Revision: 7546
http://playerstage.svn.sourceforge.net/playerstage/?rev=7546&view=rev
Author: natepak
Date: 2009-03-25 22:13:27 +0000 (Wed, 25 Mar 2009)
Log Message:
-----------
Fixed offscreen rendering
Modified Paths:
--------------
code/branches/federation/gazebo/server/Simulator.cc
code/branches/federation/gazebo/server/gui/GLWindow.cc
code/branches/federation/gazebo/server/gui/Gui.cc
code/branches/federation/gazebo/server/gui/Gui.hh
code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
code/branches/federation/gazebo/server/rendering/OgreCamera.cc
code/branches/federation/gazebo/server/rendering/OgreCamera.hh
code/branches/federation/gazebo/server/rendering/OgreCreator.cc
code/branches/federation/gazebo/server/rendering/OgreCreator.hh
code/branches/federation/gazebo/server/rendering/UserCamera.cc
code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.cc
Modified: code/branches/federation/gazebo/server/Simulator.cc
===================================================================
--- code/branches/federation/gazebo/server/Simulator.cc 2009-03-25 17:56:06 UTC
(rev 7545)
+++ code/branches/federation/gazebo/server/Simulator.cc 2009-03-25 22:13:27 UTC
(rev 7546)
@@ -203,7 +203,9 @@
}
}
else
+ {
this->gui = NULL;
+ }
//Initialize RenderEngine
try
@@ -320,30 +322,30 @@
this->physicsThread = new boost::thread(
boost::bind(&Simulator::PhysicsLoop, this));
- if (this->gui)
+ // Update the gui
+ while (!this->userQuit)
{
- // Update the gui
- while (!this->userQuit)
+ currTime = this->GetWallTime();
+ if ( currTime - lastTime > 1/freq)
{
- currTime = this->GetWallTime();
- if ( currTime - lastTime > 1/freq)
- {
- lastTime = this->GetWallTime();
+ lastTime = this->GetWallTime();
+
+ OgreAdaptor::Instance()->UpdateCameras();
+
+ if (this->gui)
this->gui->Update();
- currTime = this->GetWallTime();
- //printf("Curr Time[%f] LastTime[%f] Period[%f] %f]\n",currTime,
lastTime, 1/freq, currTime-lastTime);
- if (currTime - lastTime < 1/freq)
- {
- usleep((1/freq - (currTime - lastTime)) * 1e6);
- }
- }
- else
+ currTime = this->GetWallTime();
+
+ if (currTime - lastTime < 1/freq)
{
- //printf("Now Here[%f]\n",1/freq - (currTime - lastTime));
- usleep((1/freq - currTime - lastTime) * 1e6);
+ usleep((1/freq - (currTime - lastTime)) * 1e6);
}
}
+ else
+ {
+ usleep((1/freq - currTime - lastTime) * 1e6);
+ }
}
this->physicsThread->join();
@@ -554,7 +556,7 @@
double step = world->GetPhysicsEngine()->GetStepTime();
double physicsUpdateRate = world->GetPhysicsEngine()->GetUpdateRate();
- double renderUpdateRate = OgreAdaptor::Instance()->GetUpdateRate();
+ //double renderUpdateRate = OgreAdaptor::Instance()->GetUpdateRate();
double physicsUpdatePeriod = 1.0 / physicsUpdateRate;
//double renderUpdatePeriod = 1.0 / renderUpdateRate;
@@ -588,7 +590,6 @@
this->prevPhysicsTime = this->GetRealTime();
-
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
world->Update();
Modified: code/branches/federation/gazebo/server/gui/GLWindow.cc
===================================================================
--- code/branches/federation/gazebo/server/gui/GLWindow.cc 2009-03-25
17:56:06 UTC (rev 7545)
+++ code/branches/federation/gazebo/server/gui/GLWindow.cc 2009-03-25
22:13:27 UTC (rev 7546)
@@ -138,11 +138,6 @@
}
this->lastUpdateTime = Simulator::Instance()->GetRealTime();
-
- if (this->userCamera != this->activeCamera)
- this->activeCamera->UpdateCam();
- else
- this->userCamera->Update();
}
Modified: code/branches/federation/gazebo/server/gui/Gui.cc
===================================================================
--- code/branches/federation/gazebo/server/gui/Gui.cc 2009-03-25 17:56:06 UTC
(rev 7545)
+++ code/branches/federation/gazebo/server/gui/Gui.cc 2009-03-25 22:13:27 UTC
(rev 7546)
@@ -94,7 +94,7 @@
// Create a dummy rendering window. This creates a context, and allows Ogre
// to initialize properly
- OgreCreator::CreateWindow(this, 1, 1);
+ OgreCreator::Instance()->CreateWindow(this, 1, 1);
this->hasFocus = true;
}
@@ -151,8 +151,6 @@
Fl::check();
- OgreAdaptor::Instance()->UpdateCameras();
-
//Fl::wait(0.3);
}
Modified: code/branches/federation/gazebo/server/gui/Gui.hh
===================================================================
--- code/branches/federation/gazebo/server/gui/Gui.hh 2009-03-25 17:56:06 UTC
(rev 7545)
+++ code/branches/federation/gazebo/server/gui/Gui.hh 2009-03-25 22:13:27 UTC
(rev 7546)
@@ -88,6 +88,7 @@
private: ParamT<Vector2<int> > *sizeP;
private: ParamT<Vector2<int> > *posP;
private: std::vector<Param*> parameters;
+
};
}
Modified: code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
2009-03-25 17:56:06 UTC (rev 7545)
+++ code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
2009-03-25 22:13:27 UTC (rev 7546)
@@ -186,8 +186,9 @@
this->dummyVisual, NULL, 1);
glXMakeCurrent(this->dummyDisplay, this->dummyWindowId,
this->dummyContext);
- OgreCreator::CreateWindow((long)this->dummyDisplay, screen,
- (long)this->dummyWindowId,1,1);
+
+ OgreCreator::Instance()->CreateWindow((long)this->dummyDisplay, screen,
+ (long)this->dummyWindowId,1,1);
}
// Set default mipmap level (NB some APIs ignore this)
@@ -458,18 +459,29 @@
// Update the user cameras
void OgreAdaptor::UpdateCameras()
{
+ UserCamera *userCam;
+
std::vector<OgreCamera*>::iterator iter;
OgreCreator::Instance()->Update();
this->root->_fireFrameStarted();
- // Draw all the windows
+ // Draw all the non-user cameras
for (iter = this->cameras.begin(); iter != this->cameras.end(); iter++)
{
- (*iter)->Render();
+ if (dynamic_cast<UserCamera*>((*iter)) == NULL)
+ (*iter)->Render();
}
+ // Must update the user camera's last.
+ for (iter = this->cameras.begin(); iter != this->cameras.end(); iter++)
+ {
+ userCam = dynamic_cast<UserCamera*>((*iter));
+ if (userCam)
+ userCam->Update();
+ }
+
this->root->_fireFrameEnded();
}
Modified: code/branches/federation/gazebo/server/rendering/OgreCamera.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreCamera.cc
2009-03-25 17:56:06 UTC (rev 7545)
+++ code/branches/federation/gazebo/server/rendering/OgreCamera.cc
2009-03-25 22:13:27 UTC (rev 7546)
@@ -70,7 +70,7 @@
this->farClipP = new ParamT<double>("farClip",100,0);
this->saveFramesP = new ParamT<bool>("saveFrames",false,0);
this->savePathnameP = new ParamT<std::string>("saveFramePath","",0);
- this->imageSizeP = new ParamT< Vector2<int> >("imageSize",
Vector2<int>(640,480),0);
+ this->imageSizeP = new ParamT< Vector2<int> >("imageSize", Vector2<int>(320,
240),0);
this->visMaskP = new ParamT<std::string>("mask","none",0);
this->hfovP = new ParamT<Angle>("hfov", Angle(DTOR(60)),0);
Param::End();
@@ -79,6 +79,8 @@
// This should be last in the constructor
CameraManager::Instance()->AddCamera(this);
+
+ this->camera = NULL;
}
@@ -181,28 +183,36 @@
// Update the drawing
void OgreCamera::UpdateCam()
{
-
- if (World::Instance()->GetWireframe())
+ if (this->camera)
{
- this->camera->setPolygonMode(Ogre::PM_WIREFRAME);
+ if (World::Instance()->GetWireframe())
+ {
+ this->camera->setPolygonMode(Ogre::PM_WIREFRAME);
+ }
+ else
+ {
+ this->camera->setPolygonMode(Ogre::PM_SOLID);
+ }
}
- else
+
+ if (this->sceneNode)
{
- this->camera->setPolygonMode(Ogre::PM_SOLID);
+ Ogre::Vector3 v = this->sceneNode->_getDerivedPosition();
+
+ this->pose.pos.x = v.x;
+ this->pose.pos.y = v.y;
+ this->pose.pos.z = v.z;
}
- Ogre::Vector3 v = this->sceneNode->_getDerivedPosition();
+ if (this->pitchNode)
+ {
+ Ogre::Quaternion q = this->pitchNode->_getDerivedOrientation();
- this->pose.pos.x = v.x;
- this->pose.pos.y = v.y;
- this->pose.pos.z = v.z;
-
- Ogre::Quaternion q = this->pitchNode->_getDerivedOrientation();
-
- this->pose.rot.u = q.w;
- this->pose.rot.x = q.x;
- this->pose.rot.y = q.y;
- this->pose.rot.z = q.z;
+ this->pose.rot.u = q.w;
+ this->pose.rot.x = q.x;
+ this->pose.rot.y = q.y;
+ this->pose.rot.z = q.z;
+ }
}
////////////////////////////////////////////////////////////////////////////////
@@ -219,12 +229,15 @@
// Get access to the buffer and make an image and write it to file
mBuffer = this->renderTexture->getBuffer(0, 0);
+ this->renderTarget->writeContentsToFile("testfile.jpg");
+
size = this->imageSizeP->GetValue().x * this->imageSizeP->GetValue().y * 3;
// Allocate buffer
if (!this->saveFrameBuffer)
this->saveFrameBuffer = new unsigned char[size];
+ memset(this->saveFrameBuffer,128,size);
mBuffer->lock(Ogre::HardwarePixelBuffer::HBL_READ_ONLY);
int top = (int)((mBuffer->getHeight() - this->imageSizeP->GetValue().y) /
2.0);
Modified: code/branches/federation/gazebo/server/rendering/OgreCamera.hh
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreCamera.hh
2009-03-25 17:56:06 UTC (rev 7545)
+++ code/branches/federation/gazebo/server/rendering/OgreCamera.hh
2009-03-25 22:13:27 UTC (rev 7546)
@@ -188,7 +188,7 @@
public: void SetCamName( const std::string &name );
// Save the camera frame
- private: virtual void SaveFrame();
+ protected: virtual void SaveFrame();
private: std::string name;
Modified: code/branches/federation/gazebo/server/rendering/OgreCreator.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreCreator.cc
2009-03-25 17:56:06 UTC (rev 7545)
+++ code/branches/federation/gazebo/server/rendering/OgreCreator.cc
2009-03-25 22:13:27 UTC (rev 7546)
@@ -269,8 +269,8 @@
// Setup the viewport to use the texture
cviewport = renderTarget->addViewport(camera);
cviewport->setClearEveryFrame(true);
- cviewport->setBackgroundColour( *OgreAdaptor::Instance()->backgroundColor
);
- //cviewport->setOverlaysEnabled(false);
+ //cviewport->setBackgroundColour(
*OgreAdaptor::Instance()->backgroundColor );
+ cviewport->setBackgroundColour( Ogre::ColourValue::Blue );
double ratio = (double)cviewport->getActualWidth() /
(double)cviewport->getActualHeight();
double vfov = 2.0 * atan(tan(hfov / 2.0) / ratio);
@@ -555,11 +555,17 @@
// Create a window for Ogre
Ogre::RenderWindow *OgreCreator::CreateWindow(Fl_Window *flWindow, unsigned
int width, unsigned int height)
{
+ Ogre::RenderWindow *win = NULL;
+
if (flWindow)
- return OgreCreator::CreateWindow( (long)fl_display, fl_visual->screen,
+ {
+ win = OgreCreator::CreateWindow( (long)fl_display, fl_visual->screen,
(long)(Fl_X::i(flWindow)->xid), width, height);
- else
- return NULL;
+ if (win)
+ this->windows.push_back(win);
+ }
+
+ return win;
}
////////////////////////////////////////////////////////////////////////////////
@@ -568,6 +574,9 @@
long winId, unsigned int width,
unsigned int height)
{
+ width = 800;
+ height = 600;
+
Ogre::StringVector paramsVector;
Ogre::NameValuePairList params;
Ogre::RenderWindow *window = NULL;
@@ -611,6 +620,8 @@
window->setActive(true);
window->setAutoUpdated(true);
+ this->windows.push_back(window);
+
return window;
}
@@ -674,7 +685,9 @@
{
std::list<OgreDynamicLines*>::iterator iter;
std::list<OgreMovableText*>::iterator titer;
+ std::list<Ogre::RenderWindow*>::iterator witer;
std::map<std::string, OgreVisual*>::iterator viter;
+
OgreVisual *vis = NULL;
Entity *owner = NULL;
@@ -709,6 +722,13 @@
}
}
+
+ /*for (witer = this->windows.begin(); witer != this->windows.end(); witer++)
+ {
+ (*witer)->update();
+ }
+ */
+
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/branches/federation/gazebo/server/rendering/OgreCreator.hh
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreCreator.hh
2009-03-25 17:56:06 UTC (rev 7545)
+++ code/branches/federation/gazebo/server/rendering/OgreCreator.hh
2009-03-25 22:13:27 UTC (rev 7546)
@@ -103,18 +103,18 @@
public: static void CreateSky(std::string material);
/// \brief Create a new window
- public: static Ogre::RenderWindow *CreateWindow(Fl_Window *flWindow,
+ public: Ogre::RenderWindow *CreateWindow(Fl_Window *flWindow,
unsigned int width,
unsigned int height);
/// \brief Create a window for Ogre
- public: static Ogre::RenderWindow *CreateWindow(long display,
- int screen,
- long winId,
- unsigned int width,
- unsigned int height);
-
+ public: Ogre::RenderWindow *CreateWindow(long display,
+ int screen,
+ long winId,
+ unsigned int width,
+ unsigned int height);
+
/// \brief Draw the uniform grid pattern
public: static void DrawGrid();
@@ -166,6 +166,9 @@
// All the visuals
private: std::map<std::string, OgreVisual*> visuals;
+
+ // All the windows
+ private: std::list<Ogre::RenderWindow *> windows;
private: friend class DestroyerT<OgreCreator>;
private: friend class SingletonT<OgreCreator>;
Modified: code/branches/federation/gazebo/server/rendering/UserCamera.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/UserCamera.cc
2009-03-25 17:56:06 UTC (rev 7545)
+++ code/branches/federation/gazebo/server/rendering/UserCamera.cc
2009-03-25 22:13:27 UTC (rev 7546)
@@ -45,10 +45,9 @@
{
std::stringstream stream;
- this->window = OgreCreator::CreateWindow(parentWindow,
- parentWindow->w(), parentWindow->h());
+ this->window = OgreCreator::Instance()->CreateWindow(parentWindow,
+ parentWindow->w(), parentWindow->h());
-
stream << "UserCamera_" << this->count++;
this->name = stream.str();
}
@@ -75,7 +74,7 @@
{
this->SetCameraSceneNode(
OgreAdaptor::Instance()->sceneMgr->getRootSceneNode()->createChildSceneNode(
this->GetCameraName() + "_SceneNode") );
- OgreCamera::InitCam();
+ this->InitCam();
this->viewport = this->window->addViewport(this->GetOgreCamera());
this->viewport->setBackgroundColour(Ogre::ColourValue::Black);
@@ -92,6 +91,7 @@
void UserCamera::Update()
{
OgreCamera::UpdateCam();
+ this->window->update();
if (this->saveFramesP->GetValue())
{
@@ -132,7 +132,7 @@
// Set the dimensions of the viewport
void UserCamera::SetViewportDimensions(float x, float y, float w, float h)
{
- this->viewport->setDimensions(0, 0, 0.5, 0.5);
+ this->viewport->setDimensions(x, y, w, h);
}
////////////////////////////////////////////////////////////////////////////////
Modified:
code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.cc
===================================================================
--- code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.cc
2009-03-25 17:56:06 UTC (rev 7545)
+++ code/branches/federation/gazebo/server/sensors/camera/MonoCameraSensor.cc
2009-03-25 22:13:27 UTC (rev 7546)
@@ -75,7 +75,6 @@
gzthrow("image has zero size");
}
- this->SetCameraSceneNode( this->GetVisualNode()->GetSceneNode() );
this->ogreTextureName = this->GetName() + "_RttTex";
this->ogreMaterialName = this->GetName() + "_RttMat";
@@ -83,10 +82,11 @@
// Create the render texture
this->renderTexture = Ogre::TextureManager::getSingleton().createManual(
this->ogreTextureName,
-
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
+ "General",
Ogre::TEX_TYPE_2D,
this->imageSizeP->GetValue().x,
- this->imageSizeP->GetValue().y, 0,
+ this->imageSizeP->GetValue().y,
+ 0,
Ogre::PF_R8G8B8,
Ogre::TU_RENDERTARGET);
@@ -105,23 +105,26 @@
// Initialize the camera
void MonoCameraSensor::InitChild()
{
+ this->SetCameraSceneNode( this->GetVisualNode()->GetSceneNode() );
+
this->InitCam();
this->SetCamName(this->GetName());
- Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(
+ /*Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(
this->ogreMaterialName,
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
mat->getTechnique(0)->getPass(0)->createTextureUnitState(this->ogreTextureName);
+*/
Ogre::HardwarePixelBufferSharedPtr mBuffer;
-
// 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();
+
}
//////////////////////////////////////////////////////////////////////////////
@@ -142,51 +145,6 @@
return;
this->UpdateCam();
-
- // NATE
- /* this->renderTarget->update();
-
-
- Ogre::HardwarePixelBufferSharedPtr mBuffer;
- size_t size;
-
- // Get access to the buffer and make an image and write it to file
- mBuffer = this->renderTexture->getBuffer(0, 0);
-
- size = this->imageSizeP->GetValue().x * this->imageSizeP->GetValue().y * 3;
-
- // Allocate buffer
- if (!this->saveFrameBuffer)
- this->saveFrameBuffer = new unsigned char[size];
-
- mBuffer->lock(Ogre::HardwarePixelBuffer::HBL_READ_ONLY);
-
- int top = (int)((mBuffer->getHeight() - this->imageSizeP->GetValue().y) /
2.0);
- int left = (int)((mBuffer->getWidth() - this->imageSizeP->GetValue().x) /
2.0);
- int right = left + this->imageSizeP->GetValue().x;
- int bottom = top + this->imageSizeP->GetValue().y;
-
- // Get the center of the texture in RGB 24 bit format
- mBuffer->blitToMemory(
- Ogre::Box(left, top, right, bottom),
-
- Ogre::PixelBox(
- this->imageSizeP->GetValue().x,
- this->imageSizeP->GetValue().y,
- 1,
- Ogre::PF_B8G8R8,
- this->saveFrameBuffer)
- );
-
- mBuffer->unlock();
-
-
- if (this->saveFramesP->GetValue())
- {
- this->SaveFrame();
- }
- */
-
}
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