116 lines
3.0 KiB
C++
116 lines
3.0 KiB
C++
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/*
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* Copyright (C) 2017 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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#include <gazebo/rendering/LensFlare.hh>
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#include <gazebo/rendering/RenderingIface.hh>
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#include <gazebo/sensors/CameraSensor.hh>
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#include <gazebo/sensors/MultiCameraSensor.hh>
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#include "LensFlareSensorPlugin.hh"
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namespace gazebo
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{
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/// \internal
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/// \class LensFlareSensorPlugin LensFlareSensorPlugin.hh
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/// \brief Private data for the LensFlareSensorPlugin class.
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class LensFlareSensorPluginPrivate
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{
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/// \brief Lens flare
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public: std::vector<rendering::LensFlarePtr> lensFlares;
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/// \brief Lens flare scale
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public: double scale = 1.0;
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};
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}
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using namespace gazebo;
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GZ_REGISTER_SENSOR_PLUGIN(LensFlareSensorPlugin)
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/////////////////////////////////////////////////
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LensFlareSensorPlugin::LensFlareSensorPlugin()
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: dataPtr(new LensFlareSensorPluginPrivate)
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{
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}
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/////////////////////////////////////////////////
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LensFlareSensorPlugin::~LensFlareSensorPlugin()
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{
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}
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/////////////////////////////////////////////////
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void LensFlareSensorPlugin::Load(sensors::SensorPtr _sensor,
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sdf::ElementPtr _sdf)
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{
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if (!_sensor)
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{
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gzerr << "Invalid sensor pointer." << std::endl;
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return;
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}
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if (!_sdf)
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{
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gzerr << "Invalid SDF pointer." << std::endl;
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return;
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}
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if (_sdf->HasElement("scale"))
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{
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this->dataPtr->scale = _sdf->Get<double>("scale");
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if (this->dataPtr->scale < 0)
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gzerr << "Lens flare scale must be greater than 0" << std::endl;
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}
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sensors::CameraSensorPtr cameraSensor =
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std::dynamic_pointer_cast<sensors::CameraSensor>(_sensor);
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if (cameraSensor)
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{
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this->AddLensFlare(cameraSensor->Camera());
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return;
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}
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else
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{
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sensors::MultiCameraSensorPtr multiCameraSensor =
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std::dynamic_pointer_cast<sensors::MultiCameraSensor>(_sensor);
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if (multiCameraSensor)
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{
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for (unsigned int i = 0; i < multiCameraSensor->CameraCount(); ++i)
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{
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this->AddLensFlare(multiCameraSensor->Camera(i));
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}
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return;
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}
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}
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gzerr << "LensFlarePlugin requires a [Multi]CameraSensor." << std::endl;
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return;
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}
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/////////////////////////////////////////////////
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void LensFlareSensorPlugin::AddLensFlare(rendering::CameraPtr _camera)
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{
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if (!_camera)
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return;
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rendering::LensFlarePtr lensFlare;
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lensFlare.reset(new rendering::LensFlare);
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lensFlare->SetCamera(_camera);
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lensFlare->SetScale(this->dataPtr->scale);
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this->dataPtr->lensFlares.push_back(lensFlare);
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}
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