Camera.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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17 #ifndef GAZEBO_RENDERING_CAMERA_HH_
18 #define GAZEBO_RENDERING_CAMERA_HH_
19 
20 #include <memory>
21 #include <functional>
22 
23 #include <boost/enable_shared_from_this.hpp>
24 #include <string>
25 #include <utility>
26 #include <list>
27 #include <vector>
28 #include <deque>
29 #include <sdf/sdf.hh>
30 #include <ignition/math/Angle.hh>
31 #include <ignition/math/Color.hh>
32 #include <ignition/math/Matrix4.hh>
33 #include <ignition/math/Pose3.hh>
34 #include <ignition/math/Quaternion.hh>
35 #include <ignition/math/Vector2.hh>
36 #include <ignition/math/Vector3.hh>
37 
38 #include "gazebo/msgs/msgs.hh"
39 
40 #include "gazebo/transport/Node.hh"
42 
43 #include "gazebo/common/Event.hh"
44 #include "gazebo/common/PID.hh"
45 #include "gazebo/common/Time.hh"
46 
50 
51 #include "gazebo/msgs/MessageTypes.hh"
52 #include "gazebo/util/system.hh"
53 
54 // Forward Declarations
55 namespace Ogre
56 {
57  class Texture;
58  class RenderTarget;
59  class Camera;
60  class Viewport;
61  class SceneNode;
62  class AnimationState;
63 }
64 
65 namespace gazebo
66 {
69  namespace rendering
70  {
71  class MouseEvent;
72  class ViewController;
73  class Scene;
74  class CameraPrivate;
75 
79 
84  class GZ_RENDERING_VISIBLE Camera :
85  public boost::enable_shared_from_this<Camera>
86  {
91  public: Camera(const std::string &_namePrefix, ScenePtr _scene,
92  bool _autoRender = true);
93 
95  public: virtual ~Camera();
96 
99  public: virtual void Load(sdf::ElementPtr _sdf);
100 
102  public: virtual void Load();
103 
112  const double _cameraIntrinsicsFx, const double _cameraIntrinsicsFy,
113  const double _cameraIntrinsicsCx, const double _cameraIntrinsicsCy,
114  const double _cameraIntrinsicsS);
115 
117  private: virtual void LoadCameraIntrinsics();
118 
131  public: static ignition::math::Matrix4d BuildNDCMatrix(
132  const double _left, const double _right,
133  const double _bottom, const double _top,
134  const double _near, const double _far);
135 
150  public: static ignition::math::Matrix4d BuildPerspectiveMatrix(
151  const double _intrinsicsFx, const double _intrinsicsFy,
152  const double _intrinsicsCx, const double _intrinsicsCy,
153  const double _intrinsicsS,
154  const double _clipNear, const double _clipFar);
155 
175  public: static ignition::math::Matrix4d BuildProjectiveMatrix(
176  const double _imageWidth, const double _imageHeight,
177  const double _intrinsicsFx, const double _intrinsicsFy,
178  const double _intrinsicsCx, const double _intrinsicsCy,
179  const double _intrinsicsS,
180  const double _clipNear, const double _clipFar);
181 
183  public: virtual void Init();
184 
187  public: void SetRenderRate(const double _hz);
188 
191  public: double RenderRate() const;
192 
198  public: virtual void Render(const bool _force = false);
199 
203  public: virtual void PostRender();
204 
210  public: virtual void Update();
211 
215  public: virtual void Fini();
216 
219  public: bool Initialized() const;
220 
224  public: void SetWindowId(unsigned int _windowId);
225 
228  public: unsigned int WindowId() const;
229 
232  public: void SetScene(ScenePtr _scene);
233 
236  public: ignition::math::Vector3d WorldPosition() const;
237 
240  public: ignition::math::Quaterniond WorldRotation() const;
241 
244  public: virtual void SetWorldPose(const ignition::math::Pose3d &_pose);
245 
248  public: ignition::math::Pose3d WorldPose() const;
249 
252  public: void SetWorldPosition(const ignition::math::Vector3d &_pos);
253 
256  public: void SetWorldRotation(const ignition::math::Quaterniond &_quat);
257 
260  public: void Translate(const ignition::math::Vector3d &_direction);
261 
266  public: void Roll(const ignition::math::Angle &_angle,
267  ReferenceFrame _relativeTo = RF_LOCAL);
268 
273  public: void Pitch(const ignition::math::Angle &_angle,
274  ReferenceFrame _relativeTo = RF_LOCAL);
275 
280  public: void Yaw(const ignition::math::Angle &_angle,
281  ReferenceFrame _relativeTo = RF_WORLD);
282 
286  public: virtual void SetClipDist(const float _near, const float _far);
287 
290  public: void SetHFOV(const ignition::math::Angle &_angle);
291 
294  public: ignition::math::Angle HFOV() const;
295 
298  public: ignition::math::Angle VFOV() const;
299 
303  public: void SetImageSize(const unsigned int _w, const unsigned int _h);
304 
307  public: void SetImageWidth(const unsigned int _w);
308 
311  public: void SetImageHeight(const unsigned int _h);
312 
315  public: virtual unsigned int ImageWidth() const;
316 
319  public: unsigned int ImageMemorySize() const;
320 
323  public: unsigned int TextureWidth() const;
324 
327  public: virtual unsigned int ImageHeight() const;
328 
331  public: unsigned int ImageDepth() const;
332 
335  public: std::string ImageFormat() const;
336 
339  public: unsigned int TextureHeight() const;
340 
343  public: size_t ImageByteSize() const;
344 
350  public: static size_t ImageByteSize(const unsigned int _width,
351  const unsigned int _height,
352  const std::string &_format);
353 
359  public: double ZValue(const int _x, const int _y);
360 
363  public: double NearClip() const;
364 
367  public: double FarClip() const;
368 
371  public: void EnableSaveFrame(const bool _enable);
372 
375  public: bool CaptureData() const;
376 
379  public: void SetSaveFramePathname(const std::string &_pathname);
380 
384  public: bool SaveFrame(const std::string &_filename);
385 
388  public: Ogre::Camera *OgreCamera() const;
389 
392  public: Ogre::Viewport *OgreViewport() const;
393 
396  public: unsigned int ViewportWidth() const;
397 
400  public: unsigned int ViewportHeight() const;
401 
404  public: ignition::math::Vector3d Up() const;
405 
408  public: ignition::math::Vector3d Right() const;
409 
412  public: virtual float AvgFPS() const;
413 
416  public: virtual unsigned int TriangleCount() const;
417 
420  public: void SetAspectRatio(float _ratio);
421 
424  public: float AspectRatio() const;
425 
428  public: void SetSceneNode(Ogre::SceneNode *_node);
429 
432  public: Ogre::SceneNode *SceneNode() const;
433 
439  public: virtual const unsigned char *ImageData(const unsigned int i = 0)
440  const;
441 
444  public: std::string Name() const;
445 
448  public: std::string ScopedName() const;
449 
452  public: void SetName(const std::string &_name);
453 
455  public: void ToggleShowWireframe();
456 
459  public: void ShowWireframe(const bool _s);
460 
463  public: void SetCaptureData(const bool _value);
464 
466  public: void SetCaptureDataOnce();
467 
481  public: bool StartVideo(const std::string &_format,
482  const std::string &_filename = "");
483 
488  public: bool StopVideo();
489 
495  public: bool SaveVideo(const std::string &_filename);
496 
503  public: bool ResetVideo();
504 
507  public: void CreateRenderTexture(const std::string &_textureName);
508 
511  public: ScenePtr GetScene() const;
512 
519  public: bool WorldPointOnPlane(const int _x, const int _y,
520  const ignition::math::Planed &_plane,
521  ignition::math::Vector3d &_result);
522 
530  public: virtual void CameraToViewportRay(const int _screenx,
531  const int _screeny,
532  ignition::math::Vector3d &_origin,
533  ignition::math::Vector3d &_dir) const;
534 
537  public: virtual void SetRenderTarget(Ogre::RenderTarget *_target);
538 
547  public: void AttachToVisual(const std::string &_visualName,
548  const bool _inheritOrientation,
549  const double _minDist = 0.0, const double _maxDist = 0.0);
550 
559  public: void AttachToVisual(uint32_t _id,
560  const bool _inheritOrientation,
561  const double _minDist = 0.0, const double _maxDist = 0.0);
562 
565  public: void TrackVisual(const std::string &_visualName);
566 
569  public: Ogre::Texture *RenderTexture() const;
570 
573  public: ignition::math::Vector3d Direction() const;
574 
580  std::function<void (const unsigned char *, unsigned int, unsigned int,
581  unsigned int, const std::string &)> _subscriber);
582 
591  public: static bool SaveFrame(const unsigned char *_image,
592  const unsigned int _width, const unsigned int _height,
593  const int _depth, const std::string &_format,
594  const std::string &_filename);
595 
599 
604  public: bool IsVisible(VisualPtr _visual);
605 
610  public: bool IsVisible(const std::string &_visualName);
611 
613  public: bool IsAnimating() const;
614 
619  public: virtual bool MoveToPosition(const ignition::math::Pose3d &_pose,
620  const double _time);
621 
629  public: bool MoveToPositions(
630  const std::vector<ignition::math::Pose3d> &_pts,
631  const double _time,
632  std::function<void()> _onComplete = NULL);
633 
636  public: std::string ScreenshotPath() const;
637 
640  public: DistortionPtr LensDistortion() const;
641 
647  public: virtual bool SetProjectionType(const std::string &_type);
648 
652  public: std::string ProjectionType() const;
653 
657  public: virtual bool SetBackgroundColor(
658  const ignition::math::Color &_color);
659 
662  public: ignition::math::Matrix4d ProjectionMatrix() const;
663 
667  public: virtual ignition::math::Vector2i Project(
668  const ignition::math::Vector3d &_pt) const;
669 
672  public: VisualPtr TrackedVisual() const;
673 
677  public: bool TrackIsStatic() const;
678 
683  public: void SetTrackIsStatic(const bool _isStatic);
684 
689  public: bool TrackUseModelFrame() const;
690 
696  public: void SetTrackUseModelFrame(const bool _useModelFrame);
697 
701  public: ignition::math::Vector3d TrackPosition() const;
702 
706  public: void SetTrackPosition(const ignition::math::Vector3d &_pos);
707 
711  public: double TrackMinDistance() const;
712 
716  public: double TrackMaxDistance() const;
717 
722  public: void SetTrackMinDistance(const double _dist);
723 
728  public: void SetTrackMaxDistance(const double _dist);
729 
735  public: bool TrackInheritYaw() const;
736 
742  public: void SetTrackInheritYaw(const bool _inheritYaw);
743 
745  protected: virtual void RenderImpl();
746 
748  protected: void ReadPixelBuffer();
749 
753  protected: bool TrackVisualImpl(const std::string &_visualName);
754 
758  protected: virtual bool TrackVisualImpl(VisualPtr _visual);
759 
769  protected: virtual bool AttachToVisualImpl(const std::string &_name,
770  const bool _inheritOrientation,
771  const double _minDist = 0, const double _maxDist = 0);
772 
782  protected: virtual bool AttachToVisualImpl(uint32_t _id,
783  const bool _inheritOrientation,
784  const double _minDist = 0, const double _maxDist = 0);
785 
795  protected: virtual bool AttachToVisualImpl(VisualPtr _visual,
796  const bool _inheritOrientation,
797  const double _minDist = 0, const double _maxDist = 0);
798 
801  protected: std::string FrameFilename();
802 
805  protected: virtual void AnimationComplete();
806 
808  protected: virtual void UpdateFOV();
809 
811  protected: virtual void SetClipDist();
812 
817  protected: static double LimitFOV(const double _fov);
818 
825  protected: virtual void SetFixedYawAxis(const bool _useFixed,
826  const ignition::math::Vector3d &_fixedAxis =
827  ignition::math::Vector3d::UnitY);
828 
836  private: void ConvertRGBToBAYER(unsigned char *_dst,
837  const unsigned char *_src, const std::string &_format,
838  const int _width, const int _height);
839 
843  private: static int OgrePixelFormat(const std::string &_format);
844 
847  private: void OnCmdMsg(ConstCameraCmdPtr &_msg);
848 
850  private: void CreateCamera();
851 
853  protected: std::string name;
854 
856  protected: std::string scopedName;
857 
859  protected: std::string scopedUniqueName;
860 
862  protected: sdf::ElementPtr sdf;
863 
865  protected: unsigned int windowId;
866 
868  protected: unsigned int textureWidth;
869 
871  protected: unsigned int textureHeight;
872 
874  protected: Ogre::Camera *camera;
875 
877  protected: ignition::math::Matrix4d cameraProjectiveMatrix;
878 
880  protected: bool cameraUsingIntrinsics;
881 
883  protected: Ogre::Viewport *viewport;
884 
886  protected: Ogre::SceneNode *cameraNode = nullptr;
887 
889  protected: Ogre::SceneNode *sceneNode;
890 
892  protected: unsigned char *saveFrameBuffer;
893 
895  protected: unsigned char *bayerFrameBuffer;
896 
898  protected: unsigned int saveCount;
899 
901  protected: std::string screenshotPath;
902 
904  protected: int imageFormat;
905 
907  protected: int imageWidth;
908 
910  protected: int imageHeight;
911 
913  protected: Ogre::RenderTarget *renderTarget;
914 
916  protected: Ogre::Texture *renderTexture;
917 
919  protected: bool captureData;
920 
922  protected: bool captureDataOnce;
923 
925  protected: bool newData;
926 
929 
931  protected: ScenePtr scene;
932 
934  protected: event::EventT<void(const unsigned char *,
935  unsigned int, unsigned int, unsigned int,
936  const std::string &)> newImageFrame;
937 
939  protected: std::vector<event::ConnectionPtr> connections;
940 
942  protected: std::list<msgs::Request> requests;
943 
945  protected: bool initialized;
946 
948  protected: Ogre::AnimationState *animState;
949 
952 
954  protected: std::function<void()> onAnimationComplete;
955 
958  private: std::unique_ptr<CameraPrivate> dataPtr;
959  };
961  }
962 }
963 #endif
#define NULL
Definition: CommonTypes.hh:31
rendering
Definition: RenderEngine.hh:31
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:48
A class for event processing.
Definition: Event.hh:98
Basic camera sensor.
Definition: Camera.hh:86
std::string screenshotPath
Path to saved screenshots.
Definition: Camera.hh:901
double TrackMaxDistance() const
Return the maximum distance to the tracked visual.
double FarClip() const
Get the far clip distance.
void SetTrackPosition(const ignition::math::Vector3d &_pos)
Set the position of the camera when tracking a visual.
ignition::math::Vector3d Up() const
Get the viewport up vector.
Ogre::Viewport * viewport
Viewport the ogre camera uses.
Definition: Camera.hh:883
std::string ScreenshotPath() const
Get the path to saved screenshots.
virtual void UpdateFOV()
Update the camera's field of view.
std::string ImageFormat() const
Get the string representation of the image format.
double TrackMinDistance() const
Return the minimum distance to the tracked visual.
bool IsAnimating() const
Return true if the camera is moving due to an animation.
bool TrackUseModelFrame() const
Get whether this camera's position is relative to tracked models.
float AspectRatio() const
Get the apect ratio.
void SetName(const std::string &_name)
Set the camera's name.
virtual unsigned int ImageHeight() const
Get the height of the image.
unsigned int TextureWidth() const
Get the width of the off-screen render texture.
Ogre::RenderTarget * renderTarget
Target that renders frames.
Definition: Camera.hh:913
unsigned int windowId
ID of the window that the camera is attached to.
Definition: Camera.hh:865
void ShowWireframe(const bool _s)
Set whether to view the world in wireframe.
virtual bool AttachToVisualImpl(uint32_t _id, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
Attach the camera to a scene node.
virtual bool TrackVisualImpl(VisualPtr _visual)
Set the camera to track a scene node.
bool StopVideo()
Turn off video recording.
common::Time lastRenderWallTime
Time the last frame was rendered.
Definition: Camera.hh:928
bool TrackVisualImpl(const std::string &_visualName)
Implementation of the Camera::TrackVisual call.
void SetHFOV(const ignition::math::Angle &_angle)
Set the camera FOV (horizontal)
bool cameraUsingIntrinsics
Flag for signaling the usage of camera intrinsics within OGRE.
Definition: Camera.hh:880
bool captureData
True to capture frames into an image buffer.
Definition: Camera.hh:919
unsigned int ViewportHeight() const
Get the viewport height in pixels.
unsigned int WindowId() const
Get the ID of the window this camera is rendering into.
static bool SaveFrame(const unsigned char *_image, const unsigned int _width, const unsigned int _height, const int _depth, const std::string &_format, const std::string &_filename)
Save a frame using an image buffer.
std::string ScopedName() const
Get the camera's scoped name (scene_name::camera_name)
virtual void Fini()
Finalize the camera.
Ogre::Camera * OgreCamera() const
Get a pointer to the ogre camera.
static ignition::math::Matrix4d BuildNDCMatrix(const double _left, const double _right, const double _bottom, const double _top, const double _near, const double _far)
Computes the OpenGL NDC matrix.
virtual unsigned int ImageWidth() const
Get the width of the image.
virtual bool MoveToPosition(const ignition::math::Pose3d &_pose, const double _time)
Move the camera to a position (this is an animated motion).
void AttachToVisual(const std::string &_visualName, const bool _inheritOrientation, const double _minDist=0.0, const double _maxDist=0.0)
Attach the camera to a scene node.
void Translate(const ignition::math::Vector3d &_direction)
Translate the camera.
void ToggleShowWireframe()
Toggle whether to view the world in wireframe.
void CreateRenderTexture(const std::string &_textureName)
Set the render target.
std::vector< event::ConnectionPtr > connections
The camera's event connections.
Definition: Camera.hh:939
virtual void SetClipDist(const float _near, const float _far)
Set the clip distances.
common::Time LastRenderWallTime() const
Get the last time the camera was rendered.
void SetTrackMinDistance(const double _dist)
Set the minimum distance between the camera and tracked visual.
void ReadPixelBuffer()
Read image data from pixel buffer.
virtual void Init()
Initialize the camera.
unsigned int ImageMemorySize() const
Get the memory size of this image.
std::string Name() const
Get the camera's unscoped name.
ScenePtr scene
Pointer to the scene.
Definition: Camera.hh:931
void Yaw(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_WORLD)
Rotate the camera around the z-axis.
void SetWindowId(unsigned int _windowId)
virtual void SetClipDist()
Set the clip distance based on stored SDF values.
unsigned int ImageDepth() const
Get the depth of the image in bytes per pixel.
bool SaveVideo(const std::string &_filename)
Save the last encoded video to disk.
virtual void RenderImpl()
Implementation of the render call.
Ogre::Texture * renderTexture
Texture that receives results from rendering.
Definition: Camera.hh:916
virtual bool AttachToVisualImpl(const std::string &_name, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
Attach the camera to a scene node.
unsigned char * saveFrameBuffer
Buffer for a single image frame.
Definition: Camera.hh:892
virtual void SetWorldPose(const ignition::math::Pose3d &_pose)
Set the global pose of the camera.
event::ConnectionPtr ConnectNewImageFrame(std::function< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
Connect to the new image signal.
void SetRenderRate(const double _hz)
Set the render Hz rate.
void AttachToVisual(uint32_t _id, const bool _inheritOrientation, const double _minDist=0.0, const double _maxDist=0.0)
Attach the camera to a scene node.
virtual bool SetBackgroundColor(const ignition::math::Color &_color)
Set background color for viewport (if viewport is not null)
void SetScene(ScenePtr _scene)
Set the scene this camera is viewing.
virtual void AnimationComplete()
Internal function used to indicate that an animation has completed.
virtual void Load()
Load the camera with default parameters.
void Roll(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL)
Rotate the camera around the x-axis.
unsigned int textureWidth
Width of the render texture.
Definition: Camera.hh:868
void SetTrackMaxDistance(const double _dist)
Set the maximum distance between the camera and tracked visual.
void SetWorldPosition(const ignition::math::Vector3d &_pos)
Set the world position.
ScenePtr GetScene() const
Get the scene this camera is in.
virtual void SetFixedYawAxis(const bool _useFixed, const ignition::math::Vector3d &_fixedAxis=ignition::math::Vector3d::UnitY)
Tell the camera whether to yaw around its own local Y axis or a fixed axis of choice.
int imageFormat
Format for saving images.
Definition: Camera.hh:904
bool MoveToPositions(const std::vector< ignition::math::Pose3d > &_pts, const double _time, std::function< void()> _onComplete=NULL)
Move the camera to a series of poses (this is an animated motion).
virtual unsigned int TriangleCount() const
Get the triangle count.
DistortionPtr LensDistortion() const
Get the distortion model of this camera.
void SetImageWidth(const unsigned int _w)
Set the image height.
virtual float AvgFPS() const
Get the average FPS.
double NearClip() const
Get the near clip distance.
void SetImageSize(const unsigned int _w, const unsigned int _h)
Set the image size.
bool StartVideo(const std::string &_format, const std::string &_filename="")
Turn on video recording.
unsigned int textureHeight
Height of the render texture.
Definition: Camera.hh:871
void SetWorldRotation(const ignition::math::Quaterniond &_quat)
Set the world orientation.
void SetTrackUseModelFrame(const bool _useModelFrame)
Set whether this camera's position is relative to tracked models.
virtual const unsigned char * ImageData(const unsigned int i=0) const
Get a pointer to the image data.
static double LimitFOV(const double _fov)
Limit field of view taking care of using a valid value for an OGRE camera.
unsigned int TextureHeight() const
Get the height of the off-screen render texture.
ignition::math::Vector3d Right() const
Get the viewport right vector.
virtual ~Camera()
Destructor.
ignition::math::Quaterniond WorldRotation() const
Get the camera's orientation in the world.
bool WorldPointOnPlane(const int _x, const int _y, const ignition::math::Planed &_plane, ignition::math::Vector3d &_result)
Get point on a plane.
size_t ImageByteSize() const
Get the image size in bytes.
virtual void SetRenderTarget(Ogre::RenderTarget *_target)
Set the camera's render target.
std::string FrameFilename()
Get the next frame filename based on SDF parameters.
Ogre::SceneNode * SceneNode() const
Get the camera's scene node.
std::string name
Name of the camera.
Definition: Camera.hh:853
sdf::ElementPtr sdf
Camera's SDF values.
Definition: Camera.hh:862
ignition::math::Angle HFOV() const
Get the camera FOV (horizontal)
std::list< msgs::Request > requests
List of requests.
Definition: Camera.hh:942
void SetTrackInheritYaw(const bool _inheritYaw)
Set whether this camera inherits the yaw rotation of the tracked model.
unsigned char * bayerFrameBuffer
Buffer for a bayer image frame.
Definition: Camera.hh:895
void SetAspectRatio(float _ratio)
Set the aspect ratio.
Ogre::Camera * camera
The OGRE camera.
Definition: Camera.hh:874
bool CaptureData() const
Return the value of this->captureData.
int imageHeight
Save image height.
Definition: Camera.hh:910
void UpdateCameraIntrinsics(const double _cameraIntrinsicsFx, const double _cameraIntrinsicsFy, const double _cameraIntrinsicsCx, const double _cameraIntrinsicsCy, const double _cameraIntrinsicsS)
Updates the camera intrinsics.
void SetSceneNode(Ogre::SceneNode *_node)
Set the camera's scene node.
virtual void CameraToViewportRay(const int _screenx, const int _screeny, ignition::math::Vector3d &_origin, ignition::math::Vector3d &_dir) const
Get a world space ray as cast from the camera through the viewport.
std::function< void()> onAnimationComplete
User callback for when an animation completes.
Definition: Camera.hh:954
unsigned int ViewportWidth() const
Get the viewport width in pixels.
unsigned int saveCount
Number of saved frames.
Definition: Camera.hh:898
bool TrackInheritYaw() const
Get whether this camera inherits the yaw rotation of the tracked model.
void SetCaptureDataOnce()
Capture data once and save to disk.
bool TrackIsStatic() const
Get whether this camera is static when tracking a model.
ignition::math::Pose3d WorldPose() const
Get the world pose.
void Pitch(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL)
Rotate the camera around the y-axis.
bool IsVisible(VisualPtr _visual)
Return true if the visual is within the camera's view frustum.
std::string scopedUniqueName
Scene scoped name of the camera with a unique ID.
Definition: Camera.hh:859
void SetImageHeight(const unsigned int _h)
Set the image height.
double ZValue(const int _x, const int _y)
Get the Z-buffer value at the given image coordinate.
Ogre::SceneNode * sceneNode
Scene node that controls camera position and orientation.
Definition: Camera.hh:889
ignition::math::Matrix4d ProjectionMatrix() const
Return the projection matrix of this camera.
virtual bool SetProjectionType(const std::string &_type)
Set the type of projection used by the camera.
void SetCaptureData(const bool _value)
Set whether to capture data.
common::Time prevAnimTime
Previous time the camera animation was updated.
Definition: Camera.hh:951
virtual void Load(sdf::ElementPtr _sdf)
Load the camera with a set of parameters.
Camera(const std::string &_namePrefix, ScenePtr _scene, bool _autoRender=true)
Constructor.
void SetTrackIsStatic(const bool _isStatic)
Set whether this camera is static when tracking a model.
static size_t ImageByteSize(const unsigned int _width, const unsigned int _height, const std::string &_format)
Calculate image byte size base on a few parameters.
ignition::math::Matrix4d cameraProjectiveMatrix
Camera projective matrix.
Definition: Camera.hh:877
ignition::math::Angle VFOV() const
Get the camera FOV (vertical)
static ignition::math::Matrix4d BuildProjectiveMatrix(const double _imageWidth, const double _imageHeight, const double _intrinsicsFx, const double _intrinsicsFy, const double _intrinsicsCx, const double _intrinsicsCy, const double _intrinsicsS, const double _clipNear, const double _clipFar)
Computes the OpenGL projective matrix by multiplying the OpenGL Normalized Device Coordinates matrix ...
void EnableSaveFrame(const bool _enable)
Enable or disable saving.
VisualPtr TrackedVisual() const
Get the visual tracked by this camera.
Ogre::AnimationState * animState
Animation state, used to animate the camera.
Definition: Camera.hh:948
Ogre::Texture * RenderTexture() const
Get the render texture.
ignition::math::Vector3d Direction() const
Get the camera's direction vector.
static ignition::math::Matrix4d BuildPerspectiveMatrix(const double _intrinsicsFx, const double _intrinsicsFy, const double _intrinsicsCx, const double _intrinsicsCy, const double _intrinsicsS, const double _clipNear, const double _clipFar)
Computes the OpenGL perspective matrix.
bool ResetVideo()
Reset video recording.
bool Initialized() const
Return true if the camera has been initialized.
void SetSaveFramePathname(const std::string &_pathname)
Set the save frame pathname.
bool SaveFrame(const std::string &_filename)
Save the last frame to disk.
std::string scopedName
Scene scoped name of the camera.
Definition: Camera.hh:856
Ogre::Viewport * OgreViewport() const
Get a pointer to the Ogre::Viewport.
bool newData
True if new data is available.
Definition: Camera.hh:925
virtual ignition::math::Vector2i Project(const ignition::math::Vector3d &_pt) const
Project 3D world coordinates to 2D screen coordinates.
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:936
ignition::math::Vector3d TrackPosition() const
Return the position of the camera when tracking a model.
bool captureDataOnce
True to capture a frame once and save to disk.
Definition: Camera.hh:922
bool initialized
True if initialized.
Definition: Camera.hh:945
virtual void PostRender()
Post render.
virtual void Render(const bool _force=false)
Render the camera.
int imageWidth
Save image width.
Definition: Camera.hh:907
double RenderRate() const
Get the render Hz rate.
std::string ProjectionType() const
Return the projection type as a string.
void TrackVisual(const std::string &_visualName)
Set the camera to track a scene node.
ignition::math::Vector3d WorldPosition() const
Get the camera position in the world.
bool IsVisible(const std::string &_visualName)
Return true if the visual is within the camera's view frustum.
virtual bool AttachToVisualImpl(VisualPtr _visual, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
Attach the camera to a visual.
Definition: JointMaker.hh:40
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
boost::shared_ptr< Distortion > DistortionPtr
Definition: RenderTypes.hh:198
ReferenceFrame
Frame of reference.
Definition: RenderTypes.hh:245
@ RF_WORLD
World frame.
Definition: RenderTypes.hh:253
@ RF_LOCAL
Local frame.
Definition: RenderTypes.hh:247
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
Forward declarations for the common classes.
Definition: Animation.hh:27