Merge pull request #789 from acornacorn/acorn_stereo2_indigo

Improve stereo rendering
ros-visualization · Jul 17, 2014 · 8a010bb · 8a010bb
2 parents 39aa5b8 + 9721c1c
commit 8a010bb
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Showing 4 changed files with 75 additions and 14 deletions.
diff --git a/src/rviz/default_plugin/relative_humidity_display.cpp b/src/rviz/default_plugin/relative_humidity_display.cpp
@@ -27,8 +27,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <OGRE/OgreSceneNode.h>
-#include <OGRE/OgreSceneManager.h>
+#include <OgreSceneNode.h>
+#include <OgreSceneManager.h>
 
 #include <ros/time.h>
 

diff --git a/src/rviz/ogre_helpers/qt_ogre_render_window.cpp b/src/rviz/ogre_helpers/qt_ogre_render_window.cpp
@@ -59,6 +59,7 @@ QtOgreRenderWindow::QtOgreRenderWindow( QWidget* parent )
   , background_color_( Ogre::ColourValue::Black ) // matches the default of Ogre::Viewport.
   , stereo_enabled_( false )
   , rendering_stereo_( false )
+  , left_camera_( 0 )
   , right_camera_( 0 )
   , right_viewport_( 0 )
 {
@@ -126,6 +127,9 @@ void QtOgreRenderWindow::setupStereo()
     viewport_->setDrawBuffer(Ogre::CBT_BACK);
 #endif
 
+    if (left_camera_)
+      left_camera_->getSceneManager()->destroyCamera( left_camera_ );
+    left_camera_ = NULL;
     if (right_camera_)
       right_camera_->getSceneManager()->destroyCamera( right_camera_ );
     right_camera_ = NULL;
@@ -139,18 +143,68 @@ void QtOgreRenderWindow::preViewportUpdate(
 {
   Ogre::Viewport* viewport = evt.source;
 
-  if (viewport != right_viewport_)
-    return;
+  const Ogre::Vector2& offset = camera_->getFrustumOffset();
+  const Ogre::Vector3 pos = camera_->getPosition();
+  const Ogre::Vector3 right = camera_->getRight();
+  const Ogre::Vector3 up = camera_->getUp();
 
-  if (camera_->getProjectionType() != Ogre::PT_PERSPECTIVE || !right_camera_)
+  if (viewport == right_viewport_)
   {
-    viewport->setCamera( camera_ );
-    return;
+    if (camera_->getProjectionType() != Ogre::PT_PERSPECTIVE || !right_camera_)
+    {
+      viewport->setCamera( camera_ );
+      return;
+    }
+
+    Ogre::Vector3 newpos = pos
+                           + right * offset.x
+                           + up * offset.y;
+
+    right_camera_->synchroniseBaseSettingsWith(camera_);
+    right_camera_->setFrustumOffset(-offset);
+    right_camera_->setPosition(newpos);
+    viewport->setCamera(right_camera_);
+  }
+  else if (viewport == viewport_)
+  {
+    if (camera_->getProjectionType() != Ogre::PT_PERSPECTIVE || !left_camera_)
+    {
+      viewport->setCamera( camera_ );
+      return;
+    }
+
+    Ogre::Vector3 newpos = pos
+                           - right * offset.x
+                           - up * offset.y;
+
+    left_camera_->synchroniseBaseSettingsWith(camera_);
+    left_camera_->setFrustumOffset(offset);
+    left_camera_->setPosition(newpos);
+    viewport->setCamera(left_camera_);
+  }
+  else
+  {
+    ROS_WARN("Begin rendering to unknown viewport.");
+  }
+}
+
+void QtOgreRenderWindow::postViewportUpdate(
+      const Ogre::RenderTargetViewportEvent& evt)
+{
+  Ogre::Viewport* viewport = evt.source;
+
+  if (viewport == right_viewport_)
+  {
+    // nothing to do here
+  }
+  else if (viewport == viewport_)
+  {
+    viewport->setCamera(camera_);
+  }
+  else
+  {
+    ROS_WARN("End rendering to unknown viewport.");
   }
-
-  right_camera_->synchroniseBaseSettingsWith(camera_);
-  right_camera_->setFrustumOffset(-camera_->getFrustumOffset());
-  right_viewport_->setCamera(right_camera_);
 }
 
 Ogre::Viewport* QtOgreRenderWindow::getViewport () const
@@ -167,6 +221,10 @@ void QtOgreRenderWindow::setCamera( Ogre::Camera* camera )
 
     setCameraAspectRatio();
 
+    if (camera_ && rendering_stereo_ && !left_camera_)
+    {
+      left_camera_ = camera_->getSceneManager()->createCamera(camera_->getName() + "-left");
+    }
     if (camera_ && rendering_stereo_ && !right_camera_)
     {
       right_camera_ = camera_->getSceneManager()->createCamera(camera_->getName() + "-right");

diff --git a/src/rviz/ogre_helpers/qt_ogre_render_window.h b/src/rviz/ogre_helpers/qt_ogre_render_window.h
@@ -119,8 +119,10 @@ class QtOgreRenderWindow : public RenderWidget, public Ogre::RenderTargetListene
   virtual void paintEvent( QPaintEvent* e );
   virtual void resizeEvent( QResizeEvent* event );
 
-  // When stereo is enabled, this is called before rendering each viewport.
+  // When stereo is enabled, these are called before/after rendering each
+  // viewport.
   virtual void preViewportUpdate(const Ogre::RenderTargetViewportEvent& evt);
+  virtual void postViewportUpdate(const Ogre::RenderTargetViewportEvent& evt);
 
   /**
    * Sets the aspect ratio on the camera
@@ -151,6 +153,7 @@ class QtOgreRenderWindow : public RenderWidget, public Ogre::RenderTargetListene
   // stereo rendering
   bool stereo_enabled_;				// true if we were asked to render stereo
   bool rendering_stereo_;			// true if we are actually rendering stereo
+  Ogre::Camera* left_camera_;
   Ogre::Camera* right_camera_;
   Ogre::Viewport* right_viewport_;
 };

diff --git a/src/rviz/view_controller.cpp b/src/rviz/view_controller.cpp
@@ -260,8 +260,8 @@ void ViewController::updateStereoProperties()
   {
     float focal_dist = stereo_focal_distance_->getFloat();
     float eye_sep = stereo_eye_swap_->getBool() ?
-                    stereo_eye_separation_->getFloat() :
-                    -stereo_eye_separation_->getFloat();
+                    -stereo_eye_separation_->getFloat() :
+                    stereo_eye_separation_->getFloat();
     camera_->setFrustumOffset(0.5f * eye_sep, 0.0f);
     camera_->setFocalLength(focal_dist);
     stereo_eye_swap_->show();