void PerspectiveRangeCamera::setupLens() {
PointerTo<Lens> lens = new PerspectiveLens();
lens->set_near_far(rangeLimits[0], rangeLimits[1]);
lens->set_fov(fov[0]*180.0/M_PI, fov[1]*180.0/M_PI);
setupCamera(lens);
set_hpr(angles[0]*180.0/M_PI-90.0, angles[1]*180.0/M_PI, 0.0);
}
void RangeCamera::setupCamera(PointerTo<Lens> lens) {
depthMap.set_format(Texture::F_depth_component);
depthMap.set_component_type(Texture::T_unsigned_short);
depthMap.set_minfilter(Texture::FT_nearest);
depthMap.set_magfilter(Texture::FT_nearest);
buffer = Morsel::getWindow(0)->make_texture_buffer("DepthMap",
resolution[0], resolution[1], &depthMap, true);
cameraNode = new Camera("Camera");
cameraNode->set_camera_mask(cameraMask);
cameraNode->set_scene(Morsel::getGSG()->get_scene()->get_scene_root());
cameraNode->set_lens(lens);
camera = attach_new_node(cameraNode);
camera.set_light_off(numeric_limits<int>::max());
camera.set_material_off(numeric_limits<int>::max());
camera.set_color_off(numeric_limits<int>::max());
camera.set_transparency(TransparencyAttrib::M_none);
PointerTo<DisplayRegion> drd = buffer->make_display_region();
drd->set_sort(0);
drd->set_camera(camera);
if (acquireColor) {
colorMap.set_minfilter(Texture::FT_nearest);
colorMap.set_magfilter(Texture::FT_nearest);
buffer->add_render_texture(&colorMap, GraphicsOutput::RTM_copy_ram,
DrawableRegion::RTP_color);
}
else if (!acquireLabel.empty()) {
labelMap.set_minfilter(Texture::FT_nearest);
labelMap.set_magfilter(Texture::FT_nearest);
buffer->add_render_texture(&labelMap, GraphicsOutput::RTM_copy_ram,
DrawableRegion::RTP_color);
program.define("LABEL", acquireLabel);
shader = program.make();
NodePath shaderAttrib("ShaderLabel");
shaderAttrib.set_shader(shader);
shaderAttrib.set_shader_input(acquireLabel, Color::intToRgb(0));
cameraNode->set_initial_state(shaderAttrib.get_state());
buffer->set_clear_color(Color::intToRgb(0));
}
}
void ImageSensor::setupCamera() {
PointerTo<GraphicsOutput> window = Morsel::getWindow(0);
colorBuffer = window->make_texture_buffer("ColorMap", resolution[0],
resolution[1], &colorMap, true);
PointerTo<Lens> lens = new PerspectiveLens();
lens->set_near_far(rangeLimits[0], rangeLimits[1]);
lens->set_view_vector(1.0, 0.0, 0.0, 0.0, 0.0, 1.0);
lens->set_film_size(filmSize[0], filmSize[1]);
lens->set_focal_length(focalLength);
cameraNode = new Camera("Camera");
cameraNode->set_camera_mask(cameraMask);
cameraNode->set_scene(Morsel::getGSG()->get_scene()->get_scene_root());
camera = attach_new_node(cameraNode);
cameraNode->set_lens(lens);
PointerTo<DisplayRegion> drc = colorBuffer->make_display_region();
drc->set_sort(0);
drc->set_camera(camera);
}