145 lines
4.8 KiB
C++
145 lines
4.8 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_CAMERA_HH_
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#define _GAZEBO_OCULUS_CAMERA_HH_
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#include <string>
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#include "gazebo/rendering/Camera.hh"
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namespace gazebo
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{
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namespace rendering
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{
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class OculusCameraPrivate;
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/// \addtogroup gazebo_rendering
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/// \{
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/// \class OculusCamera OculusCamera.hh rendering/rendering.hh
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/// \brief A camera used for user visualization of a scene
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class GZ_RENDERING_VISIBLE OculusCamera : public Camera
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{
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/// \brief Constructor
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/// \param[in] _name Name of the camera.
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/// \param[in] _scene Scene to put the camera in.
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public: OculusCamera(const std::string &_name, ScenePtr _scene);
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/// \brief Destructor
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public: virtual ~OculusCamera();
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/// \brief Load the user camera.
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/// \param[in] _sdf Parameters for the camera.
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public: void Load(sdf::ElementPtr _sdf);
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/// \brief Generic load function
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public: void Load();
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/// \brief Initialize
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public: void Init();
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/// \brief Render the camera
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public: virtual void Update();
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/// \brief Post render
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public: virtual void PostRender();
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/// \brief Finialize
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public: void Fini();
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/// \brief Resize the camera.
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/// \param[in] _w Width of the camera image.
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/// \param[in] _h Height of the camera image.
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public: void Resize(unsigned int _w, unsigned int _h);
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/// \brief Move the camera to focus on a visual.
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/// \param[in] _visual Visual to move the camera to.
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public: void MoveToVisual(VisualPtr _visual);
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// Doxygen automatically pulls in the correct documentation.
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public: virtual bool MoveToPosition(const math::Pose &_pose,
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double _time);
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/// \brief Move the camera to focus on a visual.
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/// \param[in] _visualName Name of the visual to move the camera to.
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public: void MoveToVisual(const std::string &_visualName);
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/// \brief Set to true to enable rendering
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///
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/// Use this only if you really know what you're doing.
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/// \param[in] _target The new rendering target.
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public: virtual void SetRenderTarget(Ogre::RenderTarget *_target);
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/// \brief Change screen aspect ratio.
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/// \param[in] _v Aspect ratio.
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public: void AdjustAspect(double _v);
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// Documentation inherited
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public: virtual unsigned int GetImageWidth() const;
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// Documentation inherited
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public: virtual unsigned int GetImageHeight() const;
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/// \brief Reset the Oculus Rift sensor orientation.
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public: void ResetSensor();
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/// \brief Used to check if Oculus is plugged in and can be used.
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/// \return True when Oculus is ready to use.
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public: bool Ready();
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// Documentation inherited
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protected: virtual void RenderImpl();
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/// \brief Set the camera to be attached to a visual.
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///
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/// This causes the camera to move in relation to the specified visual.
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/// \param[in] _visual The visual to attach to.
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/// \param[in] _inheritOrientation True if the camera should also
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/// rotate when the visual rotates.
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/// \param[in] _minDist Minimum distance the camera can get to the
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/// visual.
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/// \param[in] _maxDist Maximum distance the camera can get from the
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/// visual.
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/// \return True if successfully attach to the visual.
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protected: virtual bool AttachToVisualImpl(VisualPtr _visual,
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bool _inheritOrientation, double _minDist = 0,
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double _maxDist = 0);
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/// \brief Set the camera to track a scene node.
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///
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/// Tracking just causes the camera to rotate to follow the visual.
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/// \param[in] _visual Visual to track.
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/// \return True if the camera is now tracking the visual.
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protected: virtual bool TrackVisualImpl(VisualPtr _visual);
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/// \brief Receive world control messages. Used to reset the oculus
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/// sensor.
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private: void OnControl(ConstWorldControlPtr &_data);
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/// \brief Apply distorsion to the render target.
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private: void Oculus();
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/// \internal
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/// \brief Pointer to private data.
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private: OculusCameraPrivate *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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