[Playerstage-commit] SF.net SVN: playerstage:[7513] code/gazebo/branches/ogre-1.4.9/server/ sensors/camera/MonoCameraSensor.cc

[<hsu...@us...>]

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;


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.