Revision: 6846
http://playerstage.svn.sourceforge.net/playerstage/?rev=6846&view=rev
Author: alexcb
Date: 2008-07-11 11:49:45 -0700 (Fri, 11 Jul 2008)
Log Message:
-----------
changed paramater names for camera model
Modified Paths:
--------------
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/worlds/everything.world
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-07-11 18:09:45 UTC (rev 6845)
+++ code/stage/trunk/libstage/canvas.cc 2008-07-11 18:49:45 UTC (rev 6846)
@@ -519,6 +519,7 @@
stg_bounds3d_t bounds = world->GetExtent();
float z = 0;
+ glPolygonMode(GL_FRONT_AND_BACK, GL_FILL );
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonOffset(2.0, 2.0);
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-07-11 18:09:45 UTC (rev
6845)
+++ code/stage/trunk/libstage/model_camera.cc 2008-07-11 18:49:45 UTC (rev
6846)
@@ -39,14 +39,10 @@
camera
(
# laser properties
- width 32
- height 32
- range_min 0.2
- range_max 8.0
- horizfov 70.0
- vertfov 40.0
- yaw 0.0
- pitch 0.0
+ resolution [ 32 32 ]
+ range [ 0.2 8.0 ]
+ fov [ 70.0 40.0 ]
+ direction [ 0.0 0.0 ]
# model properties
size [ 0.1 0.07 0.05 ]
@@ -57,22 +53,15 @@
@par Details
-- width <int>\n
- the number of pixel samples
-- height <int>\n
- the number of pixel samples
-- range_min <float>\n
- the minimum range reported by the camera, in meters. Objects closer than
this will not be displayed. The smaller the number, the less persision in depth
- don't set this value too close to 0.
-- range_max <float>\n
- the maximum range reported by the camera, in meters. Objects farther than
this will not be displayed.
-- horizfov <float>\n
- angle, in degrees, for the horizontal field of view.
-- vertfov <float>\n
- angle, in degrees, for the vertical field of view.
-- yaw <float>\n
- angle, in degrees, where the camera is panned to.
-- pitch <float>\n
- angle, in degrees, where the camera is tilted to.
+- resolution [ width:<int> height:<int> ]\n
+ the resolution of the pixel samples
+- range [ min:<float> max:<float> ]\n
+ the range reported by the camera, in meters. Objects closer than `min', or
farther than `max' will not be displayed.
+ The smaller the `min' number, the less persision in depth - don't set this
value too close to 0.
+- fov [ horizontal: <float> vertical: <float> ]\n
+ angle, in degrees, for the horizontal and vertical field of view.
+- direction [ yaw:<float> pitch:<float> ]
+ angle, in degrees, where the camera is looking. yaw is the left-right
panning, and pitch is the up-down tilting.
*/
//caclulate the corss product, and store results in the first vertex
@@ -149,18 +138,20 @@
{
StgModel::Load();
- float horizFov = wf->ReadFloat( wf_entity, "horizfov", DEFAULT_HFOV );
- float vertFov = wf->ReadFloat( wf_entity, "vertfov", DEFAULT_VFOV );
+ float horizFov = wf->ReadTupleLength( wf_entity, "fov", 0,
DEFAULT_HFOV );
+ float vertFov = wf->ReadTupleLength( wf_entity, "fov", 1, DEFAULT_VFOV
);
_camera.setFov( horizFov, vertFov );
- float range_min = wf->ReadLength( wf_entity, "range_min",
CAMERA_NEAR_CLIP );
- float range_max = wf->ReadLength( wf_entity, "range_max",
CAMERA_FAR_CLIP );
+ float range_min = wf->ReadTupleLength( wf_entity, "range", 0,
CAMERA_NEAR_CLIP );
+ float range_max = wf->ReadTupleLength( wf_entity, "range", 1,
CAMERA_FAR_CLIP );
_camera.setClip( range_min, range_max );
- _yaw_offset = wf->ReadFloat( wf_entity, "yaw", _yaw_offset );
- _pitch_offset = wf->ReadFloat( wf_entity, "pitch", _pitch_offset );
- _width = wf->ReadInt( wf_entity, "width", _width );
- _height = wf->ReadInt( wf_entity, "height", _height );
+ _yaw_offset = wf->ReadTupleLength( wf_entity, "direction", 0,
_yaw_offset );
+ _pitch_offset = wf->ReadTupleLength( wf_entity, "direction", 1,
_pitch_offset );
+
+ _width = static_cast< int >( wf->ReadTupleLength( wf_entity,
"resolution", 0, _width ) );
+ _height = static_cast< int >( wf->ReadTupleLength( wf_entity,
"resolution", 1, _height ) );
+
}
Modified: code/stage/trunk/worlds/everything.world
===================================================================
--- code/stage/trunk/worlds/everything.world 2008-07-11 18:09:45 UTC (rev
6845)
+++ code/stage/trunk/worlds/everything.world 2008-07-11 18:49:45 UTC (rev
6846)
@@ -89,7 +89,7 @@
color "red"
name "redrobot_w_camera"
pose [-5.645 3.034 0 -162.098]
- camera( pose [0.060 0 0.190 0 ] )
+ camera( pose [ 0 0 0 0 ] range [ 0.2 8.0 ] resolution [ 100 100 ] fov [ 70
40 ] direction [ 0 0 ] )
)
trickedoutpioneer
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2008-07-11 18:09:45 UTC (rev 6845)
+++ code/stage/trunk/worlds/fasr.world 2008-07-11 18:49:45 UTC (rev 6846)
@@ -54,10 +54,12 @@
define autorob pioneer2dx
(
- sicklaser( samples 32 range_max 5 laser_return 2 )
+ sicklaser( samples 32 range_max 5 laser_return 2
+
+#camera( pose [ 0 0 0 0 ] range [ 0.2 8.0 ] resolution [ 100 100 ] fov [ 70
40 ] direction [ 0 0 ] )
+ )
ctrl "fasr"
- #camera( pose [ 0 0 0 0 ] width 100 height 100 horizfov 70 vertfov 40 yaw 0 )
#say "Autolab"
)
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