique>stencilAdditive</shadowTechnique>
+ <fog>
+ <color>1.0 1.0 1.0</color>
+ <linearStart>10</linearStart>
+ <linearEnd>100</linearEnd>
+ </fog>
</rendering:ogre>
<model:physical name="pioneer2dx_model1">
@@ -137,14 +142,4 @@
</light>
</model:renderable>
- <model:renderable name="directional_white2">
- <light>
- <type>directional</type>
- <direction>0 -0.5 0.5</direction>
- <diffuseColor>0.4 0.4 0.4</diffuseColor>
- <specularColor>0.0 0.0 0.0</specularColor>
- <attenuation>100 0.0 1.0 0.4</attenuation>
- </light>
- </model:renderable>
-
</gazebo:world>
Modified: code/gazebo/trunk/worlds/models/bandit.model
===================================================================
--- code/gazebo/trunk/worlds/models/bandit.model 2008-06-22 05:48:02 UTC
(rev 6664)
+++ code/gazebo/trunk/worlds/models/bandit.model 2008-06-23 14:25:42 UTC
(rev 6665)
@@ -61,7 +61,7 @@
<hfov>60</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
- <saveFrames>true</saveFrames>
+ <saveFrames>false</saveFrames>
<saveFramePath>frames</saveFramePath>
<baseline>0.2</baseline>
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