added a virtual camera component

git-svn-id: https://hrpsys-base.googlecode.com/svn/trunk@100 a991ac11-fb38-5095-8c12-a1ddb0715245
snozawa · Mar 28, 2012 · 1f301bd · 1f301bd
1 parent 5af553b
commit 1f301bd
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Showing 29 changed files with 2,007 additions and 41 deletions.
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
@@ -12,6 +12,7 @@ set(input_files package.h
  ../rtc/Simulator/Simulator.txt
  ../rtc/StateHolder/StateHolder.txt
  ../rtc/Viewer/Viewer.txt
+ ../rtc/VirtualCamera/VirtualCamera.txt
  ../rtc/WavPlayer/WavPlayer.txt
  ../hrplib/hrpIo/iob.h
  ../idl/DataLoggerService.idl

diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in
@@ -481,6 +481,7 @@ INPUT = @CMAKE_CURRENT_SOURCE_DIR@/package.h \
  @CMAKE_CURRENT_SOURCE_DIR@/../rtc/StateHolder \
  @CMAKE_CURRENT_SOURCE_DIR@/../rtc/VideoCapture \
  @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Viewer \
+ @CMAKE_CURRENT_SOURCE_DIR@/../rtc/VirtualCamera \
  @CMAKE_CURRENT_SOURCE_DIR@/../rtc/WavPlayer \
  @CMAKE_CURRENT_SOURCE_DIR@/../hrplib/hrpIo/iob.h \
  @CMAKE_CURRENT_SOURCE_DIR@/../idl \

diff --git a/doc/package.h b/doc/package.h
@@ -36,6 +36,7 @@ To use jython scripts to create RT components, connect ports and get/set propert
  <li>\ref StateHolder</li>
  <li>\ref Viewer</li>
  <li>\ref VideoCapture</li>
+ <li>\ref VirtualCamera</li>
  <li>\ref WavPlayer</li>
  </ul>
  <li>Services provided by basic RT components</li>

diff --git a/rtc/CMakeLists.txt b/rtc/CMakeLists.txt
@@ -1,7 +1,6 @@
 set(idl_flags -bcxx -Wbuse_quotes -Wbh=.hh -Wbs=Sk.cpp -Wba -Wbd=DynSk.cpp -I${OPENRTM_IDL_DIR})
-set(package_path OpenHRP)
 
-macro(generate_stub_skel idl_basename)
+macro(generate_stub_skel idl_basename package_path)
 
  set(idl_file ${CMAKE_CURRENT_SOURCE_DIR}/../../idl/${idl_basename}.idl)
  set(jarfile ${CMAKE_CURRENT_BINARY_DIR}/${idl_basename}.jar)
@@ -26,32 +25,6 @@ macro(generate_stub_skel idl_basename)
 
 endmacro()
 
-macro(generate_stub_skel_pkg idl_basename package_path)
-
- set(idl_file ${CMAKE_CURRENT_SOURCE_DIR}/../../idl/${idl_basename}.idl)
- set(jarfile ${CMAKE_CURRENT_BINARY_DIR}/${idl_basename}.jar)
-
- add_custom_command(
- OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${idl_basename}.hh ${CMAKE_CURRENT_BINARY_DIR}/${idl_basename}Sk.cpp ${CMAKE_CURRENT_BINARY_DIR}/${idl_basename}DynSk.cpp ${jarfile} #${CMAKE_CURRENT_BINARY_DIR}/../../python/${idl_basename}_idl.py
- COMMAND omniidl ${idl_flags} ${idl_file}
-# COMMAND omniidl -bpython -C../../python ${idl_file}
- COMMAND ${IDLJ} ${idlj_flags} -I${OPENRTM_IDL_DIR} ${idl_file}
- COMMAND mkdir -p ${CMAKE_CURRENT_BINARY_DIR}/cls
- COMMAND mkdir -p ${CMAKE_CURRENT_BINARY_DIR}/cls/${package_path}
- COMMAND ${JAVAC} ${javac_flags} src/${package_path}*.java
- COMMAND ${JAR} cf ${jarfile} -C ${CMAKE_CURRENT_BINARY_DIR}/cls ${package_path}.
- DEPENDS ${idl_file}
- )
-
- include_directories(${CMAKE_CURRENT_BINARY_DIR})
-
- install(FILES ${jarfile} DESTINATION share/hrpsys/jar)
-# install(FILES ${CMAKE_CURRENT_BINARY_DIR}/../../python/${idl_basename}_idl.py DESTINATION share/python)
-# install(FILES ${CMAKE_CURRENT_BINARY_DIR}/../../python/OpenHRP/__init__.py DESTINATION share/python/OpenHRP)
-# install(FILES ${CMAKE_CURRENT_BINARY_DIR}/../../python/OpenHRP__POA/__init__.py DESTINATION share/python/OpenHRP__POA)
-
-endmacro()
-
 add_subdirectory(NullComponent)
 add_subdirectory(RobotHardware)
 add_subdirectory(StateHolder)
@@ -91,3 +64,7 @@ find_package(QuickHull)
 if (QHULL_FOUND AND IRRLICHT_FOUND)
  add_subdirectory(CollisionDetector)
 endif()
+
+if (IRRLICHT_FOUND AND RTCPCL_FOUND AND LIBXML2_FOUND)
+ add_subdirectory(VirtualCamera)
+endif()
diff --git a/rtc/DataLogger/CMakeLists.txt b/rtc/DataLogger/CMakeLists.txt
@@ -1,4 +1,4 @@
-generate_stub_skel(DataLoggerService)
+generate_stub_skel(DataLoggerService "OpenHRP")
 
 set(comp_sources DataLogger.cpp DataLoggerService_impl.cpp DataLoggerServiceSk.cpp )
 add_library(DataLogger SHARED ${comp_sources})

diff --git a/rtc/ForwardKinematics/CMakeLists.txt b/rtc/ForwardKinematics/CMakeLists.txt
@@ -1,4 +1,4 @@
-generate_stub_skel(ForwardKinematicsService)
+generate_stub_skel(ForwardKinematicsService "OpenHRP")
 
 set(comp_sources ForwardKinematics.cpp ForwardKinematicsServiceSk.cpp ForwardKinematicsService_impl.cpp)
 add_library(ForwardKinematics SHARED ${comp_sources})

diff --git a/rtc/JpegDecoder/CMakeLists.txt b/rtc/JpegDecoder/CMakeLists.txt
@@ -1,4 +1,4 @@
-generate_stub_skel_pkg(Img "Img/")
+generate_stub_skel(Img "Img")
 
 find_package(OpenCV REQUIRED)
 include_directories(${OpenCV_INCLUDE_DIRS})

diff --git a/rtc/NullComponent/CMakeLists.txt b/rtc/NullComponent/CMakeLists.txt
@@ -1,4 +1,4 @@
-generate_stub_skel(NullService)
+generate_stub_skel(NullService "OpenHRP")
 
 set(comp_sources NullComponent.cpp NullServiceSk.cpp NullService_impl.cpp)
 add_library(NullComponent SHARED ${comp_sources})

diff --git a/rtc/OccupancyGridMap3D/CMakeLists.txt b/rtc/OccupancyGridMap3D/CMakeLists.txt
@@ -2,7 +2,7 @@ include_directories(${OCTOMAP_INCLUDE_DIR})
 link_directories(${OCTOMAP_DIR}/lib)
 
 
-generate_stub_skel(OGMap3DService)
+generate_stub_skel(OGMap3DService "OpenHRP")
 
 set(comp_sources OccupancyGridMap3D.cpp OGMap3DService_impl.cpp OGMap3DServiceSk.cpp)
 add_library(OccupancyGridMap3D SHARED ${comp_sources})

diff --git a/rtc/RobotHardware/CMakeLists.txt b/rtc/RobotHardware/CMakeLists.txt
@@ -1,4 +1,4 @@
-generate_stub_skel(RobotHardwareService)
+generate_stub_skel(RobotHardwareService "OpenHRP")
 
 set(comp_source robot.cpp RobotHardware.cpp RobotHardwareService_impl.cpp RobotHardwareServiceSk.cpp)
 add_library(RobotHardware SHARED ${comp_source} )

diff --git a/rtc/SequencePlayer/CMakeLists.txt b/rtc/SequencePlayer/CMakeLists.txt
@@ -1,4 +1,4 @@
-generate_stub_skel(SequencePlayerService)
+generate_stub_skel(SequencePlayerService "OpenHRP")
 
 set(comp_sources interpolator.cpp timeUtil.cpp seqplay.cpp SequencePlayer.cpp SequencePlayerService_impl.cpp SequencePlayerServiceSk.cpp )
 add_library(SequencePlayer SHARED ${comp_sources})

diff --git a/rtc/Simulator/CMakeLists.txt b/rtc/Simulator/CMakeLists.txt
@@ -1,4 +1,4 @@
-generate_stub_skel(HRPDataTypes)
+generate_stub_skel(HRPDataTypes "OpenHRP")
 
 set(comp_sources Simulator.cpp Project.cpp RTCBody.cpp HRPDataTypesSk.cpp HRPDataTypesDynSk.cpp)
 include_directories(${LIBXML2_INCLUDE_DIR})

diff --git a/rtc/StateHolder/CMakeLists.txt b/rtc/StateHolder/CMakeLists.txt
@@ -1,5 +1,5 @@
-generate_stub_skel(StateHolderService)
-generate_stub_skel(TimeKeeperService)
+generate_stub_skel(StateHolderService "OpenHRP")
+generate_stub_skel(TimeKeeperService "OpenHRP")
 
 set(comp_sources StateHolder.cpp StateHolderService_impl.cpp StateHolderServiceSk.cpp TimeKeeperService_impl.cpp TimeKeeperServiceSk.cpp)
 add_library(StateHolder SHARED ${comp_sources})

diff --git a/rtc/VideoCapture/CMakeLists.txt b/rtc/VideoCapture/CMakeLists.txt
@@ -1,4 +1,4 @@
-generate_stub_skel_pkg(Img "Img/")
+generate_stub_skel(Img "Img")
 
 find_package(OpenCV REQUIRED)
 include_directories(${OpenCV_INCLUDE_DIRS})

diff --git a/rtc/Viewer/CMakeLists.txt b/rtc/Viewer/CMakeLists.txt
@@ -1,4 +1,4 @@
-generate_stub_skel(HRPDataTypes)
+generate_stub_skel(HRPDataTypes "OpenHRP")
 
 set(comp_sources Viewer.cpp IrrModel.cpp Project.cpp RTCGLbody.cpp HRPDataTypesSk.cpp HRPDataTypesDynSk.cpp)
 include_directories(${LIBXML2_INCLUDE_DIR})

diff --git a/rtc/Viewer/Viewer.cpp b/rtc/Viewer/Viewer.cpp
@@ -178,6 +178,7 @@ RTC::ReturnCode_t Viewer::onExecute(RTC::UniqueId ec_id)
  }
  }
  }
+
  for (std::map<std::string, RTCGLbody *>::iterator it=m_bodies.begin();
  it != m_bodies.end(); it++){
  it->second->input();

diff --git a/rtc/VirtualCamera/CMakeLists.txt b/rtc/VirtualCamera/CMakeLists.txt
@@ -0,0 +1,23 @@
+generate_stub_skel(Img "Img/")
+generate_stub_skel(HRPDataTypes "OpenHRP")
+
+find_package(OpenGL REQUIRED)
+find_package(OpenCV REQUIRED)
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(${LIBXML2_INCLUDE_DIR})
+set(comp_sources VirtualCamera.cpp IrrModel.cpp Project.cpp ImgSk.cpp ImgDynSk.cpp HRPDataTypesSk.cpp HRPDataTypesDynSk.cpp RTCGLbody.cpp)
+
+add_library(VirtualCamera SHARED ${comp_sources})
+target_link_libraries(VirtualCamera ${OPENHRP_LIBRARIES} ${OPENGL_LIBRARIES} ${IRRLICHT_LIBRARIES} ${OpenCV_LIBRARIES} ${LIBXML2_LIBRARIES} rtcpcl_pointcloud_type)
+set_target_properties(VirtualCamera PROPERTIES PREFIX "")
+
+add_executable(VirtualCameraComp VirtualCameraComp.cpp ${comp_sources})
+target_link_libraries(VirtualCameraComp ${OPENHRP_LIBRARIES} ${OPENGL_LIBRARIES} ${IRRLICHT_LIBRARIES} ${OpenCV_LIBRARIES} ${LIBXML2_LIBRARIES} rtcpcl_pointcloud_type)
+
+set(target VirtualCamera VirtualCameraComp)
+
+install(TARGETS ${target}
+ RUNTIME DESTINATION bin CONFIGURATIONS Release Debug
+ LIBRARY DESTINATION lib CONFIGURATIONS Release Debug
+)