Revision: 6894
http://playerstage.svn.sourceforge.net/playerstage/?rev=6894&view=rev
Author: natepak
Date: 2008-07-21 16:00:01 +0000 (Mon, 21 Jul 2008)
Log Message:
-----------
Updates to stereo vision
Modified Paths:
--------------
code/gazebo/trunk/examples/libgazebo/stereo/stereo.cc
code/gazebo/trunk/worlds/stereocamera.world
Modified: code/gazebo/trunk/examples/libgazebo/stereo/stereo.cc
===================================================================
--- code/gazebo/trunk/examples/libgazebo/stereo/stereo.cc 2008-07-21
06:08:31 UTC (rev 6893)
+++ code/gazebo/trunk/examples/libgazebo/stereo/stereo.cc 2008-07-21
16:00:01 UTC (rev 6894)
@@ -21,16 +21,24 @@
return;
}
- fprintf( fp, "P6\n# Gazebo\n%d %d\n255\n", stereoIface->data->width,
stereoIface->data->height);
+ fprintf( fp, "P5\n# Gazebo\n%d %d\n32768\n", stereoIface->data->width,
stereoIface->data->height);
+ double max = 0;
+ for (unsigned int i=0; i<stereoIface->data->height*stereoIface->data->width;
i++)
+ {
+ double v = stereoIface->data->left_disparity[i];
+ if (v > max)
+ max = v;
+ }
+
+ printf("Max[%f]\n",max);
for (unsigned int i = 0; i<stereoIface->data->height; i++)
{
for (unsigned int j =0; j<stereoIface->data->width; j++)
{
- unsigned char value =
stereoIface->data->left_disparity[i*stereoIface->data->width+j] * 255;
- fwrite( &value, 1, 1, fp );
- fwrite( &value, 1, 1, fp );
- fwrite( &value, 1, 1, fp );
+ double v =
stereoIface->data->left_disparity[i*stereoIface->data->width+j];
+ unsigned int value = (unsigned int)((v/max) * 32767);
+ fwrite( &value, 2, 1, fp );
}
}
Modified: code/gazebo/trunk/worlds/stereocamera.world
===================================================================
--- code/gazebo/trunk/worlds/stereocamera.world 2008-07-21 06:08:31 UTC (rev
6893)
+++ code/gazebo/trunk/worlds/stereocamera.world 2008-07-21 16:00:01 UTC (rev
6894)
@@ -100,7 +100,7 @@
<imageSize>320 240</imageSize>
<hfov>60</hfov>
<nearClip>0.1</nearClip>
- <farClip>100</farClip>
+ <farClip>1000</farClip>
<saveFrames>false</saveFrames>
<saveFramePath>frames</saveFramePath>
<baseline>0.2</baseline>
@@ -108,6 +108,10 @@
<controller:stereocamera name="stereo_camera_controller">
<interface:stereocamera name="stereo_iface_0" />
<interface:camera name="camera_iface_0" />
+ <interface:camera name="camera_iface_1" />
+
+ <leftcamera>camera_iface_0</leftcamera>
+ <rightcamera>camera_iface_1</rightcamera>
</controller:stereocamera>
</sensor:stereocamera>
</body:empty>
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