146 lines
5.0 KiB
C++
146 lines
5.0 KiB
C++
/*
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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_RENDERING_DEPTHCAMERA_HH_
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#define _GAZEBO_RENDERING_DEPTHCAMERA_HH_
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#include <memory>
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#include <string>
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#include <sdf/sdf.hh>
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/rendering/Camera.hh"
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#include "gazebo/util/system.hh"
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namespace Ogre
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{
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class Material;
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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 declare private data.
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class DepthCameraPrivate;
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/// \addtogroup gazebo_rendering Rendering
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/// \{
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/// \class DepthCamera DepthCamera.hh rendering/rendering.hh
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/// \brief Depth camera used to render depth data into an image buffer
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class GZ_RENDERING_VISIBLE DepthCamera : public Camera
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{
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/// \brief Constructor
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/// \param[in] _namePrefix Unique prefix name for the camera.
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/// \param[in] _scene Scene that will contain the camera
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/// \param[in] _autoRender Almost everyone should leave this as true.
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public: DepthCamera(const std::string &_namePrefix,
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ScenePtr _scene, bool _autoRender = true);
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/// \brief Destructor
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public: virtual ~DepthCamera();
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/// \brief Load the camera with a set of parmeters
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/// \param[in] _sdf The SDF camera info
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public: void Load(sdf::ElementPtr _sdf);
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/// \brief Load the camera with default parmeters
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public: void Load();
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/// \brief Initialize the camera
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public: void Init();
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/// Finalize the camera
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public: void Fini();
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/// \brief Create a texture which will hold the depth data
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/// \param[in] _textureName Name of the texture to create
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public: void CreateDepthTexture(const std::string &_textureName);
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/// \brief Render the camera
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public: virtual void PostRender();
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/// \brief All things needed to get back z buffer for depth data
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/// \return The z-buffer as a float array
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/// \deprecated See DepthData()
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public: virtual const float *GetDepthData() GAZEBO_DEPRECATED(7.0);
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/// \brief All things needed to get back z buffer for depth data
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/// \return The z-buffer as a float array
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public: virtual const float *DepthData() const;
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/// \brief Set the render target, which renders the depth data
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/// \param[in] _target Pointer to the render target
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public: virtual void SetDepthTarget(Ogre::RenderTarget *_target);
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/// \brief Connect a to the new depth image signal
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/// \param[in] _subscriber Subscriber callback function
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/// \return Pointer to the new Connection. This must be kept in scope
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public: event::ConnectionPtr ConnectNewDepthFrame(
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std::function<void (const float *, unsigned int, unsigned int,
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unsigned int, const std::string &)> _subscriber);
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/// \brief Disconnect from an depth image singal
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/// \param[in] _c The connection to disconnect
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public: void DisconnectNewDepthFrame(event::ConnectionPtr &_c);
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/// \brief Connect a to the new rgb point cloud signal
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/// \param[in] _subscriber Subscriber callback function
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/// \return Pointer to the new Connection. This must be kept in scope
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public: event::ConnectionPtr ConnectNewRGBPointCloud(
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std::function<void (const float *, unsigned int, unsigned int,
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unsigned int, const std::string &)> _subscriber);
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/// \brief Disconnect from an rgb point cloud singal
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/// \param[in] _c The connection to disconnect
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public: void DisconnectNewRGBPointCloud(event::ConnectionPtr &_c);
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/// \brief Implementation of the render call
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private: virtual void RenderImpl();
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/// \brief Update a render target
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/// \param[in] _target Render target to update
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/// \param[in] _material Material to use
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/// \param[in] _matName Material name
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private: void UpdateRenderTarget(Ogre::RenderTarget *_target,
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Ogre::Material *_material,
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const std::string &_matName);
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/// \brief Pointer to the depth texture
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protected: Ogre::Texture *depthTexture;
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/// \brief Pointer to the depth target
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protected: Ogre::RenderTarget *depthTarget;
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/// \brief Pointer to the depth viewport
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protected: Ogre::Viewport *depthViewport;
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/// \internal
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/// \brief Pointer to private data.
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private: std::unique_ptr<DepthCameraPrivate> 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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