Camera.hh

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/*
 * 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_RENDERING_CAMERA_HH_
#define GAZEBO_RENDERING_CAMERA_HH_

#include <memory>
#include <functional>

#include <boost/enable_shared_from_this.hpp>
#include <string>
#include <utility>
#include <list>
#include <vector>
#include <deque>
#include <sdf/sdf.hh>
#include <ignition/math/Angle.hh>
#include <ignition/math/Color.hh>
#include <ignition/math/Matrix4.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Quaternion.hh>
#include <ignition/math/Vector2.hh>
#include <ignition/math/Vector3.hh>

#include "gazebo/msgs/msgs.hh"

#include "gazebo/transport/Node.hh"
#include "gazebo/transport/Subscriber.hh"

#include "gazebo/common/Event.hh"
#include "gazebo/common/PID.hh"
#include "gazebo/common/Time.hh"

#include "gazebo/rendering/Conversions.hh"
#include "gazebo/rendering/ogre_gazebo.h"
#include "gazebo/rendering/RenderTypes.hh"

#include "gazebo/msgs/MessageTypes.hh"
#include "gazebo/util/system.hh"

// Forward Declarations
namespace Ogre
{
  class Texture;
  class RenderTarget;
  class Camera;
  class Viewport;
  class SceneNode;
  class AnimationState;
}

namespace gazebo
{
  namespace rendering
  {
    class MouseEvent;
    class ViewController;
    class Scene;
    class CameraPrivate;


    class GZ_RENDERING_VISIBLE Camera :
      public boost::enable_shared_from_this<Camera>
    {
      public: Camera(const std::string &_namePrefix, ScenePtr _scene,
                     bool _autoRender = true);

      public: virtual ~Camera();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: virtual void Load();

      public: void UpdateCameraIntrinsics(
          const double _cameraIntrinsicsFx, const double _cameraIntrinsicsFy,
          const double _cameraIntrinsicsCx, const double _cameraIntrinsicsCy,
          const double _cameraIntrinsicsS);

      private: virtual void LoadCameraIntrinsics();

      public: static ignition::math::Matrix4d BuildNDCMatrix(
              const double _left, const double _right,
              const double _bottom, const double _top,
              const double _near, const double _far);

      public: static ignition::math::Matrix4d BuildPerspectiveMatrix(
              const double _intrinsicsFx, const double _intrinsicsFy,
              const double _intrinsicsCx, const double _intrinsicsCy,
              const double _intrinsicsS,
              const double _clipNear, const double _clipFar);

      public: static ignition::math::Matrix4d BuildProjectionMatrix(
              const double _imageWidth, const double _imageHeight,
              const double _intrinsicsFx, const double _intrinsicsFy,
              const double _intrinsicsCx, const double _intrinsicsCy,
              const double _intrinsicsS,
              const double _clipNear, const double _clipFar);

      public: static ignition::math::Matrix4d BuildProjectiveMatrix(
              const double _imageWidth, const double _imageHeight,
              const double _intrinsicsFx, const double _intrinsicsFy,
              const double _intrinsicsCx, const double _intrinsicsCy,
              const double _intrinsicsS,
              const double _clipNear, const double _clipFar);

      public: virtual void Init();

      public: void SetRenderRate(const double _hz);

      public: double RenderRate() const;

      public: virtual void Render(const bool _force = false);

      public: virtual void PostRender();

      public: virtual void Update();

      public: virtual void Fini();

      public: bool Initialized() const;

      public: void SetWindowId(unsigned int _windowId);

      public: unsigned int WindowId() const;

      public: void SetScene(ScenePtr _scene);

      public: ignition::math::Vector3d WorldPosition() const;

      public: ignition::math::Quaterniond WorldRotation() const;

      public: virtual void SetWorldPose(const ignition::math::Pose3d &_pose);

      public: ignition::math::Pose3d WorldPose() const;

      public: void SetWorldPosition(const ignition::math::Vector3d &_pos);

      public: void SetWorldRotation(const ignition::math::Quaterniond &_quat);

      public: void Translate(const ignition::math::Vector3d &_direction);

      public: void Roll(const ignition::math::Angle &_angle,
                  ReferenceFrame _relativeTo = RF_LOCAL);

      public: void Pitch(const ignition::math::Angle &_angle,
                  ReferenceFrame _relativeTo = RF_LOCAL);

      public: void Yaw(const ignition::math::Angle &_angle,
                  ReferenceFrame _relativeTo = RF_WORLD);

      public: virtual void SetClipDist(const float _near, const float _far);

      public: void SetHFOV(const ignition::math::Angle &_angle);

      public: ignition::math::Angle HFOV() const;

      public: ignition::math::Angle VFOV() const;

      public: void SetImageSize(const unsigned int _w, const unsigned int _h);

      public: void SetImageWidth(const unsigned int _w);

      public: void SetImageHeight(const unsigned int _h);

      public: virtual unsigned int ImageWidth() const;

      public: unsigned int ImageMemorySize() const;

      public: unsigned int TextureWidth() const;

      public: virtual unsigned int ImageHeight() const;

      public: unsigned int ImageDepth() const;

      public: std::string ImageFormat() const;

      public: unsigned int TextureHeight() const;

      public: size_t ImageByteSize() const;

      public: static size_t ImageByteSize(const unsigned int _width,
                                          const unsigned int _height,
                                          const std::string &_format);

      public: double ZValue(const int _x, const int _y);

      public: double NearClip() const;

      public: double FarClip() const;

      public: void EnableSaveFrame(const bool _enable);

      public: bool CaptureData() const;

      public: void SetSaveFramePathname(const std::string &_pathname);

      public: bool SaveFrame(const std::string &_filename);

      public: Ogre::Camera *OgreCamera() const;

      public: Ogre::Viewport *OgreViewport() const;

      public: unsigned int ViewportWidth() const;

      public: unsigned int ViewportHeight() const;

      public: ignition::math::Vector3d Up() const;

      public: ignition::math::Vector3d Right() const;

      public: virtual float AvgFPS() const;

      public: virtual unsigned int TriangleCount() const;

      public: void SetAspectRatio(float _ratio);

      public: float AspectRatio() const;

      public: void SetSceneNode(Ogre::SceneNode *_node);

      public: Ogre::SceneNode *SceneNode() const;

      public: virtual const unsigned char *ImageData(const unsigned int i = 0)
          const;

      public: std::string Name() const;

      public: std::string ScopedName() const;

      public: void SetName(const std::string &_name);

      public: void ToggleShowWireframe();

      public: void ShowWireframe(const bool _s);

      public: void SetCaptureData(const bool _value);

      public: void SetCaptureDataOnce();

      public: bool StartVideo(const std::string &_format,
                              const std::string &_filename = "");

      public: bool StopVideo();

      public: bool SaveVideo(const std::string &_filename);

      public: bool ResetVideo();

      public: void CreateRenderTexture(const std::string &_textureName);

      public: ScenePtr GetScene() const;

      public: bool WorldPointOnPlane(const int _x, const int _y,
                  const ignition::math::Planed &_plane,
                  ignition::math::Vector3d &_result);

      public: virtual void CameraToViewportRay(const int _screenx,
                  const int _screeny,
                  ignition::math::Vector3d &_origin,
                  ignition::math::Vector3d &_dir) const;

      public: virtual void SetRenderTarget(Ogre::RenderTarget *_target);

      public: void AttachToVisual(const std::string &_visualName,
                  const bool _inheritOrientation,
                  const double _minDist = 0.0, const double _maxDist = 0.0);

      public: void AttachToVisual(uint32_t _id,
                  const bool _inheritOrientation,
                  const double _minDist = 0.0, const double _maxDist = 0.0);

      public: void TrackVisual(const std::string &_visualName);

      public: Ogre::Texture *RenderTexture() const;

      public: ignition::math::Vector3d Direction() const;

      public: event::ConnectionPtr ConnectNewImageFrame(
          std::function<void (const unsigned char *, unsigned int, unsigned int,
          unsigned int, const std::string &)> _subscriber);

      public: static bool SaveFrame(const unsigned char *_image,
                  const unsigned int _width, const unsigned int _height,
                  const int _depth, const std::string &_format,
                  const std::string &_filename);

      public: common::Time LastRenderWallTime() const;

      public: bool IsVisible(VisualPtr _visual);

      public: bool IsVisible(const std::string &_visualName);

      public: bool IsAnimating() const;

      public: virtual bool MoveToPosition(const ignition::math::Pose3d &_pose,
                                          const double _time);

      public: bool MoveToPositions(
                  const std::vector<ignition::math::Pose3d> &_pts,
                  const double _time,
                  std::function<void()> _onComplete = NULL);

      public: std::string ScreenshotPath() const;

      public: DistortionPtr LensDistortion() const;

      public: virtual bool SetProjectionType(const std::string &_type);

      public: std::string ProjectionType() const;

      public: virtual bool SetBackgroundColor(
          const ignition::math::Color &_color);

      public: ignition::math::Matrix4d ProjectionMatrix() const;

      public: virtual ignition::math::Vector2i Project(
          const ignition::math::Vector3d &_pt) const;

      public: VisualPtr TrackedVisual() const;

      public: bool TrackIsStatic() const;

      public: void SetTrackIsStatic(const bool _isStatic);

      public: bool TrackUseModelFrame() const;

      public: void SetTrackUseModelFrame(const bool _useModelFrame);

      public: ignition::math::Vector3d TrackPosition() const;

      public: void SetTrackPosition(const ignition::math::Vector3d &_pos);

      public: double TrackMinDistance() const;

      public: double TrackMaxDistance() const;

      public: void SetTrackMinDistance(const double _dist);

      public: void SetTrackMaxDistance(const double _dist);

      public: bool TrackInheritYaw() const;

      public: void SetTrackInheritYaw(const bool _inheritYaw);

      protected: virtual void RenderImpl();

      protected: void ReadPixelBuffer();

      protected: bool TrackVisualImpl(const std::string &_visualName);

      protected: virtual bool TrackVisualImpl(VisualPtr _visual);

      protected: virtual bool AttachToVisualImpl(const std::string &_name,
                     const bool _inheritOrientation,
                     const double _minDist = 0, const double _maxDist = 0);

      protected: virtual bool AttachToVisualImpl(uint32_t _id,
                     const bool _inheritOrientation,
                     const double _minDist = 0, const double _maxDist = 0);

      protected: virtual bool AttachToVisualImpl(VisualPtr _visual,
                     const bool _inheritOrientation,
                     const double _minDist = 0, const double _maxDist = 0);

      protected: std::string FrameFilename();

      protected: virtual void AnimationComplete();

      protected: virtual void UpdateFOV();

      protected: virtual void SetClipDist();

      protected: static double LimitFOV(const double _fov);

      protected: virtual void SetFixedYawAxis(const bool _useFixed,
          const ignition::math::Vector3d &_fixedAxis =
            ignition::math::Vector3d::UnitY);

      private: void ConvertRGBToBAYER(unsigned char *_dst,
          const unsigned char *_src, const std::string &_format,
          const int _width, const int _height);

      private: static int OgrePixelFormat(const std::string &_format);

      private: void OnCmdMsg(ConstCameraCmdPtr &_msg);

      private: void CreateCamera();

      protected: std::string name;

      protected: std::string scopedName;

      protected: std::string scopedUniqueName;

      protected: sdf::ElementPtr sdf;

      protected: unsigned int windowId;

      protected: unsigned int textureWidth;

      protected: unsigned int textureHeight;

      protected: Ogre::Camera *camera;

      protected: ignition::math::Matrix4d cameraProjectiveMatrix;

      protected: bool cameraUsingIntrinsics;

      protected: Ogre::Viewport *viewport;

      protected: Ogre::SceneNode *cameraNode = nullptr;

      protected: Ogre::SceneNode *sceneNode;

      protected: unsigned char *saveFrameBuffer;

      protected: unsigned char *bayerFrameBuffer;

      protected: unsigned int saveCount;

      protected: std::string screenshotPath;

      protected: int imageFormat;

      protected: int imageWidth;

      protected: int imageHeight;

      protected: Ogre::RenderTarget *renderTarget;

      protected: Ogre::Texture *renderTexture;

      protected: bool captureData;

      protected: bool captureDataOnce;

      protected: bool newData;

      protected: common::Time lastRenderWallTime;

      protected: ScenePtr scene;

      protected: event::EventT<void(const unsigned char *,
                     unsigned int, unsigned int, unsigned int,
                     const std::string &)> newImageFrame;

      protected: std::vector<event::ConnectionPtr> connections;

      protected: std::list<msgs::Request> requests;

      protected: bool initialized;

      protected: Ogre::AnimationState *animState;

      protected: common::Time prevAnimTime;

      protected: std::function<void()> onAnimationComplete;

      private: std::unique_ptr<CameraPrivate> dataPtr;
    };
  }
}
#endif