104 lines
2.9 KiB
C++
104 lines
2.9 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2014 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _GAZEBO_OCULUS_WINDOW_HH_
|
||
|
|
#define _GAZEBO_OCULUS_WINDOW_HH_
|
||
|
|
|
||
|
|
#ifndef Q_MOC_RUN
|
||
|
|
#include <boost/thread.hpp>
|
||
|
|
#endif
|
||
|
|
#include <string>
|
||
|
|
|
||
|
|
#ifndef Q_MOC_RUN
|
||
|
|
#include "gazebo/transport/TransportTypes.hh"
|
||
|
|
#include "gazebo/rendering/RenderTypes.hh"
|
||
|
|
#include "gazebo/msgs/msgs.hh"
|
||
|
|
#include "gazebo/gui/qt.h"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
namespace gui
|
||
|
|
{
|
||
|
|
/// \addtogroup gazebo_gui
|
||
|
|
/// \{
|
||
|
|
|
||
|
|
/// \class OculusWindow OculusWindow.hh gui/OculusWindow.hh
|
||
|
|
/// \brief A widget that renders a camera view suitable for the Oculus
|
||
|
|
/// Rift.
|
||
|
|
class GZ_GUI_VISIBLE OculusWindow : public QWidget
|
||
|
|
{
|
||
|
|
Q_OBJECT
|
||
|
|
|
||
|
|
/// \brief Constructor
|
||
|
|
public: OculusWindow(int _x, int _y, const std::string &_visual,
|
||
|
|
QWidget *_parent = 0);
|
||
|
|
|
||
|
|
/// \brief Destructor
|
||
|
|
public: virtual ~OculusWindow();
|
||
|
|
|
||
|
|
/// \brief Initialize Oculus and create a camera.
|
||
|
|
/// \return True when Oculus is connected and the camera was created.
|
||
|
|
public: bool CreateCamera();
|
||
|
|
|
||
|
|
// Documentation inherited.
|
||
|
|
protected: virtual void showEvent(QShowEvent *_e);
|
||
|
|
|
||
|
|
// Documentation inherited.
|
||
|
|
protected: virtual void resizeEvent(QResizeEvent *_e);
|
||
|
|
|
||
|
|
// Documentation inherited.
|
||
|
|
protected: void keyPressEvent(QKeyEvent *_event);
|
||
|
|
|
||
|
|
/// \brief Get the Ogre handler.
|
||
|
|
/// \return std::string representation of the Ogre handler.
|
||
|
|
private: std::string GetOgreHandle() const;
|
||
|
|
|
||
|
|
/// \brief Used to attach the Oculus to the visual link.
|
||
|
|
private: void AttachCameraToVisual();
|
||
|
|
|
||
|
|
/// \brief QT widget used for rendering images.
|
||
|
|
private: QFrame *renderFrame;
|
||
|
|
|
||
|
|
/// \brief Identifier of the window for this oculus camera.
|
||
|
|
private: int windowId;
|
||
|
|
|
||
|
|
/// \brief Oculus camera pointer,
|
||
|
|
private: rendering::OculusCameraPtr oculusCamera;
|
||
|
|
|
||
|
|
/// \brief Scene pointer.
|
||
|
|
private: rendering::ScenePtr scene;
|
||
|
|
|
||
|
|
/// \brief Use full screen when true.
|
||
|
|
private: bool isFullScreen;
|
||
|
|
|
||
|
|
/// \brief X top left coordinate of the oculus window.
|
||
|
|
private: int xPos;
|
||
|
|
|
||
|
|
/// \brief Y top left coordinate of the oculus window.
|
||
|
|
private: int yPos;
|
||
|
|
|
||
|
|
/// \brief Oculus camera will be attached to this visual link.
|
||
|
|
private: std::string visualName;
|
||
|
|
|
||
|
|
/// \brief Thread to attach oculus camera to visual
|
||
|
|
private: boost::thread *attachCameraThread;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|