269 lines
10 KiB
C++
269 lines
10 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_USERCAMERA_HH_
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#define _GAZEBO_USERCAMERA_HH_
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#include <string>
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#include <vector>
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#include "gazebo/rendering/Camera.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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class UserCameraPrivate;
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namespace rendering
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{
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/// \addtogroup gazebo_rendering
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/// \{
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/// \class UserCamera UserCamera.hh rendering/rendering.hh
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/// \brief A camera used for user visualization of a scene
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class GZ_RENDERING_VISIBLE UserCamera : public Camera
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{
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/// \brief Constructor
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/// \param[in] _name Name of the camera.
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/// \param[in] _scene Scene to put the camera in.
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/// \param[in] _stereoEnabled True to enable stereo rendering. This is
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/// here for compatibility with 3D monitors/TVs.
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public: UserCamera(const std::string &_name, ScenePtr _scene,
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bool _stereoEnabled = false);
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/// \brief Destructor
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public: virtual ~UserCamera();
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/// \brief Load the user camera.
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/// \param[in] _sdf Parameters for the camera.
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public: void Load(sdf::ElementPtr _sdf);
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// Documentation inherited
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public: virtual void SetClipDist(float _near, float _far);
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/// \brief Generic load function
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public: void Load();
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/// \brief Initialize
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public: void Init();
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/// \brief Render the camera
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public: virtual void Update();
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/// \brief Post render
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public: virtual void PostRender();
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/// \brief Finialize
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public: void Fini();
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/// \brief Set the pose in the world coordinate frame.
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/// \param[in] _pose New pose of the camera.
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public: virtual void SetWorldPose(const math::Pose &_pose);
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/// \brief Set the default pose in the world coordinate frame and set
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/// that as the current camera world pose.
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/// \param[in] _pose New default pose of the camera.
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public: void SetDefaultPose(const math::Pose &_pose);
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/// \brief Get the default pose in the world coordinate frame.
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/// \return Default pose of the camera.
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public: math::Pose DefaultPose() const;
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/// \brief Handle a mouse event.
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/// \param[in] _evt The mouse event.
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public: void HandleMouseEvent(const common::MouseEvent &_evt);
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/// \brief Handle a key press.
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/// \param[in] _key The key pressed.
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public: void HandleKeyPressEvent(const std::string &_key);
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/// \brief Handle a key release.
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/// \param[in] _key The key released.
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public: void HandleKeyReleaseEvent(const std::string &_key);
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/// \brief Set view controller.
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/// \param[in] _type The type of view controller: "orbit", "fps"
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public: void SetViewController(const std::string &_type);
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/// \brief Set view controller
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/// \param[in] _type The type of view controller: "orbit", "fps"
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/// \param[in] _pos The initial pose of the camera.
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public: void SetViewController(const std::string &_type,
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const math::Vector3 &_pos);
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/// \brief Get current view controller type.
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/// \return Type of the current view controller: "orbit", "fps"
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public: std::string GetViewControllerTypeString();
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/// \brief Resize the camera.
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/// \param[in] _w Width of the camera image.
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/// \param[in] _h Height of the camera image.
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public: void Resize(unsigned int _w, unsigned int _h);
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/// \brief Set the dimensions of the viewport.
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/// \param[in] _x X position of the viewport.
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/// \param[in] _y Y position of the viewport.
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/// \param[in] _w Width of the viewport.
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/// \param[in] _h Height of the viewport.
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public: void SetViewportDimensions(float _x, float _y,
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float _w, float _h);
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/// \brief Move the camera to focus on a visual.
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/// \param[in] _visual Visual to move the camera to.
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public: void MoveToVisual(VisualPtr _visual);
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// Doxygen automatically pulls in the correct documentation.
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public: virtual bool MoveToPosition(const math::Pose &_pose,
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double _time);
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/// \brief Move the camera to focus on a visual.
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/// \param[in] _visualName Name of the visual to move the camera to.
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public: void MoveToVisual(const std::string &_visualName);
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/// \brief Set to true to enable rendering
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///
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/// Use this only if you really know what you're doing.
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/// \param[in] _target The new rendering target.
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public: virtual void SetRenderTarget(Ogre::RenderTarget *_target);
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/// \brief Set whether the view controller is enabled.
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///
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/// The view controller is used to handle user camera movements.
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/// \param[in] _value True to enable viewcontroller, False to
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/// disable.
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public: void EnableViewController(bool _value) const;
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/// \brief Get an entity at a pixel location using a camera. Used for
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/// mouse picking.
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/// \param[in] _mousePos The position of the mouse in screen coordinates
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/// \param[out] _mod Used for object manipulation
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/// \return The selected entity, or NULL
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public: VisualPtr GetVisual(const math::Vector2i &_mousePos,
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std::string &_mod);
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/// \brief Get a visual at a mouse position
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/// \param[in] _mousePos 2D position of the mouse in pixels.
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public: VisualPtr GetVisual(const math::Vector2i &_mousePos) const;
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/// \brief Set the point the camera should orbit around.
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/// \param[in] _pt The focal point
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public: void SetFocalPoint(const math::Vector3 &_pt);
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// Documentation inherited
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public: virtual unsigned int GetImageWidth() const;
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// Documentation inherited
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public: virtual unsigned int GetImageHeight() const;
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/// brief Show if the user camera pose has changed in the world file.
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/// return true if the camera pose changed in the world file.
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public: bool IsCameraSetInWorldFile();
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/// brief Set if the user camera pose has changed in the world file.
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/// \param[in] _value True if the camera pose changed in the world file.
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public: void SetUseSDFPose(bool _value);
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/// brief Enable or disable camera control through ~/user_camera/joy_twist
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/// gz topic. Defaults to true.
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/// \param[in] _value True to enable camera pose control by
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/// gz topic ~/user_camera/joy_twist.
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public: void SetJoyTwistControl(bool _value);
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/// brief Enable or disable camera control through ~/user_camera/joy_pose
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/// gz topic. Defaults to true.
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/// \param[in] _value True to enable camera pose control by
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/// gz topic ~/user_camera/joy_pose.
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public: void SetJoyPoseControl(bool _value);
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/// \brief Get whether stereo is enabled.
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/// \return True if stereo is enabled.
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public: bool StereoEnabled() const;
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/// \brief Turn on/off stereo rendering. Stereo must be initially
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/// enable in the ~/.gazebo/gui.ini file using:
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///
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/// [rendering]
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/// stereo=1
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///
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/// \param[in] _enable True to turn on stereo, false to turn off.
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public: void EnableStereo(bool _enable);
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// Documentation inherited.
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public: virtual bool SetProjectionType(const std::string &_type);
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/// \brief Set the camera to be attached to a visual.
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///
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/// This causes the camera to move in relation to the specified visual.
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/// \param[in] _visual The visual to attach to.
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/// \param[in] _inheritOrientation True if the camera should also
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/// rotate when the visual rotates.
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/// \param[in] _minDist Minimum distance the camera can get to the
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/// visual.
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/// \param[in] _maxDist Maximum distance the camera can get from the
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/// visual.
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/// \return True if successfully attach to the visual.
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protected: virtual bool AttachToVisualImpl(VisualPtr _visual,
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bool _inheritOrientation, double _minDist = 0,
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double _maxDist = 0);
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// Documentation inherited.
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protected: virtual void AnimationComplete();
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/// \brief Set the camera to track a scene node.
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///
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/// Tracking just causes the camera to rotate to follow the visual.
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/// \param[in] _visual Visual to track.
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/// \return True if the camera is now tracking the visual.
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protected: virtual bool TrackVisualImpl(VisualPtr _visual);
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// Documentation inherited.
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protected: virtual void UpdateFOV();
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/// \brief Toggle whether to show the visual.
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private: void ToggleShowVisual();
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/// \brief Set whether to show the visual.
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/// \param[in] _show True to show the visual representation for this
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/// camera. Currently disabled.
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private: void ShowVisual(bool _show);
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/// \brief Callback used when the camera has finished moving to
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/// a visual.
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private: void OnMoveToVisualComplete();
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/// \brief Handles incoming relative joystick messages.
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/// Incoming joystick messages are used to control
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/// translation and rotation rates of the camera position.
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/// \param[in] _msg New joystick message.
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private: void OnJoyTwist(ConstJoystickPtr &_msg);
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/// \brief Handles incoming absolute joystick messages.
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/// Incoming joystick messages are used to control
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/// camera's world pose.
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/// \param[in] _msg New pose message.
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private: void OnJoyPose(ConstPosePtr &_msg);
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/// \internal
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/// \brief Pointer to private data.
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private: UserCameraPrivate *dataPtr;
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};
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/// \}
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}
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}
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#endif
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