Revision: 7513
http://playerstage.svn.sourceforge.net/playerstage/?rev=7513&view=rev
Author: hsujohnhsu
Date: 2009-03-17 01:26:32 +0000 (Tue, 17 Mar 2009)
Log Message:
-----------
udpates for running headless mode.
Modified Paths:
--------------
code/gazebo/branches/ogre-1.4.9/server/sensors/camera/MonoCameraSensor.cc
Modified:
code/gazebo/branches/ogre-1.4.9/server/sensors/camera/MonoCameraSensor.cc
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/sensors/camera/MonoCameraSensor.cc
2009-03-17 01:25:57 UTC (rev 7512)
+++ code/gazebo/branches/ogre-1.4.9/server/sensors/camera/MonoCameraSensor.cc
2009-03-17 01:26:32 UTC (rev 7513)
@@ -42,6 +42,8 @@
#include "CameraManager.hh"
#include "MonoCameraSensor.hh"
+#include "Simulator.hh"
+
using namespace gazebo;
GZ_REGISTER_STATIC_SENSOR("camera", MonoCameraSensor);
@@ -74,22 +76,25 @@
gzthrow("image has zero size");
}
- this->SetCameraSceneNode( this->GetVisualNode()->GetSceneNode() );
+ if (Simulator::Instance()->GetRenderEngineEnabled())
+ {
+ this->SetCameraSceneNode( this->GetVisualNode()->GetSceneNode() );
- this->ogreTextureName = this->GetName() + "_RttTex";
- this->ogreMaterialName = this->GetName() + "_RttMat";
+ this->ogreTextureName = this->GetName() + "_RttTex";
+ this->ogreMaterialName = this->GetName() + "_RttMat";
- // Create the render texture
- this->renderTexture = Ogre::TextureManager::getSingleton().createManual(
- this->ogreTextureName,
-
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
- Ogre::TEX_TYPE_2D,
- this->imageSizeP->GetValue().x,
- this->imageSizeP->GetValue().y, 0,
- Ogre::PF_R8G8B8,
- Ogre::TU_RENDERTARGET);
+ // Create the render texture
+ this->renderTexture = Ogre::TextureManager::getSingleton().createManual(
+ this->ogreTextureName,
+
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
+ Ogre::TEX_TYPE_2D,
+ this->imageSizeP->GetValue().x,
+ this->imageSizeP->GetValue().y, 0,
+ Ogre::PF_R8G8B8,
+ Ogre::TU_RENDERTARGET);
- this->renderTarget = this->renderTexture->getBuffer()->getRenderTarget();
+ this->renderTarget = this->renderTexture->getBuffer()->getRenderTarget();
+ }
}
//////////////////////////////////////////////////////////////////////////////
@@ -104,22 +109,25 @@
// Initialize the camera
void MonoCameraSensor::InitChild()
{
- this->InitCam();
+ if (Simulator::Instance()->GetRenderEngineEnabled())
+ {
+ this->InitCam();
- Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(
- this->ogreMaterialName,
-
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(
+ this->ogreMaterialName,
+
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
-
mat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreTextureName);
+
mat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreTextureName);
- Ogre::HardwarePixelBufferSharedPtr mBuffer;
+ Ogre::HardwarePixelBufferSharedPtr mBuffer;
- // Get access to the buffer and make an image and write it to file
- mBuffer = this->renderTexture->getBuffer(0, 0);
+ // Get access to the buffer and make an image and write it to file
+ mBuffer = this->renderTexture->getBuffer(0, 0);
- this->textureWidth = mBuffer->getWidth();
- this->textureHeight = mBuffer->getHeight();
+ this->textureWidth = mBuffer->getWidth();
+ this->textureHeight = mBuffer->getHeight();
+ }
}
//////////////////////////////////////////////////////////////////////////////
@@ -133,6 +141,9 @@
// Update the drawing
void MonoCameraSensor::UpdateChild()
{
+ if (!Simulator::Instance()->GetRenderEngineEnabled())
+ return;
+
// Only continue if the controller has an active interface. Or frames need
// to be saved
if ( (this->controller && !this->controller->IsConnected()) &&
@@ -187,7 +198,10 @@
// Return the material the camera renders to
std::string MonoCameraSensor::GetMaterialName() const
{
- return this->ogreMaterialName;
+ if (!Simulator::Instance()->GetRenderEngineEnabled())
+ return NULL;
+ else
+ return this->ogreMaterialName;
}
@@ -205,6 +219,9 @@
// Save the current frame to disk
void MonoCameraSensor::SaveFrame()
{
+ if (!Simulator::Instance()->GetRenderEngineEnabled())
+ return;
+
Ogre::HardwarePixelBufferSharedPtr mBuffer;
std::ostringstream sstream;
Ogre::ImageCodec::ImageData *imgData;
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