Revision: 8260
http://playerstage.svn.sourceforge.net/playerstage/?rev=8260&view=rev
Author: hsujohnhsu
Date: 2009-09-20 07:27:21 +0000 (Sun, 20 Sep 2009)
Log Message:
-----------
make Image search through gazebo resource paths on Image::Load() call. Update
HeightmapGeom and MapGeom accordingly.
Modified Paths:
--------------
code/gazebo/trunk/server/physics/HeightmapGeom.cc
code/gazebo/trunk/server/physics/MapGeom.cc
code/gazebo/trunk/server/rendering/Image.cc
Modified: code/gazebo/trunk/server/physics/HeightmapGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/HeightmapGeom.cc 2009-09-14 17:26:16 UTC
(rev 8259)
+++ code/gazebo/trunk/server/physics/HeightmapGeom.cc 2009-09-20 07:27:21 UTC
(rev 8260)
@@ -112,7 +112,7 @@
/// Load the heightmap
void HeightmapGeom::LoadChild(XMLConfigNode *node)
{
- Image tmpImage;
+ Image img;
this->imageFilenameP->Load(node);
this->worldTextureP->Load(node);
@@ -121,16 +121,18 @@
this->offsetP->Load(node);
// Use the image to get the size of the heightmap
- tmpImage.Load( (**this->imageFilenameP) );
+ img.Load( (**this->imageFilenameP) );
// Width and height must be the same
- if (tmpImage.GetWidth() != tmpImage.GetHeight())
+ if (img.GetWidth() != img.GetHeight())
{
gzthrow("Heightmap image must be square\n");
}
this->terrainSize = (**this->sizeP);
- this->odeVertSize = tmpImage.GetWidth() * 4;
+
+ // sampling size along image width and height
+ this->odeVertSize = img.GetWidth() * 4;
this->odeScale = this->terrainSize / this->odeVertSize;
@@ -156,13 +158,13 @@
this->odeData,
this,
HeightmapGeom::GetHeightCallback,
- this->terrainSize.x,
- this->terrainSize.y,
- this->odeVertSize,
- this->odeVertSize,
- 1.0, // scale
- 0.0, // vertical offset
- 0.0, // vertical thickness
+ this->terrainSize.x, // in meters
+ this->terrainSize.y, // in meters
+ this->odeVertSize, // width sampling size
+ this->odeVertSize, // depth sampling size (along height of image)
+ 1.0, // vertical (z-axis) scaling
+ 0.0, // vertical (z-axis) offset
+ 0.1, // vertical thickness for closing the height map mesh
0 // wrap mode
);
Modified: code/gazebo/trunk/server/physics/MapGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/MapGeom.cc 2009-09-14 17:26:16 UTC (rev
8259)
+++ code/gazebo/trunk/server/physics/MapGeom.cc 2009-09-20 07:27:21 UTC (rev
8260)
@@ -109,21 +109,8 @@
// Load the image
this->mapImage = new Image();
+ this->mapImage->Load(imageFilename);
- std::list<std::string>::iterator iter;
- GazeboConfig *gzcfg = Simulator::Instance()->GetGazeboConfig();
- std::string filename;
-
- for (iter = gzcfg->GetGazeboPaths().begin();
- iter != gzcfg->GetGazeboPaths().end(); iter++)
- {
- filename = (*iter) + "/Media/materials/textures/" + imageFilename;
- if (this->mapImage->Load(filename) >= 0)
- {
- break;
- }
- }
-
if (!this->mapImage->Valid())
gzthrow(std::string("Unable to open image file[") + imageFilename + "]" );
Modified: code/gazebo/trunk/server/rendering/Image.cc
===================================================================
--- code/gazebo/trunk/server/rendering/Image.cc 2009-09-14 17:26:16 UTC (rev
8259)
+++ code/gazebo/trunk/server/rendering/Image.cc 2009-09-20 07:27:21 UTC (rev
8260)
@@ -28,12 +28,16 @@
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
+#include <dirent.h>
+#include <string.h>
//#include <GL/gl.h>
#include "Vector3.hh"
#include "GazeboMessage.hh"
#include "Image.hh"
+#include "Simulator.hh"
+#include "GazeboConfig.hh"
using namespace gazebo;
@@ -72,31 +76,67 @@
{
struct stat st;
- if (stat(filename.c_str(), &st) != 0)
+ // @todo: fix path search. for now repeat similar path search in OgreAdaptor
+ std::list<std::string>
gazeboPaths=Simulator::Instance()->GetGazeboConfig()->GetGazeboPaths();
+
+ for (std::list<std::string>::iterator iter=gazeboPaths.begin();
+ iter!=gazeboPaths.end(); ++iter)
{
- gzerr(5) << "Unable to open image file[" << filename << "]\n";
- return -1;
- }
+ std::vector<std::string> pathNames;
+ pathNames.push_back((*iter)+"/Media");
+ pathNames.push_back((*iter)+"/Media/fonts");
+ pathNames.push_back((*iter)+"/Media/materials/programs");
+ pathNames.push_back((*iter)+"/Media/materials/scripts");
+ pathNames.push_back((*iter)+"/Media/materials/textures");
+ pathNames.push_back((*iter)+"/Media/models");
+ pathNames.push_back((*iter)+"/Media/sets");
+ pathNames.push_back((*iter)+"/Media/maps");
- FREE_IMAGE_FORMAT fifmt = FreeImage_GetFIFFromFilename(filename.c_str());
+ for (std::vector<std::string>::iterator piter =
pathNames.begin();piter!=pathNames.end();piter++)
+ {
+ std::string path(*piter);
+ DIR *dir=opendir(path.c_str());
- if (this->bitmap)
- FreeImage_Unload(this->bitmap);
- this->bitmap = NULL;
+ //std::cout << "searching path[" << path << "]\n";
+ // if directory exist
+ if (dir != NULL)
+ {
+ closedir(dir);
- if (fifmt == FIF_PNG)
- this->bitmap = FreeImage_Load(fifmt, filename.c_str(), PNG_DEFAULT);
- else if (fifmt == FIF_JPEG)
- this->bitmap = FreeImage_Load(fifmt, filename.c_str(), JPEG_DEFAULT);
- else if (fifmt == FIF_BMP)
- this->bitmap = FreeImage_Load(fifmt, filename.c_str(), BMP_DEFAULT);
- else
- {
- std::cerr << "Unknown image format[" << filename << "]\n";
- return -1;
+ std::string fullName = (((*piter)+"/")+filename);
+ //std::cout << "searching file[" << fullName << "]\n";
+ // if file exist
+ if (stat(fullName.c_str(), &st) == 0)
+ {
+ FREE_IMAGE_FORMAT fifmt =
FreeImage_GetFIFFromFilename(fullName.c_str());
+
+ if (this->bitmap)
+ FreeImage_Unload(this->bitmap);
+ this->bitmap = NULL;
+
+ if (fifmt == FIF_PNG)
+ this->bitmap = FreeImage_Load(fifmt, fullName.c_str(),
PNG_DEFAULT);
+ else if (fifmt == FIF_JPEG)
+ this->bitmap = FreeImage_Load(fifmt, fullName.c_str(),
JPEG_DEFAULT);
+ else if (fifmt == FIF_BMP)
+ this->bitmap = FreeImage_Load(fifmt, fullName.c_str(),
BMP_DEFAULT);
+ else
+ {
+ gzerr(5) << "Unknown image format[" << fullName << "]\n";
+ return -1;
+ }
+
+ return 0;
+ }
+ }
+
+ }
+
}
- return 0;
+ gzerr(5) << "Unable to open image file[" << filename << "]\n";
+ return -1;
+
}
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