269 lines
10 KiB
C++
269 lines
10 KiB
C++
/*
|
|
* Copyright (C) 2012 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_USERCAMERA_HH_
|
|
#define _GAZEBO_USERCAMERA_HH_
|
|
|
|
#include <string>
|
|
#include <vector>
|
|
|
|
#include "gazebo/rendering/Camera.hh"
|
|
#include "gazebo/rendering/RenderTypes.hh"
|
|
#include "gazebo/common/CommonTypes.hh"
|
|
#include "gazebo/util/system.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
class UserCameraPrivate;
|
|
|
|
namespace rendering
|
|
{
|
|
/// \addtogroup gazebo_rendering
|
|
/// \{
|
|
|
|
/// \class UserCamera UserCamera.hh rendering/rendering.hh
|
|
/// \brief A camera used for user visualization of a scene
|
|
class GZ_RENDERING_VISIBLE UserCamera : public Camera
|
|
{
|
|
/// \brief Constructor
|
|
/// \param[in] _name Name of the camera.
|
|
/// \param[in] _scene Scene to put the camera in.
|
|
/// \param[in] _stereoEnabled True to enable stereo rendering. This is
|
|
/// here for compatibility with 3D monitors/TVs.
|
|
public: UserCamera(const std::string &_name, ScenePtr _scene,
|
|
bool _stereoEnabled = false);
|
|
|
|
/// \brief Destructor
|
|
public: virtual ~UserCamera();
|
|
|
|
/// \brief Load the user camera.
|
|
/// \param[in] _sdf Parameters for the camera.
|
|
public: void Load(sdf::ElementPtr _sdf);
|
|
|
|
// Documentation inherited
|
|
public: virtual void SetClipDist(float _near, float _far);
|
|
|
|
/// \brief Generic load function
|
|
public: void Load();
|
|
|
|
/// \brief Initialize
|
|
public: void Init();
|
|
|
|
/// \brief Render the camera
|
|
public: virtual void Update();
|
|
|
|
/// \brief Post render
|
|
public: virtual void PostRender();
|
|
|
|
/// \brief Finialize
|
|
public: void Fini();
|
|
|
|
/// \brief Set the pose in the world coordinate frame.
|
|
/// \param[in] _pose New pose of the camera.
|
|
public: virtual void SetWorldPose(const math::Pose &_pose);
|
|
|
|
/// \brief Set the default pose in the world coordinate frame and set
|
|
/// that as the current camera world pose.
|
|
/// \param[in] _pose New default pose of the camera.
|
|
public: void SetDefaultPose(const math::Pose &_pose);
|
|
|
|
/// \brief Get the default pose in the world coordinate frame.
|
|
/// \return Default pose of the camera.
|
|
public: math::Pose DefaultPose() const;
|
|
|
|
/// \brief Handle a mouse event.
|
|
/// \param[in] _evt The mouse event.
|
|
public: void HandleMouseEvent(const common::MouseEvent &_evt);
|
|
|
|
/// \brief Handle a key press.
|
|
/// \param[in] _key The key pressed.
|
|
public: void HandleKeyPressEvent(const std::string &_key);
|
|
|
|
/// \brief Handle a key release.
|
|
/// \param[in] _key The key released.
|
|
public: void HandleKeyReleaseEvent(const std::string &_key);
|
|
|
|
/// \brief Set view controller.
|
|
/// \param[in] _type The type of view controller: "orbit", "fps"
|
|
public: void SetViewController(const std::string &_type);
|
|
|
|
/// \brief Set view controller
|
|
/// \param[in] _type The type of view controller: "orbit", "fps"
|
|
/// \param[in] _pos The initial pose of the camera.
|
|
public: void SetViewController(const std::string &_type,
|
|
const math::Vector3 &_pos);
|
|
|
|
/// \brief Get current view controller type.
|
|
/// \return Type of the current view controller: "orbit", "fps"
|
|
public: std::string GetViewControllerTypeString();
|
|
|
|
/// \brief Resize the camera.
|
|
/// \param[in] _w Width of the camera image.
|
|
/// \param[in] _h Height of the camera image.
|
|
public: void Resize(unsigned int _w, unsigned int _h);
|
|
|
|
/// \brief Set the dimensions of the viewport.
|
|
/// \param[in] _x X position of the viewport.
|
|
/// \param[in] _y Y position of the viewport.
|
|
/// \param[in] _w Width of the viewport.
|
|
/// \param[in] _h Height of the viewport.
|
|
public: void SetViewportDimensions(float _x, float _y,
|
|
float _w, float _h);
|
|
|
|
/// \brief Move the camera to focus on a visual.
|
|
/// \param[in] _visual Visual to move the camera to.
|
|
public: void MoveToVisual(VisualPtr _visual);
|
|
|
|
// Doxygen automatically pulls in the correct documentation.
|
|
public: virtual bool MoveToPosition(const math::Pose &_pose,
|
|
double _time);
|
|
|
|
/// \brief Move the camera to focus on a visual.
|
|
/// \param[in] _visualName Name of the visual to move the camera to.
|
|
public: void MoveToVisual(const std::string &_visualName);
|
|
|
|
/// \brief Set to true to enable rendering
|
|
///
|
|
/// Use this only if you really know what you're doing.
|
|
/// \param[in] _target The new rendering target.
|
|
public: virtual void SetRenderTarget(Ogre::RenderTarget *_target);
|
|
|
|
/// \brief Set whether the view controller is enabled.
|
|
///
|
|
/// The view controller is used to handle user camera movements.
|
|
/// \param[in] _value True to enable viewcontroller, False to
|
|
/// disable.
|
|
public: void EnableViewController(bool _value) const;
|
|
|
|
/// \brief Get an entity at a pixel location using a camera. Used for
|
|
/// mouse picking.
|
|
/// \param[in] _mousePos The position of the mouse in screen coordinates
|
|
/// \param[out] _mod Used for object manipulation
|
|
/// \return The selected entity, or NULL
|
|
public: VisualPtr GetVisual(const math::Vector2i &_mousePos,
|
|
std::string &_mod);
|
|
|
|
/// \brief Get a visual at a mouse position
|
|
/// \param[in] _mousePos 2D position of the mouse in pixels.
|
|
public: VisualPtr GetVisual(const math::Vector2i &_mousePos) const;
|
|
|
|
/// \brief Set the point the camera should orbit around.
|
|
/// \param[in] _pt The focal point
|
|
public: void SetFocalPoint(const math::Vector3 &_pt);
|
|
|
|
// Documentation inherited
|
|
public: virtual unsigned int GetImageWidth() const;
|
|
|
|
// Documentation inherited
|
|
public: virtual unsigned int GetImageHeight() const;
|
|
|
|
/// brief Show if the user camera pose has changed in the world file.
|
|
/// return true if the camera pose changed in the world file.
|
|
public: bool IsCameraSetInWorldFile();
|
|
|
|
/// brief Set if the user camera pose has changed in the world file.
|
|
/// \param[in] _value True if the camera pose changed in the world file.
|
|
public: void SetUseSDFPose(bool _value);
|
|
|
|
/// brief Enable or disable camera control through ~/user_camera/joy_twist
|
|
/// gz topic. Defaults to true.
|
|
/// \param[in] _value True to enable camera pose control by
|
|
/// gz topic ~/user_camera/joy_twist.
|
|
public: void SetJoyTwistControl(bool _value);
|
|
|
|
/// brief Enable or disable camera control through ~/user_camera/joy_pose
|
|
/// gz topic. Defaults to true.
|
|
/// \param[in] _value True to enable camera pose control by
|
|
/// gz topic ~/user_camera/joy_pose.
|
|
public: void SetJoyPoseControl(bool _value);
|
|
|
|
/// \brief Get whether stereo is enabled.
|
|
/// \return True if stereo is enabled.
|
|
public: bool StereoEnabled() const;
|
|
|
|
/// \brief Turn on/off stereo rendering. Stereo must be initially
|
|
/// enable in the ~/.gazebo/gui.ini file using:
|
|
///
|
|
/// [rendering]
|
|
/// stereo=1
|
|
///
|
|
/// \param[in] _enable True to turn on stereo, false to turn off.
|
|
public: void EnableStereo(bool _enable);
|
|
|
|
// Documentation inherited.
|
|
public: virtual bool SetProjectionType(const std::string &_type);
|
|
|
|
/// \brief Set the camera to be attached to a visual.
|
|
///
|
|
/// This causes the camera to move in relation to the specified visual.
|
|
/// \param[in] _visual The visual to attach to.
|
|
/// \param[in] _inheritOrientation True if the camera should also
|
|
/// rotate when the visual rotates.
|
|
/// \param[in] _minDist Minimum distance the camera can get to the
|
|
/// visual.
|
|
/// \param[in] _maxDist Maximum distance the camera can get from the
|
|
/// visual.
|
|
/// \return True if successfully attach to the visual.
|
|
protected: virtual bool AttachToVisualImpl(VisualPtr _visual,
|
|
bool _inheritOrientation, double _minDist = 0,
|
|
double _maxDist = 0);
|
|
|
|
// Documentation inherited.
|
|
protected: virtual void AnimationComplete();
|
|
|
|
/// \brief Set the camera to track a scene node.
|
|
///
|
|
/// Tracking just causes the camera to rotate to follow the visual.
|
|
/// \param[in] _visual Visual to track.
|
|
/// \return True if the camera is now tracking the visual.
|
|
protected: virtual bool TrackVisualImpl(VisualPtr _visual);
|
|
|
|
// Documentation inherited.
|
|
protected: virtual void UpdateFOV();
|
|
|
|
/// \brief Toggle whether to show the visual.
|
|
private: void ToggleShowVisual();
|
|
|
|
/// \brief Set whether to show the visual.
|
|
/// \param[in] _show True to show the visual representation for this
|
|
/// camera. Currently disabled.
|
|
private: void ShowVisual(bool _show);
|
|
|
|
/// \brief Callback used when the camera has finished moving to
|
|
/// a visual.
|
|
private: void OnMoveToVisualComplete();
|
|
|
|
/// \brief Handles incoming relative joystick messages.
|
|
/// Incoming joystick messages are used to control
|
|
/// translation and rotation rates of the camera position.
|
|
/// \param[in] _msg New joystick message.
|
|
private: void OnJoyTwist(ConstJoystickPtr &_msg);
|
|
|
|
/// \brief Handles incoming absolute joystick messages.
|
|
/// Incoming joystick messages are used to control
|
|
/// camera's world pose.
|
|
/// \param[in] _msg New pose message.
|
|
private: void OnJoyPose(ConstPosePtr &_msg);
|
|
|
|
/// \internal
|
|
/// \brief Pointer to private data.
|
|
private: UserCameraPrivate *dataPtr;
|
|
};
|
|
/// \}
|
|
}
|
|
}
|
|
#endif
|