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[simspark-svn] SF.net SVN: simspark:[30] trunk/spark
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From: <yx...@us...> - 2009-01-22 11:22:00
|
Revision: 30
http://simspark.svn.sourceforge.net/simspark/?rev=30&view=rev
Author: yxu
Date: 2009-01-22 11:21:46 +0000 (Thu, 22 Jan 2009)
Log Message:
-----------
add imageperceptor, but it can not send image to agent at present
Modified Paths:
--------------
trunk/spark/configure.ac
trunk/spark/lib/kerosin/renderserver/baserenderserver.h
trunk/spark/lib/kerosin/renderserver/renderserver.h
trunk/spark/plugin/CMakeLists.txt
trunk/spark/plugin/Makefile.am
Added Paths:
-----------
trunk/spark/plugin/imageperceptor/
trunk/spark/plugin/imageperceptor/CMakeLists.txt
trunk/spark/plugin/imageperceptor/Makefile.am
trunk/spark/plugin/imageperceptor/Makefile.in
trunk/spark/plugin/imageperceptor/export.cpp
trunk/spark/plugin/imageperceptor/imageperceptor.cpp
trunk/spark/plugin/imageperceptor/imageperceptor.h
trunk/spark/plugin/imageperceptor/imageperceptor_c.cpp
Modified: trunk/spark/configure.ac
===================================================================
--- trunk/spark/configure.ac 2009-01-22 10:40:16 UTC (rev 29)
+++ trunk/spark/configure.ac 2009-01-22 11:21:46 UTC (rev 30)
@@ -170,6 +170,7 @@
plugin/openglsyswx/Makefile \
plugin/sparkmonitor/Makefile \
plugin/sparkagent/Makefile \
+ plugin/imageperceptor/Makefile \
test/Makefile \
test/coretest/Makefile \
test/fonttest/Makefile \
Modified: trunk/spark/lib/kerosin/renderserver/baserenderserver.h
===================================================================
--- trunk/spark/lib/kerosin/renderserver/baserenderserver.h 2009-01-22 10:40:16 UTC (rev 29)
+++ trunk/spark/lib/kerosin/renderserver/baserenderserver.h 2009-01-22 11:21:46 UTC (rev 30)
@@ -59,6 +59,16 @@
//! get a shot of the current frame
virtual bool CopyFrame(char* /* buffer */) const { return false; }
+ void SetCamera( boost::shared_ptr<oxygen::Camera> c )
+ {
+ mCamera = c;
+ }
+
+ boost::shared_ptr<oxygen::Camera> GetCamera()
+ {
+ return mCamera;
+ }
+
protected:
/** get the active scene node from the sceneServer */
virtual bool GetActiveScene();
@@ -81,6 +91,9 @@
/** reference to the SceneServer */
CachedPath<oxygen::SceneServer> mSceneServer;
+
+ /** the currently selected camera */
+ boost::shared_ptr<oxygen::Camera> mCamera;
};
DECLARE_ABSTRACTCLASS(BaseRenderServer);
Modified: trunk/spark/lib/kerosin/renderserver/renderserver.h
===================================================================
--- trunk/spark/lib/kerosin/renderserver/renderserver.h 2009-01-22 10:40:16 UTC (rev 29)
+++ trunk/spark/lib/kerosin/renderserver/renderserver.h 2009-01-22 11:21:46 UTC (rev 30)
@@ -123,7 +123,7 @@
//
protected:
/** reference to the SceneServer */
- CachedPath<oxygen::SceneServer> mSceneServer;
+ //CachedPath<oxygen::SceneServer> mSceneServer;
/** the OpenGL ambient clear color */
RGBA mAmbientColor;
@@ -143,9 +143,6 @@
double mPickRange;
/** the picked result node */
boost::weak_ptr<RenderNode> mPickedNode;
-
- /** the currently selected camera */
- boost::shared_ptr<oxygen::Camera> mCamera;
};
DECLARE_CLASS(RenderServer);
Modified: trunk/spark/plugin/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/CMakeLists.txt 2009-01-22 10:40:16 UTC (rev 29)
+++ trunk/spark/plugin/CMakeLists.txt 2009-01-22 11:21:46 UTC (rev 30)
@@ -18,3 +18,4 @@
add_subdirectory(soundsystemfmod)
add_subdirectory(inputwx)
add_subdirectory(openglsyswx)
+add_subdirectory(imageperceptor)
Modified: trunk/spark/plugin/Makefile.am
===================================================================
--- trunk/spark/plugin/Makefile.am 2009-01-22 10:40:16 UTC (rev 29)
+++ trunk/spark/plugin/Makefile.am 2009-01-22 11:21:46 UTC (rev 30)
@@ -16,7 +16,8 @@
sceneeffector\
soundsystemfmod \
inputwx \
- openglsyswx
+ openglsyswx \
+ imageperceptor
# filesystemrar
# soundsystembass
Added: trunk/spark/plugin/imageperceptor/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/imageperceptor/CMakeLists.txt (rev 0)
+++ trunk/spark/plugin/imageperceptor/CMakeLists.txt 2009-01-22 11:21:46 UTC (rev 30)
@@ -0,0 +1,16 @@
+
+########### next target ###############
+
+set(imageperceptor_LIB_SRCS
+ export.cpp
+ imageperceptor.h
+ imageperceptor.cpp
+ imageperceptor_c.cpp
+)
+
+add_library(imageperceptor MODULE ${imageperceptor_LIB_SRCS})
+
+target_link_libraries(imageperceptor)
+
+set_target_properties(imageperceptor PROPERTIES VERSION 0.0.0 SOVERSION 0)
+install(TARGETS imageperceptor DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})
Added: trunk/spark/plugin/imageperceptor/Makefile.am
===================================================================
--- trunk/spark/plugin/imageperceptor/Makefile.am (rev 0)
+++ trunk/spark/plugin/imageperceptor/Makefile.am 2009-01-22 11:21:46 UTC (rev 30)
@@ -0,0 +1,12 @@
+pkglib_LTLIBRARIES = imageperceptor.la
+
+imageperceptor_la_SOURCES = export.cpp \
+ imageperceptor.h \
+ imageperceptor.cpp \
+ imageperceptor_c.cpp
+
+# -module tells automake we're not building a library but a loadable module
+# so we don't need the "lib" prefix in the module name
+imageperceptor_la_LDFLAGS = -module -version-info 0:0:0
+
+AM_CPPFLAGS = -I${top_srcdir}/lib @RUBY_CPPFLAGS@
Added: trunk/spark/plugin/imageperceptor/Makefile.in
===================================================================
--- trunk/spark/plugin/imageperceptor/Makefile.in (rev 0)
+++ trunk/spark/plugin/imageperceptor/Makefile.in 2009-01-22 11:21:46 UTC (rev 30)
@@ -0,0 +1,543 @@
+# Makefile.in generated by automake 1.10.1 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002,
+# 2003, 2004, 2005, 2006, 2007, 2008 Free Software Foundation, Inc.
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
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+
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+pkglibLTLIBRARIES_INSTALL = $(INSTALL)
+LTLIBRARIES = $(pkglib_LTLIBRARIES)
+imageperceptor_la_LIBADD =
+am_imageperceptor_la_OBJECTS = export.lo imageperceptor.lo \
+ imageperceptor_c.lo
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+ $(LIBTOOLFLAGS) --mode=link $(CXXLD) $(AM_CXXFLAGS) \
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+DIST_SOURCES = $(imageperceptor_la_SOURCES)
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+ imageperceptor.cpp \
+ imageperceptor_c.cpp
+
+
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+ END { if (nonempty) { for (i in files) print i; }; }'`; \
+ if test -z "$(ETAGS_ARGS)$$tags$$unique"; then :; else \
+ test -n "$$unique" || unique=$$empty_fix; \
+ $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+ $$tags $$unique; \
+ fi
+ctags: CTAGS
+CTAGS: $(HEADERS) $(SOURCES) $(TAGS_DEPENDENCIES) \
+ $(TAGS_FILES) $(LISP)
+ tags=; \
+ list='$(SOURCES) $(HEADERS) $(LISP) $(TAGS_FILES)'; \
+ unique=`for i in $$list; do \
+ if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+ done | \
+ $(AWK) '{ files[$$0] = 1; nonempty = 1; } \
+ END { if (nonempty) { for (i in files) print i; }; }'`; \
+ test -z "$(CTAGS_ARGS)$$tags$$unique" \
+ || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+ $$tags $$unique
+
+GTAGS:
+ here=`$(am__cd) $(top_builddir) && pwd` \
+ && cd $(top_srcdir) \
+ && gtags -i $(GTAGS_ARGS) $$here
+
+distclean-tags:
+ -rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+
+distdir: $(DISTFILES)
+ @srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+ topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+ list='$(DISTFILES)'; \
+ dist_files=`for file in $$list; do echo $$file; done | \
+ sed -e "s|^$$srcdirstrip/||;t" \
+ -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+ case $$dist_files in \
+ */*) $(MKDIR_P) `echo "$$dist_files" | \
+ sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+ sort -u` ;; \
+ esac; \
+ for file in $$dist_files; do \
+ if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+ if test -d $$d/$$file; then \
+ dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+ if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+ cp -pR $(srcdir)/$$file $(distdir)$$dir || exit 1; \
+ fi; \
+ cp -pR $$d/$$file $(distdir)$$dir || exit 1; \
+ else \
+ test -f $(distdir)/$$file \
+ || cp -p $$d/$$file $(distdir)/$$file \
+ || exit 1; \
+ fi; \
+ done
+check-am: all-am
+check: check-am
+all-am: Makefile $(LTLIBRARIES)
+installdirs:
+ for dir in "$(DESTDIR)$(pkglibdir)"; do \
+ test -z "$$dir" || $(MKDIR_P) "$$dir"; \
+ done
+install: install-am
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+ @$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+ $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+ install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+ `test -z '$(STRIP)' || \
+ echo "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'"` install
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+ -test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+
+maintainer-clean-generic:
+ @echo "This command is intended for maintainers to use"
+ @echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-generic clean-libtool clean-pkglibLTLIBRARIES \
+ mostlyclean-am
+
+distclean: distclean-am
+ -rm -rf ./$(DEPDIR)
+ -rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+ distclean-tags
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+info: info-am
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-am
+
+install-exec-am: install-pkglibLTLIBRARIES
+
+install-html: install-html-am
+
+install-info: install-info-am
+
+install-man:
+
+install-pdf: install-pdf-am
+
+install-ps: install-ps-am
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+ -rm -rf ./$(DEPDIR)
+ -rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-compile mostlyclean-generic \
+ mostlyclean-libtool
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+uninstall-am: uninstall-pkglibLTLIBRARIES
+
+.MAKE: install-am install-strip
+
+.PHONY: CTAGS GTAGS all all-am check check-am clean clean-generic \
+ clean-libtool clean-pkglibLTLIBRARIES ctags distclean \
+ distclean-compile distclean-generic distclean-libtool \
+ distclean-tags distdir dvi dvi-am html html-am info info-am \
+ install install-am install-data install-data-am install-dvi \
+ install-dvi-am install-exec install-exec-am install-html \
+ install-html-am install-info install-info-am install-man \
+ install-pdf install-pdf-am install-pkglibLTLIBRARIES \
+ install-ps install-ps-am install-strip installcheck \
+ installcheck-am installdirs maintainer-clean \
+ maintainer-clean-generic mostlyclean mostlyclean-compile \
+ mostlyclean-generic mostlyclean-libtool pdf pdf-am ps ps-am \
+ tags uninstall uninstall-am uninstall-pkglibLTLIBRARIES
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:
Added: trunk/spark/plugin/imageperceptor/export.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/export.cpp (rev 0)
+++ trunk/spark/plugin/imageperceptor/export.cpp 2009-01-22 11:21:46 UTC (rev 30)
@@ -0,0 +1,26 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "imageperceptor.h"
+#include <zeitgeist/zeitgeist.h>
+
+ZEITGEIST_EXPORT_BEGIN()
+ ZEITGEIST_EXPORT(ImagePerceptor);
+ZEITGEIST_EXPORT_END()
Added: trunk/spark/plugin/imageperceptor/imageperceptor.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.cpp (rev 0)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2009-01-22 11:21:46 UTC (rev 30)
@@ -0,0 +1,210 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+// #include <IL/il.h>
+// #include <IL/ilu.h>
+// #include <sstream>
+#include <GL/gl.h>
+#include "imageperceptor.h"
+#include <zeitgeist/logserver/logserver.h>
+
+#define USE_FBO
+
+// using namespace kerosin;
+using namespace oxygen;
+using namespace boost;
+using namespace zeitgeist;
+using namespace salt;
+using namespace std;
+
+ImagePerceptor::ImagePerceptor() : oxygen::Perceptor()
+{
+ mFramesRendered = 0;
+}
+
+ImagePerceptor::~ImagePerceptor()
+{
+}
+
+#define REG_GL_EXT_FUN(_ptr, _function) \
+ static _ptr _function = (_ptr) mOpenGLServer->GetExtension(#_function); \
+ if ( !_function ){ \
+ GetLog()->Error()<<"(Image Perceptor) ERROR: can not get "#_function"\n"; \
+ }
+
+void ImagePerceptor::OnLink()
+{
+ mCamera = shared_dynamic_cast<Camera>( GetCore()->New("oxygen/Camera") );
+ if ( 0 != mCamera.get() )
+ {
+ AddChildReference(mCamera);
+ }
+ else
+ {
+ GetLog()->Error()
+ <<"(ImagePerceptor) ERROR: can not create camera\n";
+ }
+
+ RegisterCachedPath(mRenderServer, "/sys/server/render");
+
+ if (mRenderServer.expired())
+ {
+ GetLog()->Error()
+ << "(ImagePerceptor) ERROR: RenderServer not found\n";
+ }
+
+ RegisterCachedPath(mOpenGLServer,"/sys/server/opengl");
+
+ if (mOpenGLServer.expired())
+ {
+ GetLog()->Error()
+ << "(ImagePerceptor) ERROR: OpenGLServer not found\n";
+ }
+
+ // create a framebuffer object
+ REG_GL_EXT_FUN( PFNGLGENFRAMEBUFFERSEXTPROC, glGenFramebuffersEXT );
+ REG_GL_EXT_FUN( PFNGLGENRENDERBUFFERSEXTPROC, glGenRenderbuffersEXT);
+
+ glGenFramebuffersEXT(1, &mFBOId);
+ glGenRenderbuffersEXT(1, &mRBOId);
+ glGenRenderbuffersEXT(1, &mDepthBuffer);
+
+}
+
+void ImagePerceptor::OnUnlink()
+{
+ REG_GL_EXT_FUN( PFNGLDELETEFRAMEBUFFERSEXTPROC, glDeleteFramebuffersEXT );
+ REG_GL_EXT_FUN( PFNGLDELETERENDERBUFFERSEXTPROC, glDeleteRenderbuffersEXT );
+ glDeleteFramebuffersEXT(1, &mFBOId);
+ glDeleteRenderbuffersEXT(1, &mRBOId);
+}
+
+bool ImagePerceptor::Percept(boost::shared_ptr<PredicateList> predList)
+{
+ if ( !Render() )
+ return false;
+
+ Predicate &predicate = predList->AddPredicate();
+ predicate.name = "Image";
+ predicate.parameter.Clear();
+
+ // ParameterList &sizeElement = predicate.parameter.AddList();
+ // sizeElement.AddValue(std::string("s"));
+ // sizeElement.AddValue(mCamera->GetViewportWidth());
+ // sizeElement.AddValue(mCamera->GetViewportHeight());
+
+ predicate.parameter.AddValue(mData);
+ return true;
+}
+
+bool ImagePerceptor::Render()
+{
+ if (
+ (mOpenGLServer.expired()) ||
+ (mRenderServer.expired())
+ )
+ {
+ return false;
+ }
+
+ int w = mCamera->GetViewportWidth();
+ int h = mCamera->GetViewportHeight();
+
+#ifdef USE_FBO
+ REG_GL_EXT_FUN( PFNGLBINDFRAMEBUFFEREXTPROC, glBindFramebufferEXT );
+ REG_GL_EXT_FUN( PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC, glFramebufferRenderbufferEXT );
+ REG_GL_EXT_FUN( PFNGLRENDERBUFFERSTORAGEEXTPROC, glRenderbufferStorageEXT );
+ REG_GL_EXT_FUN( PFNGLBINDRENDERBUFFEREXTPROC, glBindRenderbufferEXT);
+ REG_GL_EXT_FUN( PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC, glCheckFramebufferStatusEXT );
+
+
+ glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, mFBOId);
+ glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, mRBOId);
+ glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_RGB, w, h);
+ glFramebufferRenderbufferEXT(GL_FRAMEBUFFER_EXT, GL_COLOR_ATTACHMENT0_EXT,
+ GL_RENDERBUFFER_EXT, mRBOId);
+
+ glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, mDepthBuffer);
+ glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_DEPTH_COMPONENT, w, h);
+ glFramebufferRenderbufferEXT(GL_FRAMEBUFFER_EXT, GL_DEPTH_ATTACHMENT_EXT, GL_RENDERBUFFER_EXT, mDepthBuffer);
+
+
+ // check FBO status
+ GLenum status = glCheckFramebufferStatusEXT(GL_FRAMEBUFFER_EXT);
+ if(status != GL_FRAMEBUFFER_COMPLETE_EXT){
+ GetLog()->Error()<<"fbo error!\n";
+ }
+#endif
+
+ // setup the camera
+ boost::shared_ptr<Camera> oldCamera = mRenderServer->GetCamera();
+ mRenderServer->SetCamera(mCamera);
+ mRenderServer->Render();
+
+#ifdef USE_FBO
+#else
+ glReadBuffer(GL_BACK);
+#endif
+ int size = 3*w*h;
+ if ( mData.size() != size )
+ mData.resize(size);
+ glReadPixels(0, 0,
+ w, h,
+ GL_RGB,
+ GL_UNSIGNED_BYTE,
+ const_cast<char*>(mData.data()));
+
+ ++mFramesRendered;
+#ifdef USE_FBO
+ // unbind FBO
+ glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, 0);
+#endif
+ mRenderServer->SetCamera(oldCamera);
+
+ return true;
+}
+
+void ImagePerceptor::SetViewport(unsigned int x, unsigned int y, unsigned int w, unsigned int h)
+{
+ if ( 0!= mCamera ){
+ mCamera->SetViewport(x,y,w,h);
+ }
+}
+
+void ImagePerceptor::SetFOV(float fov)
+{
+ if ( 0!= mCamera ){
+ mCamera->SetFOV(fov);
+ }
+}
+
+void ImagePerceptor::SetZNear(float zNear)
+{
+ if ( 0!= mCamera ){
+ mCamera->SetZNear(zNear);
+ }
+}
+
+void ImagePerceptor::SetZFar(float zFar)
+{
+ if ( 0!= mCamera ){
+ mCamera->SetZFar(zFar);
+ }
+}
Added: trunk/spark/plugin/imageperceptor/imageperceptor.h
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.h (rev 0)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.h 2009-01-22 11:21:46 UTC (rev 30)
@@ -0,0 +1,73 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef IMAGEPERCEPTOR_H
+#define IMAGEPERCEPTOR_H
+
+#include <oxygen/agentaspect/perceptor.h>
+#include <oxygen/sceneserver/camera.h>
+#include <oxygen/sceneserver/sceneserver.h>
+#include <kerosin/renderserver/baserenderserver.h>
+#include <kerosin/openglserver/openglserver.h>
+
+class ImagePerceptor : public oxygen::Perceptor
+{
+public:
+ ImagePerceptor();
+ virtual ~ImagePerceptor();
+
+ //! \return true, if valid data is available and false otherwise.
+ bool Percept(boost::shared_ptr<oxygen::PredicateList> predList);
+
+ bool Render();
+
+ virtual void OnLink();
+ virtual void OnUnlink();
+
+ void SetViewport(unsigned int x, unsigned int y, unsigned int w, unsigned int h);
+
+ void SetFOV(float fov);
+
+ void SetZNear(float zNear);
+
+ void SetZFar(float zFar);
+
+private:
+ boost::shared_ptr<oxygen::Camera> mCamera;
+
+ /** cached reference to the RenderServer */
+ CachedPath<kerosin::BaseRenderServer> mRenderServer;
+
+ /** cached reference to the OpenGLServer */
+ CachedPath<kerosin::OpenGLServer> mOpenGLServer;
+
+ /** total frames rendered */
+ int mFramesRendered;
+
+ std::string mData;
+
+ unsigned int mFBOId;
+ unsigned int mRBOId;
+ unsigned int mDepthBuffer;
+};
+
+DECLARE_CLASS(ImagePerceptor);
+
+#endif //IMAGEPERCEPTOR_H
Added: trunk/spark/plugin/imageperceptor/imageperceptor_c.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor_c.cpp (rev 0)
+++ trunk/spark/plugin/imageperceptor/imageperceptor_c.cpp 2009-01-22 11:21:46 UTC (rev 30)
@@ -0,0 +1,100 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "imageperceptor.h"
+
+using namespace boost;
+using namespace oxygen;
+
+FUNCTION(ImagePerceptor, setViewport)
+{
+ unsigned int x,y,w,h;
+
+ if (
+ (in.GetSize() != 4) ||
+ (! in.GetValue(in[0], x) ) ||
+ (! in.GetValue(in[1], y) ) ||
+ (! in.GetValue(in[2], w) ) ||
+ (! in.GetValue(in[3], h) )
+ )
+ {
+ return false;
+ }
+
+ obj->SetViewport(x, y, w, h);
+ return true;
+}
+
+FUNCTION(ImagePerceptor, setFOV)
+{
+ float fov;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in[0], fov) )
+ )
+ {
+ return false;
+ }
+
+ obj->SetFOV(fov);
+ return true;
+}
+
+FUNCTION(ImagePerceptor, setZNear)
+{
+ float zNear;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in[0], zNear) )
+ )
+ {
+ return false;
+ }
+
+ obj->SetZNear(zNear);
+ return true;
+}
+
+FUNCTION(ImagePerceptor, setZFar)
+{
+ float zFar;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in[0], zFar) )
+ )
+ {
+ return false;
+ }
+
+ obj->SetZFar(zFar);
+ return true;
+}
+
+void CLASS(ImagePerceptor)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/Perceptor);
+ DEFINE_FUNCTION(setViewport);
+ DEFINE_FUNCTION(setFOV);
+ DEFINE_FUNCTION(setZNear);
+ DEFINE_FUNCTION(setZFar);
+}
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