80 lines
2.2 KiB
C++
80 lines
2.2 KiB
C++
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/*
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* Copyright (C) 2015 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_WIDE_ANGLE_CAMERA_CAMERA_PRIVATE_HH_
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#define _GAZEBO_RENDERING_WIDE_ANGLE_CAMERA_CAMERA_PRIVATE_HH_
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#include <mutex>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/util/system.hh"
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// Forward declarations
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namespace Ogre
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{
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class Camera;
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class CompositorInstance;
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class RenderTarget;
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class Texture;
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class Viewport;
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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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// Forward declarations
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class CameraLens;
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/// \brief Private data for the WideAngleCamera class
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class GZ_RENDERING_VISIBLE WideAngleCameraPrivate
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{
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/// \brief Environment texture size
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public: int envTextureSize;
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/// \brief Compositor used to render rectangle with attached cube map
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public: Ogre::CompositorInstance *cubeMapCompInstance;
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/// \brief A Set of 6 cameras,
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/// each pointing in different direction with FOV of 90deg
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public: Ogre::Camera *envCameras[6];
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/// \brief Render targets for envCameras
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public: Ogre::RenderTarget *envRenderTargets[6];
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/// \brief Viewports for the render targets
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public: Ogre::Viewport *envViewports[6];
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/// \brief A single cube map texture
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public: Ogre::Texture *envCubeMapTexture;
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/// \brief Pointer to material, used for second rendering pass
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public: Ogre::MaterialPtr compMat;
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/// \brief Camera lens description
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public: CameraLens *lens;
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/// \brief Mutex to lock while rendering the world
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public: std::mutex renderMutex;
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/// \brief Mutex to lock while setting or reading camera properties
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public: std::mutex dataMutex;
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};
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}
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}
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#endif
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