Revision: 6895
http://playerstage.svn.sourceforge.net/playerstage/?rev=6895&view=rev
Author: natepak
Date: 2008-07-21 16:12:15 +0000 (Mon, 21 Jul 2008)
Log Message:
-----------
Changed disparity to depth images in stereo code
Modified Paths:
--------------
code/gazebo/trunk/examples/libgazebo/stereo/stereo.cc
code/gazebo/trunk/libgazebo/gazebo.h
code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
Modified: code/gazebo/trunk/examples/libgazebo/stereo/stereo.cc
===================================================================
--- code/gazebo/trunk/examples/libgazebo/stereo/stereo.cc 2008-07-21
16:00:01 UTC (rev 6894)
+++ code/gazebo/trunk/examples/libgazebo/stereo/stereo.cc 2008-07-21
16:12:15 UTC (rev 6895)
@@ -26,7 +26,7 @@
double max = 0;
for (unsigned int i=0; i<stereoIface->data->height*stereoIface->data->width;
i++)
{
- double v = stereoIface->data->left_disparity[i];
+ double v = stereoIface->data->left_depth[i];
if (v > max)
max = v;
}
@@ -36,7 +36,7 @@
{
for (unsigned int j =0; j<stereoIface->data->width; j++)
{
- double v =
stereoIface->data->left_disparity[i*stereoIface->data->width+j];
+ double v = stereoIface->data->left_depth[i*stereoIface->data->width+j];
unsigned int value = (unsigned int)((v/max) * 32767);
fwrite( &value, 2, 1, fp );
}
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2008-07-21 16:00:01 UTC (rev
6894)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2008-07-21 16:12:15 UTC (rev
6895)
@@ -1377,17 +1377,17 @@
/// Right image (R8G8B8)
public: unsigned char right_rgb[GAZEBO_STEREO_CAMERA_MAX_RGB_SIZE];
- /// Left disparity size
- public: unsigned int left_disparity_size;
+ /// Left depth map size
+ public: unsigned int left_depth_size;
- /// Left disparity (float)
- public: float left_disparity[GAZEBO_STEREO_CAMERA_MAX_DISPARITY_SIZE];
+ /// Left depth map (float)
+ public: float left_depth[GAZEBO_STEREO_CAMERA_MAX_DISPARITY_SIZE];
- /// Right Disparity size
- public: unsigned int right_disparity_size;
+ /// Right depth map size
+ public: unsigned int right_depth_size;
- /// Right disparity (float)
- public: float right_disparity[GAZEBO_STEREO_CAMERA_MAX_DISPARITY_SIZE];
+ /// Right depth map (float)
+ public: float right_depth[GAZEBO_STEREO_CAMERA_MAX_DISPARITY_SIZE];
};
Modified: code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-07-21 16:00:01 UTC (rev 6894)
+++ code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-07-21 16:12:15 UTC (rev 6895)
@@ -154,15 +154,15 @@
//stereo_data->right_rgb_size = stereo_data->width * stereo_data->height * 3;
//stereo_data->left_rgb_size = stereo_data->width * stereo_data->height * 3;
- stereo_data->right_disparity_size = stereo_data->width * stereo_data->height
* sizeof(float);
- stereo_data->left_disparity_size = stereo_data->width * stereo_data->height
* sizeof(float);
+ stereo_data->right_depth_size = stereo_data->width * stereo_data->height *
sizeof(float);
+ stereo_data->left_depth_size = stereo_data->width * stereo_data->height *
sizeof(float);
// Make sure there is room to store the image
//assert (stereo_data->right_rgb_size <= sizeof(stereo_data->right_rgb));
//assert (stereo_data->left_rgb_size <= sizeof(stereo_data->left_rgb));
- assert (stereo_data->right_disparity_size <=
sizeof(stereo_data->right_disparity));
- assert (stereo_data->left_disparity_size <=
sizeof(stereo_data->left_disparity));
+ assert (stereo_data->right_depth_size <= sizeof(stereo_data->right_depth));
+ assert (stereo_data->left_depth_size <= sizeof(stereo_data->left_depth));
// Copy the left pixel data to the interface
/*rgb_src = this->myParent->GetImageData(0);
@@ -175,15 +175,15 @@
memcpy(rgb_dst, rgb_src, stereo_data->right_rgb_size);
*/
- // Copy the left disparity data to the interface
- disp_src = this->myParent->GetDisparityData(0);
- disp_dst = stereo_data->left_disparity;
- memcpy(disp_dst, disp_src, stereo_data->left_disparity_size);
+ // Copy the left depth data to the interface
+ disp_src = this->myParent->GetDepthData(0);
+ disp_dst = stereo_data->left_depth;
+ memcpy(disp_dst, disp_src, stereo_data->left_depth_size);
- // Copy the right disparity data to the interface
- disp_src = this->myParent->GetDisparityData(1);
- disp_dst = stereo_data->right_disparity;
- memcpy(disp_dst, disp_src, stereo_data->right_disparity_size);
+ // Copy the right depth data to the interface
+ disp_src = this->myParent->GetDepthData(1);
+ disp_dst = stereo_data->right_depth;
+ memcpy(disp_dst, disp_src, stereo_data->right_depth_size);
}
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-07-21 16:00:01 UTC (rev 6894)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-07-21 16:12:15 UTC (rev 6895)
@@ -291,23 +291,23 @@
{
if (i > 1)
- gzthrow("Index must be 0 for left, or 1 for right disparity image\n");
+ gzthrow("Index must be 0 for left, or 1 for right depth image\n");
return this->rgbBuffer[i];
}
//////////////////////////////////////////////////////////////////////////////
-// Get a pointer to the disparity data
-const float *StereoCameraSensor::GetDisparityData(unsigned int i)
+// Get a pointer to the depth data
+const float *StereoCameraSensor::GetDepthData(unsigned int i)
{
if (i > 1)
- gzthrow("Index must be 0 for left, or 1 for right disparity image\n");
+ gzthrow("Index must be 0 for left, or 1 for right depth image\n");
return this->depthBuffer[i];
}
//////////////////////////////////////////////////////////////////////////////
-// Fill all RGB and Disparity buffers
+// Fill all RGB and depth buffers
void StereoCameraSensor::FillBuffers()
{
Ogre::HardwarePixelBufferSharedPtr hardwareBuffer;
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
2008-07-21 16:00:01 UTC (rev 6894)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.hh
2008-07-21 16:12:15 UTC (rev 6895)
@@ -86,9 +86,9 @@
/// \param i 0=left, 1=right
public: virtual const unsigned char *GetImageData(unsigned int i=0);
- /// \brief Get a point to the disparity data
+ /// \brief Get a point to the depth data
/// \param i 0=left, 1=right
- public: const float *GetDisparityData(unsigned int i=0);
+ public: const float *GetDepthData(unsigned int i=0);
/// \brief Get the baselien of the camera
public: double GetBaseline() const;
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