17 #ifndef GAZEBO_RENDERING_CAMERA_HH_ 18 #define GAZEBO_RENDERING_CAMERA_HH_ 23 #include <boost/enable_shared_from_this.hpp> 30 #include <ignition/math/Angle.hh> 31 #include <ignition/math/Color.hh> 32 #include <ignition/math/Pose3.hh> 33 #include <ignition/math/Quaternion.hh> 34 #include <ignition/math/Vector2.hh> 35 #include <ignition/math/Vector3.hh> 47 #include "gazebo/msgs/MessageTypes.hh" 82 public boost::enable_shared_from_this<Camera>
89 bool _autoRender =
true);
96 public:
virtual void Load(sdf::ElementPtr _sdf);
99 public:
virtual void Load();
102 public:
virtual void Init();
106 public:
void SetRenderRate(
const double _hz);
110 public:
double RenderRate()
const;
117 public:
virtual void Render(
const bool _force =
false);
122 public:
virtual void PostRender();
129 public:
virtual void Update();
134 public:
virtual void Fini();
138 public:
bool Initialized()
const;
143 public:
void SetWindowId(
unsigned int _windowId);
147 public:
unsigned int WindowId()
const;
151 public:
void SetScene(
ScenePtr _scene);
155 public: ignition::math::Vector3d WorldPosition()
const;
159 public: ignition::math::Quaterniond WorldRotation()
const;
163 public:
virtual void SetWorldPose(
const ignition::math::Pose3d &_pose);
167 public: ignition::math::Pose3d WorldPose()
const;
171 public:
void SetWorldPosition(
const ignition::math::Vector3d &_pos);
175 public:
void SetWorldRotation(
const ignition::math::Quaterniond &_quat);
179 public:
void Translate(
const ignition::math::Vector3d &_direction);
185 public:
void Roll(
const ignition::math::Angle &_angle,
192 public:
void Pitch(
const ignition::math::Angle &_angle,
199 public:
void Yaw(
const ignition::math::Angle &_angle,
205 public:
virtual void SetClipDist(
const float _near,
const float _far);
209 public:
void SetHFOV(
const ignition::math::Angle &_angle);
213 public: ignition::math::Angle HFOV()
const;
217 public: ignition::math::Angle VFOV()
const;
222 public:
void SetImageSize(
const unsigned int _w,
const unsigned int _h);
226 public:
void SetImageWidth(
const unsigned int _w);
230 public:
void SetImageHeight(
const unsigned int _h);
234 public:
virtual unsigned int ImageWidth()
const;
238 public:
unsigned int ImageMemorySize()
const;
242 public:
unsigned int TextureWidth()
const;
246 public:
virtual unsigned int ImageHeight()
const;
250 public:
unsigned int ImageDepth()
const;
254 public: std::string ImageFormat()
const;
258 public:
unsigned int TextureHeight()
const;
262 public:
size_t ImageByteSize()
const;
269 public:
static size_t ImageByteSize(
const unsigned int _width,
270 const unsigned int _height,
271 const std::string &_format);
278 public:
double ZValue(
const int _x,
const int _y);
282 public:
double NearClip()
const;
286 public:
double FarClip()
const;
290 public:
void EnableSaveFrame(
const bool _enable);
294 public:
bool CaptureData()
const;
298 public:
void SetSaveFramePathname(
const std::string &_pathname);
303 public:
bool SaveFrame(
const std::string &_filename);
307 public: Ogre::Camera *OgreCamera()
const;
311 public: Ogre::Viewport *OgreViewport()
const;
315 public:
unsigned int ViewportWidth()
const;
319 public:
unsigned int ViewportHeight()
const;
323 public: ignition::math::Vector3d Up()
const;
327 public: ignition::math::Vector3d Right()
const;
331 public:
virtual float AvgFPS()
const;
335 public:
virtual unsigned int TriangleCount()
const;
339 public:
void SetAspectRatio(
float _ratio);
343 public:
float AspectRatio()
const;
347 public:
void SetSceneNode(Ogre::SceneNode *_node);
351 public: Ogre::SceneNode *SceneNode()
const;
358 public:
virtual const unsigned char *ImageData(
const unsigned int i = 0)
363 public: std::string Name()
const;
367 public: std::string ScopedName()
const;
371 public:
void SetName(
const std::string &_name);
374 public:
void ToggleShowWireframe();
378 public:
void ShowWireframe(
const bool _s);
382 public:
void SetCaptureData(
const bool _value);
385 public:
void SetCaptureDataOnce();
400 public:
bool StartVideo(
const std::string &_format,
401 const std::string &_filename =
"");
407 public:
bool StopVideo();
414 public:
bool SaveVideo(
const std::string &_filename);
422 public:
bool ResetVideo();
426 public:
void CreateRenderTexture(
const std::string &_textureName);
438 public:
bool WorldPointOnPlane(
const int _x,
const int _y,
439 const ignition::math::Planed &_plane,
440 ignition::math::Vector3d &_result);
449 public:
virtual void CameraToViewportRay(
const int _screenx,
451 ignition::math::Vector3d &_origin,
452 ignition::math::Vector3d &_dir)
const;
456 public:
virtual void SetRenderTarget(Ogre::RenderTarget *_target);
466 public:
void AttachToVisual(
const std::string &_visualName,
467 const bool _inheritOrientation,
468 const double _minDist = 0.0,
const double _maxDist = 0.0);
478 public:
void AttachToVisual(uint32_t _id,
479 const bool _inheritOrientation,
480 const double _minDist = 0.0,
const double _maxDist = 0.0);
484 public:
void TrackVisual(
const std::string &_visualName);
488 public: Ogre::Texture *RenderTexture()
const;
492 public: ignition::math::Vector3d Direction()
const;
499 std::function<
void (
const unsigned char *,
unsigned int,
unsigned int,
500 unsigned int,
const std::string &)> _subscriber);
510 public:
static bool SaveFrame(
const unsigned char *_image,
511 const unsigned int _width,
const unsigned int _height,
512 const int _depth,
const std::string &_format,
513 const std::string &_filename);
523 public:
bool IsVisible(
VisualPtr _visual);
529 public:
bool IsVisible(
const std::string &_visualName);
532 public:
bool IsAnimating()
const;
538 public:
virtual bool MoveToPosition(
const ignition::math::Pose3d &_pose,
548 public:
bool MoveToPositions(
549 const std::vector<ignition::math::Pose3d> &_pts,
551 std::function<
void()> _onComplete =
NULL);
555 public: std::string ScreenshotPath()
const;
566 public:
virtual bool SetProjectionType(
const std::string &_type);
571 public: std::string ProjectionType()
const;
577 public:
virtual bool SetBackgroundColor(
const common::Color &_color)
583 public:
virtual bool SetBackgroundColor(
584 const ignition::math::Color &_color);
588 public: ignition::math::Matrix4d ProjectionMatrix()
const;
593 public:
virtual ignition::math::Vector2i Project(
594 const ignition::math::Vector3d &_pt)
const;
603 public:
bool TrackIsStatic()
const;
609 public:
void SetTrackIsStatic(
const bool _isStatic);
615 public:
bool TrackUseModelFrame()
const;
622 public:
void SetTrackUseModelFrame(
const bool _useModelFrame);
627 public: ignition::math::Vector3d TrackPosition()
const;
632 public:
void SetTrackPosition(
const ignition::math::Vector3d &_pos);
637 public:
double TrackMinDistance()
const;
642 public:
double TrackMaxDistance()
const;
648 public:
void SetTrackMinDistance(
const double _dist);
654 public:
void SetTrackMaxDistance(
const double _dist);
661 public:
bool TrackInheritYaw()
const;
668 public:
void SetTrackInheritYaw(
const bool _inheritYaw);
671 protected:
virtual void RenderImpl();
674 protected:
void ReadPixelBuffer();
679 protected:
bool TrackVisualImpl(
const std::string &_visualName);
684 protected:
virtual bool TrackVisualImpl(
VisualPtr _visual);
695 protected:
virtual bool AttachToVisualImpl(
const std::string &_name,
696 const bool _inheritOrientation,
697 const double _minDist = 0,
const double _maxDist = 0);
708 protected:
virtual bool AttachToVisualImpl(uint32_t _id,
709 const bool _inheritOrientation,
710 const double _minDist = 0,
const double _maxDist = 0);
721 protected:
virtual bool AttachToVisualImpl(
VisualPtr _visual,
722 const bool _inheritOrientation,
723 const double _minDist = 0,
const double _maxDist = 0);
727 protected: std::string FrameFilename();
731 protected:
virtual void AnimationComplete();
734 protected:
virtual void UpdateFOV();
737 protected:
virtual void SetClipDist();
745 protected:
virtual void SetFixedYawAxis(
const bool _useFixed,
746 const ignition::math::Vector3d &_fixedAxis =
747 ignition::math::Vector3d::UnitY);
756 private:
void ConvertRGBToBAYER(
unsigned char *_dst,
757 const unsigned char *_src,
const std::string &_format,
758 const int _width,
const int _height);
763 private:
static int OgrePixelFormat(
const std::string &_format);
767 private:
void OnCmdMsg(ConstCameraCmdPtr &_msg);
770 private:
void CreateCamera();
782 protected: sdf::ElementPtr
sdf;
846 unsigned int,
unsigned int,
unsigned int,
869 private: std::unique_ptr<CameraPrivate> dataPtr;
Basic camera sensor.
Definition: Camera.hh:81
common::Time lastRenderWallTime
Time the last frame was rendered.
Definition: Camera.hh:839
ReferenceFrame
Frame of reference.
Definition: RenderTypes.hh:244
bool initialized
True if initialized.
Definition: Camera.hh:856
Ogre::Texture * renderTexture
Texture that receives results from rendering.
Definition: Camera.hh:827
Forward declarations for the common classes.
Definition: Animation.hh:26
boost::shared_ptr< Distortion > DistortionPtr
Definition: RenderTypes.hh:198
std::string scopedUniqueName
Scene scoped name of the camera with a unique ID.
Definition: Camera.hh:779
unsigned char * saveFrameBuffer
Buffer for a single image frame.
Definition: Camera.hh:803
unsigned char * bayerFrameBuffer
Buffer for a bayer image frame.
Definition: Camera.hh:806
std::string screenshotPath
Path to saved screenshots.
Definition: Camera.hh:812
bool captureDataOnce
True to capture a frame once and save to disk.
Definition: Camera.hh:833
bool captureData
True to capture frames into an image buffer.
Definition: Camera.hh:830
sdf::ElementPtr sdf
Camera's SDF values.
Definition: Camera.hh:782
Ogre::RenderTarget * renderTarget
Target that renders frames.
Definition: Camera.hh:824
Ogre::SceneNode * sceneNode
Scene node that controls camera position and orientation.
Definition: Camera.hh:800
Local frame.
Definition: RenderTypes.hh:247
std::vector< event::ConnectionPtr > connections
The camera's event connections.
Definition: Camera.hh:850
Ogre::Viewport * viewport
Viewport the ogre camera uses.
Definition: Camera.hh:797
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
int imageWidth
Save image width.
Definition: Camera.hh:818
bool newData
True if new data is available.
Definition: Camera.hh:836
unsigned int windowId
ID of the window that the camera is attached to.
Definition: Camera.hh:785
common::Time prevAnimTime
Previous time the camera animation was updated.
Definition: Camera.hh:862
std::string scopedName
Scene scoped name of the camera.
Definition: Camera.hh:776
ScenePtr scene
Pointer to the scene.
Definition: Camera.hh:842
unsigned int saveCount
Number of saved frames.
Definition: Camera.hh:809
std::list< msgs::Request > requests
List of requests.
Definition: Camera.hh:853
unsigned int textureHeight
Height of the render texture.
Definition: Camera.hh:791
int imageHeight
Save image height.
Definition: Camera.hh:821
World frame.
Definition: RenderTypes.hh:253
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
std::function< void()> onAnimationComplete
User callback for when an animation completes.
Definition: Camera.hh:865
#define NULL
Definition: CommonTypes.hh:31
Definition: JointMaker.hh:39
Defines a color.
Definition: Color.hh:36
int imageFormat
Format for saving images.
Definition: Camera.hh:815
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:328
unsigned int textureWidth
Width of the render texture.
Definition: Camera.hh:788
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
std::string name
Name of the camera.
Definition: Camera.hh:773
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
event::EventT< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> newImageFrame
Event triggered when a new frame is generated.
Definition: Camera.hh:847
A class for event processing.
Definition: Event.hh:97
Ogre::AnimationState * animState
Animation state, used to animate the camera.
Definition: Camera.hh:859
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44
Ogre::Camera * camera
The OGRE camera.
Definition: Camera.hh:794