104 lines
2.9 KiB
C++
104 lines
2.9 KiB
C++
/*
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* Copyright (C) 2014 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_OCULUS_WINDOW_HH_
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#define _GAZEBO_OCULUS_WINDOW_HH_
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#ifndef Q_MOC_RUN
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#include <boost/thread.hpp>
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#endif
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#include <string>
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#ifndef Q_MOC_RUN
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/gui/qt.h"
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#endif
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namespace gazebo
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{
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namespace gui
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{
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/// \addtogroup gazebo_gui
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/// \{
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/// \class OculusWindow OculusWindow.hh gui/OculusWindow.hh
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/// \brief A widget that renders a camera view suitable for the Oculus
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/// Rift.
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class GZ_GUI_VISIBLE OculusWindow : public QWidget
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{
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Q_OBJECT
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/// \brief Constructor
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public: OculusWindow(int _x, int _y, const std::string &_visual,
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QWidget *_parent = 0);
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/// \brief Destructor
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public: virtual ~OculusWindow();
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/// \brief Initialize Oculus and create a camera.
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/// \return True when Oculus is connected and the camera was created.
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public: bool CreateCamera();
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// Documentation inherited.
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protected: virtual void showEvent(QShowEvent *_e);
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// Documentation inherited.
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protected: virtual void resizeEvent(QResizeEvent *_e);
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// Documentation inherited.
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protected: void keyPressEvent(QKeyEvent *_event);
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/// \brief Get the Ogre handler.
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/// \return std::string representation of the Ogre handler.
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private: std::string GetOgreHandle() const;
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/// \brief Used to attach the Oculus to the visual link.
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private: void AttachCameraToVisual();
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/// \brief QT widget used for rendering images.
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private: QFrame *renderFrame;
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/// \brief Identifier of the window for this oculus camera.
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private: int windowId;
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/// \brief Oculus camera pointer,
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private: rendering::OculusCameraPtr oculusCamera;
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/// \brief Scene pointer.
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private: rendering::ScenePtr scene;
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/// \brief Use full screen when true.
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private: bool isFullScreen;
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/// \brief X top left coordinate of the oculus window.
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private: int xPos;
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/// \brief Y top left coordinate of the oculus window.
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private: int yPos;
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/// \brief Oculus camera will be attached to this visual link.
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private: std::string visualName;
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/// \brief Thread to attach oculus camera to visual
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private: boost::thread *attachCameraThread;
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};
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}
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}
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#endif
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