~robot3d-team/robot3d/trunk

/*

 * depthImageCamera.cpp

 *

 *  Created on: Dec 29, 2008

 *      Author: winkler

 */

 

#include "depthImageCamera.h"

 

namespace srCore {

 

DepthImageCamera::DepthImageCamera(dtCore::RefPtr<BodyBase> attachedTo, osg::Vec3 pos, osg::Vec3 orient, float flareAngle, osg::Vec2 resolution, const std::string &name):

        CameraSensorBase(attachedTo, pos, orient, name, "DepthImageCamera", DEPTH_CAMERA, true)

{

 

        // set up camera properties

        this->minDistance = 0.3;

        this->maxDistance = 256;

        this->resolution = resolution;

        this->flareAngle = flareAngle;

        this->cameraType = DEPTH_CAMERA;

 

        if ((flareAngle>0) && (flareAngle != M_PI/4) ) {

 

                this->frustumDown = tan(flareAngle/2) * this->minDistance;

                this->frustumUp = tan(flareAngle/2) * this->minDistance;

                this->frustumRight = tan(flareAngle/2) * this->minDistance;

                this->frustumLeft = tan(flareAngle/2) * this->minDistance;

 

        }

 

        //this->init(attachedTo, pos, orient);

        this->setup();

        //this->type = "DepthImageCamera";

 

        this->sensorReturnValueType = typeid(osg::Image**).name();

 

}

 

 

void DepthImageCamera::evaluate(ParameterReturnValue srv)

{

 

        /*

        osg::Image* image = new osg::Image;

 

        int x = static_cast<int>(this->camera->GetOSGCamera()->getViewport()->x());

        int y = static_cast<int>(this->camera->GetOSGCamera()->getViewport()->y());

        unsigned int width = static_cast<unsigned int>(this->camera->GetOSGCamera()->getViewport()->width());

        unsigned int height = static_cast<unsigned int>(this->camera->GetOSGCamera()->getViewport()->height());

 

        printf("%s: Viewport x: %d Viewport y: %d Höhe: %d, Breite: %d \n", this->camera->GetName().c_str(), x, y, height, width);

 

        image->allocateImage(width, height, 1, GL_RGB, GL_UNSIGNED_BYTE);

        image->readPixels(x, y, width, height, GL_RGB, GL_UNSIGNED_BYTE);

        */

 

        //osg::ref_ptr<osg::Image> image = getRawData();

        //srv = MAKE_SENSOR_VALUE(&image);

 

        // sensor value type check

        if (srv.type!=typeid(osg::Image**).name()) printf("Parameter type needs to be osg::Image**. Casting could lead to errors.  \n "

                        "Parameter given: %s \n", srv.type.data());

 

        // cast void* to Image**

        osg::Image** data = reinterpret_cast<osg::Image**> (srv.pValue);

 

        // create image consisting of the raw data values

        value = new osg::Image(*getRawData());

 

        // put back these values to the sensor return value

        *data = value;

        srv.pValue = data;

 

        //value->unref();

}

 

}