Camera.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef GAZEBO_RENDERING_CAMERA_HH_
18 #define GAZEBO_RENDERING_CAMERA_HH_
19 
20 #include <memory>
21 #include <functional>
22 
23 #include <boost/enable_shared_from_this.hpp>
24 #include <string>
25 #include <utility>
26 #include <list>
27 #include <vector>
28 #include <deque>
29 #include <sdf/sdf.hh>
30 #include <ignition/math/Angle.hh>
31 #include <ignition/math/Color.hh>
32 #include <ignition/math/Matrix4.hh>
33 #include <ignition/math/Pose3.hh>
34 #include <ignition/math/Quaternion.hh>
35 #include <ignition/math/Vector2.hh>
36 #include <ignition/math/Vector3.hh>
37 
38 #include "gazebo/msgs/msgs.hh"
39 
40 #include "gazebo/transport/Node.hh"
42 
43 #include "gazebo/common/Event.hh"
44 #include "gazebo/common/PID.hh"
45 #include "gazebo/common/Time.hh"
46 
50 
51 #include "gazebo/msgs/MessageTypes.hh"
52 #include "gazebo/util/system.hh"
53 
54 // Forward Declarations
55 namespace Ogre
56 {
57  class Texture;
58  class RenderTarget;
59  class Camera;
60  class Viewport;
61  class SceneNode;
62  class AnimationState;
63 }
64 
65 namespace gazebo
66 {
69  namespace rendering
70  {
71  class MouseEvent;
72  class ViewController;
73  class Scene;
74  class CameraPrivate;
75 
79 
84  class GZ_RENDERING_VISIBLE Camera :
85  public boost::enable_shared_from_this<Camera>
86  {
91  public: Camera(const std::string &_namePrefix, ScenePtr _scene,
92  bool _autoRender = true);
93 
95  public: virtual ~Camera();
96 
99  public: virtual void Load(sdf::ElementPtr _sdf);
100 
102  public: virtual void Load();
103 
111  public: void UpdateCameraIntrinsics(
112  const double _cameraIntrinsicsFx, const double _cameraIntrinsicsFy,
113  const double _cameraIntrinsicsCx, const double _cameraIntrinsicsCy,
114  const double _cameraIntrinsicsS);
115 
117  private: virtual void LoadCameraIntrinsics();
118 
131  public: static ignition::math::Matrix4d BuildNDCMatrix(
132  const double _left, const double _right,
133  const double _bottom, const double _top,
134  const double _near, const double _far);
135 
150  public: static ignition::math::Matrix4d BuildPerspectiveMatrix(
151  const double _intrinsicsFx, const double _intrinsicsFy,
152  const double _intrinsicsCx, const double _intrinsicsCy,
153  const double _intrinsicsS,
154  const double _clipNear, const double _clipFar);
155 
175  public: static ignition::math::Matrix4d BuildProjectiveMatrix(
176  const double _imageWidth, const double _imageHeight,
177  const double _intrinsicsFx, const double _intrinsicsFy,
178  const double _intrinsicsCx, const double _intrinsicsCy,
179  const double _intrinsicsS,
180  const double _clipNear, const double _clipFar);
181 
183  public: virtual void Init();
184 
187  public: void SetRenderRate(const double _hz);
188 
191  public: double RenderRate() const;
192 
198  public: virtual void Render(const bool _force = false);
199 
203  public: virtual void PostRender();
204 
210  public: virtual void Update();
211 
215  public: virtual void Fini();
216 
219  public: bool Initialized() const;
220 
224  public: void SetWindowId(unsigned int _windowId);
225 
228  public: unsigned int WindowId() const;
229 
232  public: void SetScene(ScenePtr _scene);
233 
236  public: ignition::math::Vector3d WorldPosition() const;
237 
240  public: ignition::math::Quaterniond WorldRotation() const;
241 
244  public: virtual void SetWorldPose(const ignition::math::Pose3d &_pose);
245 
248  public: ignition::math::Pose3d WorldPose() const;
249 
252  public: void SetWorldPosition(const ignition::math::Vector3d &_pos);
253 
256  public: void SetWorldRotation(const ignition::math::Quaterniond &_quat);
257 
260  public: void Translate(const ignition::math::Vector3d &_direction);
261 
266  public: void Roll(const ignition::math::Angle &_angle,
267  ReferenceFrame _relativeTo = RF_LOCAL);
268 
273  public: void Pitch(const ignition::math::Angle &_angle,
274  ReferenceFrame _relativeTo = RF_LOCAL);
275 
280  public: void Yaw(const ignition::math::Angle &_angle,
281  ReferenceFrame _relativeTo = RF_WORLD);
282 
286  public: virtual void SetClipDist(const float _near, const float _far);
287 
290  public: void SetHFOV(const ignition::math::Angle &_angle);
291 
294  public: ignition::math::Angle HFOV() const;
295 
298  public: ignition::math::Angle VFOV() const;
299 
303  public: void SetImageSize(const unsigned int _w, const unsigned int _h);
304 
307  public: void SetImageWidth(const unsigned int _w);
308 
311  public: void SetImageHeight(const unsigned int _h);
312 
315  public: virtual unsigned int ImageWidth() const;
316 
319  public: unsigned int ImageMemorySize() const;
320 
323  public: unsigned int TextureWidth() const;
324 
327  public: virtual unsigned int ImageHeight() const;
328 
331  public: unsigned int ImageDepth() const;
332 
335  public: std::string ImageFormat() const;
336 
339  public: unsigned int TextureHeight() const;
340 
343  public: size_t ImageByteSize() const;
344 
350  public: static size_t ImageByteSize(const unsigned int _width,
351  const unsigned int _height,
352  const std::string &_format);
353 
359  public: double ZValue(const int _x, const int _y);
360 
363  public: double NearClip() const;
364 
367  public: double FarClip() const;
368 
371  public: void EnableSaveFrame(const bool _enable);
372 
375  public: bool CaptureData() const;
376 
379  public: void SetSaveFramePathname(const std::string &_pathname);
380 
384  public: bool SaveFrame(const std::string &_filename);
385 
388  public: Ogre::Camera *OgreCamera() const;
389 
392  public: Ogre::Viewport *OgreViewport() const;
393 
396  public: unsigned int ViewportWidth() const;
397 
400  public: unsigned int ViewportHeight() const;
401 
404  public: ignition::math::Vector3d Up() const;
405 
408  public: ignition::math::Vector3d Right() const;
409 
412  public: virtual float AvgFPS() const;
413 
416  public: virtual unsigned int TriangleCount() const;
417 
420  public: void SetAspectRatio(float _ratio);
421 
424  public: float AspectRatio() const;
425 
428  public: void SetSceneNode(Ogre::SceneNode *_node);
429 
432  public: Ogre::SceneNode *SceneNode() const;
433 
439  public: virtual const unsigned char *ImageData(const unsigned int i = 0)
440  const;
441 
444  public: std::string Name() const;
445 
448  public: std::string ScopedName() const;
449 
452  public: void SetName(const std::string &_name);
453 
455  public: void ToggleShowWireframe();
456 
459  public: void ShowWireframe(const bool _s);
460 
463  public: void SetCaptureData(const bool _value);
464 
466  public: void SetCaptureDataOnce();
467 
481  public: bool StartVideo(const std::string &_format,
482  const std::string &_filename = "");
483 
488  public: bool StopVideo();
489 
495  public: bool SaveVideo(const std::string &_filename);
496 
503  public: bool ResetVideo();
504 
507  public: void CreateRenderTexture(const std::string &_textureName);
508 
511  public: ScenePtr GetScene() const;
512 
519  public: bool WorldPointOnPlane(const int _x, const int _y,
520  const ignition::math::Planed &_plane,
521  ignition::math::Vector3d &_result);
522 
530  public: virtual void CameraToViewportRay(const int _screenx,
531  const int _screeny,
532  ignition::math::Vector3d &_origin,
533  ignition::math::Vector3d &_dir) const;
534 
537  public: virtual void SetRenderTarget(Ogre::RenderTarget *_target);
538 
547  public: void AttachToVisual(const std::string &_visualName,
548  const bool _inheritOrientation,
549  const double _minDist = 0.0, const double _maxDist = 0.0);
550 
559  public: void AttachToVisual(uint32_t _id,
560  const bool _inheritOrientation,
561  const double _minDist = 0.0, const double _maxDist = 0.0);
562 
565  public: void TrackVisual(const std::string &_visualName);
566 
569  public: Ogre::Texture *RenderTexture() const;
570 
573  public: ignition::math::Vector3d Direction() const;
574 
579  public: event::ConnectionPtr ConnectNewImageFrame(
580  std::function<void (const unsigned char *, unsigned int, unsigned int,
581  unsigned int, const std::string &)> _subscriber);
582 
591  public: static bool SaveFrame(const unsigned char *_image,
592  const unsigned int _width, const unsigned int _height,
593  const int _depth, const std::string &_format,
594  const std::string &_filename);
595 
598  public: common::Time LastRenderWallTime() const;
599 
604  public: bool IsVisible(VisualPtr _visual);
605 
610  public: bool IsVisible(const std::string &_visualName);
611 
613  public: bool IsAnimating() const;
614 
619  public: virtual bool MoveToPosition(const ignition::math::Pose3d &_pose,
620  const double _time);
621 
629  public: bool MoveToPositions(
630  const std::vector<ignition::math::Pose3d> &_pts,
631  const double _time,
632  std::function<void()> _onComplete = NULL);
633 
636  public: std::string ScreenshotPath() const;
637 
640  public: DistortionPtr LensDistortion() const;
641 
647  public: virtual bool SetProjectionType(const std::string &_type);
648 
652  public: std::string ProjectionType() const;
653 
657  public: virtual bool SetBackgroundColor(
658  const ignition::math::Color &_color);
659 
662  public: ignition::math::Matrix4d ProjectionMatrix() const;
663 
667  public: virtual ignition::math::Vector2i Project(
668  const ignition::math::Vector3d &_pt) const;
669 
672  public: VisualPtr TrackedVisual() const;
673 
677  public: bool TrackIsStatic() const;
678 
683  public: void SetTrackIsStatic(const bool _isStatic);
684 
689  public: bool TrackUseModelFrame() const;
690 
696  public: void SetTrackUseModelFrame(const bool _useModelFrame);
697 
701  public: ignition::math::Vector3d TrackPosition() const;
702 
706  public: void SetTrackPosition(const ignition::math::Vector3d &_pos);
707 
711  public: double TrackMinDistance() const;
712 
716  public: double TrackMaxDistance() const;
717 
722  public: void SetTrackMinDistance(const double _dist);
723 
728  public: void SetTrackMaxDistance(const double _dist);
729 
735  public: bool TrackInheritYaw() const;
736 
742  public: void SetTrackInheritYaw(const bool _inheritYaw);
743 
745  protected: virtual void RenderImpl();
746 
748  protected: void ReadPixelBuffer();
749 
753  protected: bool TrackVisualImpl(const std::string &_visualName);
754 
758  protected: virtual bool TrackVisualImpl(VisualPtr _visual);
759 
769  protected: virtual bool AttachToVisualImpl(const std::string &_name,
770  const bool _inheritOrientation,
771  const double _minDist = 0, const double _maxDist = 0);
772 
782  protected: virtual bool AttachToVisualImpl(uint32_t _id,
783  const bool _inheritOrientation,
784  const double _minDist = 0, const double _maxDist = 0);
785 
795  protected: virtual bool AttachToVisualImpl(VisualPtr _visual,
796  const bool _inheritOrientation,
797  const double _minDist = 0, const double _maxDist = 0);
798 
801  protected: std::string FrameFilename();
802 
805  protected: virtual void AnimationComplete();
806 
808  protected: virtual void UpdateFOV();
809 
811  protected: virtual void SetClipDist();
812 
817  protected: static double LimitFOV(const double _fov);
818 
825  protected: virtual void SetFixedYawAxis(const bool _useFixed,
826  const ignition::math::Vector3d &_fixedAxis =
827  ignition::math::Vector3d::UnitY);
828 
836  private: void ConvertRGBToBAYER(unsigned char *_dst,
837  const unsigned char *_src, const std::string &_format,
838  const int _width, const int _height);
839 
843  private: static int OgrePixelFormat(const std::string &_format);
844 
847  private: void OnCmdMsg(ConstCameraCmdPtr &_msg);
848 
850  private: void CreateCamera();
851 
853  protected: std::string name;
854 
856  protected: std::string scopedName;
857 
859  protected: std::string scopedUniqueName;
860 
862  protected: sdf::ElementPtr sdf;
863 
865  protected: unsigned int windowId;
866 
868  protected: unsigned int textureWidth;
869 
871  protected: unsigned int textureHeight;
872 
874  protected: Ogre::Camera *camera;
875 
877  protected: ignition::math::Matrix4d cameraProjectiveMatrix;
878 
880  protected: bool cameraUsingIntrinsics;
881 
883  protected: Ogre::Viewport *viewport;
884 
886  protected: Ogre::SceneNode *cameraNode = nullptr;
887 
889  protected: Ogre::SceneNode *sceneNode;
890 
892  protected: unsigned char *saveFrameBuffer;
893 
895  protected: unsigned char *bayerFrameBuffer;
896 
898  protected: unsigned int saveCount;
899 
901  protected: std::string screenshotPath;
902 
904  protected: int imageFormat;
905 
907  protected: int imageWidth;
908 
910  protected: int imageHeight;
911 
913  protected: Ogre::RenderTarget *renderTarget;
914 
916  protected: Ogre::Texture *renderTexture;
917 
919  protected: bool captureData;
920 
922  protected: bool captureDataOnce;
923 
925  protected: bool newData;
926 
929 
931  protected: ScenePtr scene;
932 
934  protected: event::EventT<void(const unsigned char *,
935  unsigned int, unsigned int, unsigned int,
936  const std::string &)> newImageFrame;
937 
939  protected: std::vector<event::ConnectionPtr> connections;
940 
942  protected: std::list<msgs::Request> requests;
943 
945  protected: bool initialized;
946 
948  protected: Ogre::AnimationState *animState;
949 
952 
954  protected: std::function<void()> onAnimationComplete;
955 
958  private: std::unique_ptr<CameraPrivate> dataPtr;
959  };
961  }
962 }
963 #endif
Basic camera sensor.
Definition: Camera.hh:84
common::Time lastRenderWallTime
Time the last frame was rendered.
Definition: Camera.hh:928
ReferenceFrame
Frame of reference.
Definition: RenderTypes.hh:244
bool initialized
True if initialized.
Definition: Camera.hh:945
bool cameraUsingIntrinsics
Flag for signaling the usage of camera intrinsics within OGRE.
Definition: Camera.hh:880
Ogre::Texture * renderTexture
Texture that receives results from rendering.
Definition: Camera.hh:916
Forward declarations for the common classes.
Definition: Animation.hh:26
boost::shared_ptr< Distortion > DistortionPtr
Definition: RenderTypes.hh:198
std::string scopedUniqueName
Scene scoped name of the camera with a unique ID.
Definition: Camera.hh:859
ignition::math::Matrix4d cameraProjectiveMatrix
Camera projective matrix.
Definition: Camera.hh:877
unsigned char * saveFrameBuffer
Buffer for a single image frame.
Definition: Camera.hh:892
unsigned char * bayerFrameBuffer
Buffer for a bayer image frame.
Definition: Camera.hh:895
std::string screenshotPath
Path to saved screenshots.
Definition: Camera.hh:901
bool captureDataOnce
True to capture a frame once and save to disk.
Definition: Camera.hh:922
bool captureData
True to capture frames into an image buffer.
Definition: Camera.hh:919
sdf::ElementPtr sdf
Camera&#39;s SDF values.
Definition: Camera.hh:862
Ogre::RenderTarget * renderTarget
Target that renders frames.
Definition: Camera.hh:913
Ogre::SceneNode * sceneNode
Scene node that controls camera position and orientation.
Definition: Camera.hh:889
Local frame.
Definition: RenderTypes.hh:247
std::vector< event::ConnectionPtr > connections
The camera&#39;s event connections.
Definition: Camera.hh:939
Ogre::Viewport * viewport
Viewport the ogre camera uses.
Definition: Camera.hh:883
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
int imageWidth
Save image width.
Definition: Camera.hh:907
bool newData
True if new data is available.
Definition: Camera.hh:925
unsigned int windowId
ID of the window that the camera is attached to.
Definition: Camera.hh:865
common::Time prevAnimTime
Previous time the camera animation was updated.
Definition: Camera.hh:951
std::string scopedName
Scene scoped name of the camera.
Definition: Camera.hh:856
ScenePtr scene
Pointer to the scene.
Definition: Camera.hh:931
unsigned int saveCount
Number of saved frames.
Definition: Camera.hh:898
std::list< msgs::Request > requests
List of requests.
Definition: Camera.hh:942
unsigned int textureHeight
Height of the render texture.
Definition: Camera.hh:871
int imageHeight
Save image height.
Definition: Camera.hh:910
World frame.
Definition: RenderTypes.hh:253
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
std::function< void()> onAnimationComplete
User callback for when an animation completes.
Definition: Camera.hh:954
#define NULL
Definition: CommonTypes.hh:31
Definition: JointMaker.hh:39
int imageFormat
Format for saving images.
Definition: Camera.hh:904
unsigned int textureWidth
Width of the render texture.
Definition: Camera.hh:868
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
std::string name
Name of the camera.
Definition: Camera.hh:853
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
event::EventT< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> newImageFrame
Event triggered when a new frame is generated.
Definition: Camera.hh:936
A class for event processing.
Definition: Event.hh:97
Ogre::AnimationState * animState
Animation state, used to animate the camera.
Definition: Camera.hh:948
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44
Ogre::Camera * camera
The OGRE camera.
Definition: Camera.hh:874