95 lines
2.8 KiB
C++
95 lines
2.8 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_RENDERING_OCULUS_CAMERA_PRIVATE_HH_
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#define _GAZEBO_RENDERING_OCULUS_CAMERA_PRIVATE_HH_
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#include <OVR_CAPI.h>
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#include "gazebo/util/system.hh"
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namespace Ogre
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{
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class Camera;
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class Viewport;
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class SceneManager;
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}
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namespace gazebo
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{
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namespace rendering
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{
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/// \brief Private data for the Oculus Camera class
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class GZ_RENDERING_VISIBLE OculusCameraPrivate
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{
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/// \brief Constructor
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public: OculusCameraPrivate()
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: rightCamera(NULL),
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externalCamera(NULL),
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rightViewport(NULL),
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externalViewport(NULL),
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externalSceneManager(NULL),
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node(NULL),
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controlSub(NULL),
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ready(false),
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frameIndex(1),
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oculusTrackingWarned(false) {}
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/// \brief Ogre camera for the right Oculus screen.
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public: Ogre::Camera *rightCamera;
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/// \brief Camera in the external scene that render the distortion
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/// meshes.
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public: Ogre::Camera *externalCamera;
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/// \brief View port for the right camera.
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public: Ogre::Viewport *rightViewport;
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/// \brief View port for the external camera.
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public: Ogre::Viewport *externalViewport;
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/// \brief External scene manager. This holds the distortion meshes
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/// and the external camera.
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public: Ogre::SceneManager *externalSceneManager;
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/// \brief An Oculus Head-Mounted display.
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public: ovrHmd hmd;
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/// \brief Transport node for using gazebo pub/sub.
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public: transport::NodePtr node;
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/// \brief Subscriber used to receive updates on world_control topic.
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public: transport::SubscriberPtr controlSub;
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/// \brief True when Oculus is connected and ready to use.
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public: bool ready;
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/// \brief Right camera render texture.
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public: Ogre::TexturePtr renderTextureRight;
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/// \brief Left camera render texture.
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public: Ogre::TexturePtr renderTextureLeft;
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/// \brief Frame index used for oculus timing
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public: unsigned int frameIndex;
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/// \brief Flag used to prevent multiple messages from being
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/// displayed.
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public: bool oculusTrackingWarned;
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};
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}
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}
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#endif
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