void EditableSceneBodyImpl::attachPositionDragger(Link* link)
{
SceneLink* sceneLink = self->sceneLink(link->index());
double r = sceneLink->untransformedBoundingBox().boundingSphereRadius();
positionDragger->setRadius(r);
sceneLink->addChild(positionDragger);
}
SgCamera* VisionRenderer::initializeCamera()
{
SgCamera* sceneCamera = 0;
SceneBody* sceneBody = sceneBodies[bodyIndex];
if(camera){
SceneDevice* sceneDevice = sceneBody->getSceneDevice(device);
if(sceneDevice){
sceneCamera = sceneDevice->findNodeOfType<SgCamera>();
pixelWidth = camera->resolutionX();
pixelHeight = camera->resolutionY();
double frameRate = std::max(0.1, std::min(camera->frameRate(), simImpl->maxFrameRate));
cycleTime = 1.0 / frameRate;
if(simImpl->isVisionDataRecordingEnabled){
camera->setImageStateClonable(true);
}
}
} else if(rangeSensor){
const double thresh = (170.0 * PI / 180.0); // 170[deg]
bool isWithinPossibleRanges =
(rangeSensor->yawRange() < thresh) && (rangeSensor->pitchRange() < thresh);
if(isWithinPossibleRanges){
SceneLink* sceneLink = sceneBody->sceneLink(rangeSensor->link()->index());
if(sceneLink){
SgPerspectiveCamera* persCamera = new SgPerspectiveCamera;
sceneCamera = persCamera;
persCamera->setNearDistance(rangeSensor->minDistance());
persCamera->setFarDistance(rangeSensor->maxDistance());
SgPosTransform* cameraPos = new SgPosTransform();
cameraPos->setTransform(rangeSensor->T_local());
cameraPos->addChild(persCamera);
sceneLink->addChild(cameraPos);
if(rangeSensor->yawRange() > rangeSensor->pitchRange()){
pixelWidth = rangeSensor->yawResolution() * simImpl->rangeSensorPrecisionRatio;
if(rangeSensor->pitchRange() == 0.0){
pixelHeight = 1;
double r = tan(rangeSensor->yawRange() / 2.0) * 2.0 / pixelWidth;
persCamera->setFieldOfView(atan2(r / 2.0, 1.0) * 2.0);
} else {
pixelHeight = rangeSensor->pitchResolution() * simImpl->rangeSensorPrecisionRatio;
persCamera->setFieldOfView(rangeSensor->pitchRange());
}
} else {
pixelHeight = rangeSensor->pitchResolution() * simImpl->rangeSensorPrecisionRatio;
if(rangeSensor->yawRange() == 0.0){
pixelWidth = 1;
double r = tan(rangeSensor->pitchRange() / 2.0) * 2.0 / pixelHeight;
persCamera->setFieldOfView(atan2(r / 2.0, 1.0) * 2.0);
} else {
pixelWidth = rangeSensor->yawResolution() * simImpl->rangeSensorPrecisionRatio;
persCamera->setFieldOfView(rangeSensor->yawRange());
}
}
double frameRate = std::max(0.1, std::min(rangeSensor->frameRate(), simImpl->maxFrameRate));
cycleTime = 1.0 / frameRate;
if(simImpl->isVisionDataRecordingEnabled){
rangeSensor->setRangeDataStateClonable(true);
}
depthError = simImpl->depthError;
}
}
}
return sceneCamera;
}
void EditableSceneBodyImpl::attachPositionDragger(Link* link)
{
SceneLink* sceneLink = self->sceneLink(link->index());
positionDragger->adjustSize(sceneLink->untransformedBoundingBox());
sceneLink->addChild(positionDragger);
}
