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/Pose3.hh> 32 #include <ignition/math/Quaternion.hh> 33 #include <ignition/math/Vector2.hh> 34 #include <ignition/math/Vector3.hh> 46 #include "gazebo/msgs/MessageTypes.hh" 86 public boost::enable_shared_from_this<Camera>
93 bool _autoRender =
true);
100 public:
virtual void Load(sdf::ElementPtr _sdf);
103 public:
virtual void Load();
106 public:
virtual void Init();
110 public:
void SetRenderRate(
const double _hz);
114 public:
double RenderRate()
const;
121 public:
virtual void Render(
const bool _force =
false);
126 public:
virtual void PostRender();
133 public:
virtual void Update();
138 public:
virtual void Fini();
142 public:
bool Initialized()
const;
147 public:
void SetWindowId(
unsigned int _windowId);
151 public:
unsigned int WindowId()
const;
155 public:
void SetScene(
ScenePtr _scene);
159 public: ignition::math::Vector3d WorldPosition()
const;
163 public: ignition::math::Quaterniond WorldRotation()
const;
168 public:
virtual void SetWorldPose(
const math::Pose &_pose)
173 public:
virtual void SetWorldPose(
const ignition::math::Pose3d &_pose);
177 public: ignition::math::Pose3d WorldPose()
const;
181 public:
void SetWorldPosition(
const ignition::math::Vector3d &_pos);
185 public:
void SetWorldRotation(
const ignition::math::Quaterniond &_quat);
189 public:
void Translate(
const ignition::math::Vector3d &_direction);
195 public:
void Roll(
const ignition::math::Angle &_angle,
202 public:
void Pitch(
const ignition::math::Angle &_angle,
209 public:
void Yaw(
const ignition::math::Angle &_angle,
215 public:
virtual void SetClipDist(
const float _near,
const float _far);
219 public:
void SetHFOV(
const ignition::math::Angle &_angle);
223 public: ignition::math::Angle HFOV()
const;
229 public: ignition::math::Angle VFOV()
const;
234 public:
void SetImageSize(
const unsigned int _w,
const unsigned int _h);
238 public:
void SetImageWidth(
const unsigned int _w);
242 public:
void SetImageHeight(
const unsigned int _h);
246 public:
virtual unsigned int ImageWidth()
const;
250 public:
unsigned int ImageMemorySize()
const;
254 public:
unsigned int TextureWidth()
const;
258 public:
virtual unsigned int ImageHeight()
const;
262 public:
unsigned int ImageDepth()
const;
266 public: std::string ImageFormat()
const;
270 public:
unsigned int TextureHeight()
const;
274 public:
size_t ImageByteSize()
const;
281 public:
static size_t ImageByteSize(
const unsigned int _width,
282 const unsigned int _height,
283 const std::string &_format);
290 public:
double ZValue(
const int _x,
const int _y);
294 public:
double NearClip()
const;
298 public:
double FarClip()
const;
302 public:
void EnableSaveFrame(
const bool _enable);
306 public:
bool CaptureData()
const;
310 public:
void SetSaveFramePathname(
const std::string &_pathname);
315 public:
bool SaveFrame(
const std::string &_filename);
319 public: Ogre::Camera *OgreCamera()
const;
323 public: Ogre::Viewport *OgreViewport()
const;
327 public:
unsigned int ViewportWidth()
const;
331 public:
unsigned int ViewportHeight()
const;
335 public: ignition::math::Vector3d Up()
const;
339 public: ignition::math::Vector3d Right()
const;
343 public:
virtual float AvgFPS()
const;
347 public:
virtual unsigned int TriangleCount()
const;
351 public:
void SetAspectRatio(
float _ratio);
355 public:
float AspectRatio()
const;
359 public:
void SetSceneNode(Ogre::SceneNode *_node);
363 public: Ogre::SceneNode *SceneNode()
const;
370 public:
virtual const unsigned char *ImageData(
const unsigned int i = 0)
375 public: std::string Name()
const;
379 public: std::string ScopedName()
const;
383 public:
void SetName(
const std::string &_name);
386 public:
void ToggleShowWireframe();
390 public:
void ShowWireframe(
const bool _s);
394 public:
void SetCaptureData(
const bool _value);
397 public:
void SetCaptureDataOnce();
412 public:
bool StartVideo(
const std::string &_format,
413 const std::string &_filename =
"");
419 public:
bool StopVideo();
426 public:
bool SaveVideo(
const std::string &_filename);
434 public:
bool ResetVideo();
438 public:
void CreateRenderTexture(
const std::string &_textureName);
450 public:
bool WorldPointOnPlane(
const int _x,
const int _y,
451 const ignition::math::Planed &_plane,
452 ignition::math::Vector3d &_result);
461 public:
virtual void CameraToViewportRay(
const int _screenx,
463 ignition::math::Vector3d &_origin,
464 ignition::math::Vector3d &_dir)
const;
468 public:
virtual void SetRenderTarget(Ogre::RenderTarget *_target);
478 public:
void AttachToVisual(
const std::string &_visualName,
479 const bool _inheritOrientation,
480 const double _minDist = 0.0,
const double _maxDist = 0.0);
490 public:
void AttachToVisual(uint32_t _id,
491 const bool _inheritOrientation,
492 const double _minDist = 0.0,
const double _maxDist = 0.0);
496 public:
void TrackVisual(
const std::string &_visualName);
500 public: Ogre::Texture *RenderTexture()
const;
504 public: ignition::math::Vector3d Direction()
const;
511 std::function<
void (
const unsigned char *,
unsigned int,
unsigned int,
512 unsigned int,
const std::string &)> _subscriber);
528 public:
static bool SaveFrame(
const unsigned char *_image,
529 const unsigned int _width,
const unsigned int _height,
530 const int _depth,
const std::string &_format,
531 const std::string &_filename);
541 public:
bool IsVisible(
VisualPtr _visual);
547 public:
bool IsVisible(
const std::string &_visualName);
550 public:
bool IsAnimating()
const;
556 public:
virtual bool MoveToPosition(
const ignition::math::Pose3d &_pose,
566 public:
bool MoveToPositions(
567 const std::vector<ignition::math::Pose3d> &_pts,
569 std::function<
void()> _onComplete =
NULL);
573 public: std::string ScreenshotPath()
const;
584 public:
virtual bool SetProjectionType(
const std::string &_type);
589 public: std::string ProjectionType()
const;
594 public:
virtual bool SetBackgroundColor(
const common::Color &_color);
598 public: ignition::math::Matrix4d ProjectionMatrix()
const;
603 public:
virtual ignition::math::Vector2i Project(
604 const ignition::math::Vector3d &_pt)
const;
613 public:
bool TrackIsStatic()
const;
619 public:
void SetTrackIsStatic(
const bool _isStatic);
625 public:
bool TrackUseModelFrame()
const;
632 public:
void SetTrackUseModelFrame(
const bool _useModelFrame);
637 public: ignition::math::Vector3d TrackPosition()
const;
642 public:
void SetTrackPosition(
const ignition::math::Vector3d &_pos);
647 public:
double TrackMinDistance()
const;
652 public:
double TrackMaxDistance()
const;
658 public:
void SetTrackMinDistance(
const double _dist);
664 public:
void SetTrackMaxDistance(
const double _dist);
671 public:
bool TrackInheritYaw()
const;
678 public:
void SetTrackInheritYaw(
const bool _inheritYaw);
681 protected:
virtual void RenderImpl();
684 protected:
void ReadPixelBuffer();
689 protected:
bool TrackVisualImpl(
const std::string &_visualName);
694 protected:
virtual bool TrackVisualImpl(
VisualPtr _visual);
705 protected:
virtual bool AttachToVisualImpl(
const std::string &_name,
706 const bool _inheritOrientation,
707 const double _minDist = 0,
const double _maxDist = 0);
718 protected:
virtual bool AttachToVisualImpl(uint32_t _id,
719 const bool _inheritOrientation,
720 const double _minDist = 0,
const double _maxDist = 0);
731 protected:
virtual bool AttachToVisualImpl(
VisualPtr _visual,
732 const bool _inheritOrientation,
733 const double _minDist = 0,
const double _maxDist = 0);
737 protected: std::string FrameFilename();
741 protected:
virtual void AnimationComplete();
744 protected:
virtual void UpdateFOV();
747 protected:
virtual void SetClipDist();
755 protected:
virtual void SetFixedYawAxis(
const bool _useFixed,
756 const ignition::math::Vector3d &_fixedAxis =
757 ignition::math::Vector3d::UnitY);
766 private:
void ConvertRGBToBAYER(
unsigned char *_dst,
767 const unsigned char *_src,
const std::string &_format,
768 const int _width,
const int _height);
773 private:
static int OgrePixelFormat(
const std::string &_format);
777 private:
void OnCmdMsg(ConstCameraCmdPtr &_msg);
780 private:
void CreateCamera();
792 protected: sdf::ElementPtr
sdf;
856 unsigned int,
unsigned int,
unsigned int,
879 private: std::unique_ptr<CameraPrivate> dataPtr;
Basic camera sensor.
Definition: Camera.hh:85
common::Time lastRenderWallTime
Time the last frame was rendered.
Definition: Camera.hh:849
ReferenceFrame
Frame of reference.
Definition: RenderTypes.hh:244
bool initialized
True if initialized.
Definition: Camera.hh:866
Ogre::Texture * renderTexture
Texture that receives results from rendering.
Definition: Camera.hh:837
Forward declarations for the common classes.
Definition: Animation.hh:33
boost::shared_ptr< Distortion > DistortionPtr
Definition: RenderTypes.hh:198
Encapsulates a position and rotation in three space.
Definition: Pose.hh:42
std::string scopedUniqueName
Scene scoped name of the camera with a unique ID.
Definition: Camera.hh:789
unsigned char * saveFrameBuffer
Buffer for a single image frame.
Definition: Camera.hh:813
unsigned char * bayerFrameBuffer
Buffer for a bayer image frame.
Definition: Camera.hh:816
std::string screenshotPath
Path to saved screenshots.
Definition: Camera.hh:822
bool captureDataOnce
True to capture a frame once and save to disk.
Definition: Camera.hh:843
bool captureData
True to capture frames into an image buffer.
Definition: Camera.hh:840
sdf::ElementPtr sdf
Camera's SDF values.
Definition: Camera.hh:792
Ogre::RenderTarget * renderTarget
Target that renders frames.
Definition: Camera.hh:834
Ogre::SceneNode * sceneNode
Scene node that controls camera position and orientation.
Definition: Camera.hh:810
Local frame.
Definition: RenderTypes.hh:247
std::vector< event::ConnectionPtr > connections
The camera's event connections.
Definition: Camera.hh:860
Ogre::Viewport * viewport
Viewport the ogre camera uses.
Definition: Camera.hh:807
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
int imageWidth
Save image width.
Definition: Camera.hh:828
bool newData
True if new data is available.
Definition: Camera.hh:846
unsigned int windowId
ID of the window that the camera is attached to.
Definition: Camera.hh:795
common::Time prevAnimTime
Previous time the camera animation was updated.
Definition: Camera.hh:872
std::string scopedName
Scene scoped name of the camera.
Definition: Camera.hh:786
ScenePtr scene
Pointer to the scene.
Definition: Camera.hh:852
unsigned int saveCount
Number of saved frames.
Definition: Camera.hh:819
std::list< msgs::Request > requests
List of requests.
Definition: Camera.hh:863
unsigned int textureHeight
Height of the render texture.
Definition: Camera.hh:801
int imageHeight
Save image height.
Definition: Camera.hh:831
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:875
#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:825
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
unsigned int textureWidth
Width of the render texture.
Definition: Camera.hh:798
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
std::string name
Name of the camera.
Definition: Camera.hh:783
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:857
A class for event processing.
Definition: Event.hh:113
Ogre::AnimationState * animState
Animation state, used to animate the camera.
Definition: Camera.hh:869
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:804