Depth camera used to render depth data into an image buffer. More...
#include <rendering/rendering.hh>
Inherits Camera.
Public Member Functions | |
DepthCamera (const std::string &_namePrefix, ScenePtr _scene, bool _autoRender=true) | |
Constructor. More... | |
virtual | ~DepthCamera () |
Destructor. More... | |
float | AspectRatio () const |
Get the apect ratio. More... | |
void | AttachToVisual (const std::string &_visualName, const bool _inheritOrientation, const double _minDist=0.0, const double _maxDist=0.0) |
Attach the camera to a scene node. More... | |
void | AttachToVisual (uint32_t _id, const bool _inheritOrientation, const double _minDist=0.0, const double _maxDist=0.0) |
Attach the camera to a scene node. More... | |
virtual float | AvgFPS () const |
Get the average FPS. More... | |
virtual void | CameraToViewportRay (const int _screenx, const int _screeny, ignition::math::Vector3d &_origin, ignition::math::Vector3d &_dir) const |
Get a world space ray as cast from the camera through the viewport. More... | |
bool | CaptureData () const |
Return the value of this->captureData. More... | |
event::ConnectionPtr | ConnectNewDepthFrame (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber) |
Connect a to the new depth image signal. More... | |
event::ConnectionPtr | ConnectNewImageFrame (std::function< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber) |
Connect to the new image signal. More... | |
event::ConnectionPtr | ConnectNewRGBPointCloud (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber) |
Connect a to the new rgb point cloud signal. More... | |
void | CreateDepthTexture (const std::string &_textureName) |
Create a texture which will hold the depth data. More... | |
void | CreateRenderTexture (const std::string &_textureName) |
Set the render target. More... | |
virtual const float * | DepthData () const |
All things needed to get back z buffer for depth data. More... | |
ignition::math::Vector3d | Direction () const |
Get the camera's direction vector. More... | |
void | EnableSaveFrame (const bool _enable) |
Enable or disable saving. More... | |
double | FarClip () const |
Get the far clip distance. More... | |
void | Fini () |
Finalize the camera. More... | |
ScenePtr | GetScene () const |
Get the scene this camera is in. More... | |
ignition::math::Angle | HFOV () const |
Get the camera FOV (horizontal) More... | |
size_t | ImageByteSize () const |
Get the image size in bytes. More... | |
virtual const unsigned char * | ImageData (const unsigned int i=0) const |
Get a pointer to the image data. More... | |
unsigned int | ImageDepth () const |
Get the depth of the image in bytes per pixel. More... | |
std::string | ImageFormat () const |
Get the string representation of the image format. More... | |
virtual unsigned int | ImageHeight () const |
Get the height of the image. More... | |
unsigned int | ImageMemorySize () const |
Get the memory size of this image. More... | |
virtual unsigned int | ImageWidth () const |
Get the width of the image. More... | |
void | Init () |
Initialize the camera. More... | |
bool | Initialized () const |
Return true if the camera has been initialized. More... | |
bool | IsAnimating () const |
Return true if the camera is moving due to an animation. More... | |
bool | IsVisible (VisualPtr _visual) |
Return true if the visual is within the camera's view frustum. More... | |
bool | IsVisible (const std::string &_visualName) |
Return true if the visual is within the camera's view frustum. More... | |
common::Time | LastRenderWallTime () const |
Get the last time the camera was rendered. More... | |
DistortionPtr | LensDistortion () const |
Get the distortion model of this camera. More... | |
void | Load (sdf::ElementPtr _sdf) |
Load the camera with a set of parmeters. More... | |
void | Load () |
Load the camera with default parmeters. More... | |
virtual bool | MoveToPosition (const ignition::math::Pose3d &_pose, const double _time) |
Move the camera to a position (this is an animated motion). More... | |
bool | MoveToPositions (const std::vector< ignition::math::Pose3d > &_pts, const double _time, std::function< void()> _onComplete=NULL) |
Move the camera to a series of poses (this is an animated motion). More... | |
std::string | Name () const |
Get the camera's unscoped name. More... | |
double | NearClip () const |
Get the near clip distance. More... | |
Ogre::Camera * | OgreCamera () const |
Get a pointer to the ogre camera. More... | |
Ogre::Viewport * | OgreViewport () const |
Get a pointer to the Ogre::Viewport. More... | |
void | Pitch (const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL) |
Rotate the camera around the y-axis. More... | |
virtual void | PostRender () |
Render the camera. More... | |
virtual ignition::math::Vector2i | Project (const ignition::math::Vector3d &_pt) const |
Project 3D world coordinates to 2D screen coordinates. More... | |
ignition::math::Matrix4d | ProjectionMatrix () const |
Return the projection matrix of this camera. More... | |
std::string | ProjectionType () const |
Return the projection type as a string. More... | |
virtual void | Render (const bool _force=false) |
Render the camera. More... | |
double | RenderRate () const |
Get the render Hz rate. More... | |
Ogre::Texture * | RenderTexture () const |
Get the render texture. More... | |
bool | ResetVideo () |
Reset video recording. More... | |
ignition::math::Vector3d | Right () const |
Get the viewport right vector. More... | |
void | Roll (const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL) |
Rotate the camera around the x-axis. More... | |
bool | SaveFrame (const std::string &_filename) |
Save the last frame to disk. More... | |
bool | SaveVideo (const std::string &_filename) |
Save the last encoded video to disk. More... | |
Ogre::SceneNode * | SceneNode () const |
Get the camera's scene node. More... | |
std::string | ScopedName () const |
Get the camera's scoped name (scene_name::camera_name) More... | |
std::string | ScreenshotPath () const |
Get the path to saved screenshots. More... | |
void | SetAspectRatio (float _ratio) |
Set the aspect ratio. More... | |
virtual bool | SetBackgroundColor (const ignition::math::Color &_color) |
Set background color for viewport (if viewport is not null) More... | |
void | SetCaptureData (const bool _value) |
Set whether to capture data. More... | |
void | SetCaptureDataOnce () |
Capture data once and save to disk. More... | |
virtual void | SetClipDist (const float _near, const float _far) |
Set the clip distances. More... | |
virtual void | SetDepthTarget (Ogre::RenderTarget *_target) |
Set the render target, which renders the depth data. More... | |
void | SetHFOV (const ignition::math::Angle &_angle) |
Set the camera FOV (horizontal) More... | |
void | SetImageHeight (const unsigned int _h) |
Set the image height. More... | |
void | SetImageSize (const unsigned int _w, const unsigned int _h) |
Set the image size. More... | |
void | SetImageWidth (const unsigned int _w) |
Set the image height. More... | |
void | SetName (const std::string &_name) |
Set the camera's name. More... | |
virtual bool | SetProjectionType (const std::string &_type) |
Set the type of projection used by the camera. More... | |
void | SetRenderRate (const double _hz) |
Set the render Hz rate. More... | |
virtual void | SetRenderTarget (Ogre::RenderTarget *_target) |
Set the camera's render target. More... | |
void | SetSaveFramePathname (const std::string &_pathname) |
Set the save frame pathname. More... | |
void | SetScene (ScenePtr _scene) |
Set the scene this camera is viewing. More... | |
void | SetSceneNode (Ogre::SceneNode *_node) |
Set the camera's scene node. More... | |
void | SetTrackInheritYaw (const bool _inheritYaw) |
Set whether this camera inherits the yaw rotation of the tracked model. More... | |
void | SetTrackIsStatic (const bool _isStatic) |
Set whether this camera is static when tracking a model. More... | |
void | SetTrackMaxDistance (const double _dist) |
Set the maximum distance between the camera and tracked visual. More... | |
void | SetTrackMinDistance (const double _dist) |
Set the minimum distance between the camera and tracked visual. More... | |
void | SetTrackPosition (const ignition::math::Vector3d &_pos) |
Set the position of the camera when tracking a visual. More... | |
void | SetTrackUseModelFrame (const bool _useModelFrame) |
Set whether this camera's position is relative to tracked models. More... | |
void | SetWindowId (unsigned int _windowId) |
virtual void | SetWorldPose (const ignition::math::Pose3d &_pose) |
Set the global pose of the camera. More... | |
void | SetWorldPosition (const ignition::math::Vector3d &_pos) |
Set the world position. More... | |
void | SetWorldRotation (const ignition::math::Quaterniond &_quat) |
Set the world orientation. More... | |
void | ShowWireframe (const bool _s) |
Set whether to view the world in wireframe. More... | |
bool | StartVideo (const std::string &_format, const std::string &_filename="") |
Turn on video recording. More... | |
bool | StopVideo () |
Turn off video recording. More... | |
unsigned int | TextureHeight () const |
Get the height of the off-screen render texture. More... | |
unsigned int | TextureWidth () const |
Get the width of the off-screen render texture. More... | |
void | ToggleShowWireframe () |
Toggle whether to view the world in wireframe. More... | |
VisualPtr | TrackedVisual () const |
Get the visual tracked by this camera. More... | |
bool | TrackInheritYaw () const |
Get whether this camera inherits the yaw rotation of the tracked model. More... | |
bool | TrackIsStatic () const |
Get whether this camera is static when tracking a model. More... | |
double | TrackMaxDistance () const |
Return the maximum distance to the tracked visual. More... | |
double | TrackMinDistance () const |
Return the minimum distance to the tracked visual. More... | |
ignition::math::Vector3d | TrackPosition () const |
Return the position of the camera when tracking a model. More... | |
bool | TrackUseModelFrame () const |
Get whether this camera's position is relative to tracked models. More... | |
void | TrackVisual (const std::string &_visualName) |
Set the camera to track a scene node. More... | |
void | Translate (const ignition::math::Vector3d &_direction) |
Translate the camera. More... | |
virtual unsigned int | TriangleCount () const |
Get the triangle count. More... | |
ignition::math::Vector3d | Up () const |
Get the viewport up vector. More... | |
virtual void | Update () |
void | UpdateCameraIntrinsics (const double _cameraIntrinsicsFx, const double _cameraIntrinsicsFy, const double _cameraIntrinsicsCx, const double _cameraIntrinsicsCy, const double _cameraIntrinsicsS) |
Updates the camera intrinsics. More... | |
ignition::math::Angle | VFOV () const |
Get the camera FOV (vertical) More... | |
unsigned int | ViewportHeight () const |
Get the viewport height in pixels. More... | |
unsigned int | ViewportWidth () const |
Get the viewport width in pixels. More... | |
unsigned int | WindowId () const |
Get the ID of the window this camera is rendering into. More... | |
bool | WorldPointOnPlane (const int _x, const int _y, const ignition::math::Planed &_plane, ignition::math::Vector3d &_result) |
Get point on a plane. More... | |
ignition::math::Pose3d | WorldPose () const |
Get the world pose. More... | |
ignition::math::Vector3d | WorldPosition () const |
Get the camera position in the world. More... | |
ignition::math::Quaterniond | WorldRotation () const |
Get the camera's orientation in the world. More... | |
void | Yaw (const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_WORLD) |
Rotate the camera around the z-axis. More... | |
double | ZValue (const int _x, const int _y) |
Get the Z-buffer value at the given image coordinate. More... | |
Static Public Member Functions | |
static ignition::math::Matrix4d | BuildNDCMatrix (const double _left, const double _right, const double _bottom, const double _top, const double _near, const double _far) |
Computes the OpenGL NDC matrix. More... | |
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) |
Computes the OpenGL perspective matrix. More... | |
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) |
Computes the OpenGL projection matrix by multiplying the OpenGL Normalized Device Coordinates matrix (NDC) with the OpenGL perspective matrix openglProjectionMatrix = ndcMatrix * perspectiveMatrix. More... | |
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) |
Computes the OpenGL projective matrix by multiplying the OpenGL Normalized Device Coordinates matrix (NDC) with the OpenGL perspective matrix openglProjectiveMatrix = ndcMatrix * perspectiveMatrix. More... | |
static size_t | ImageByteSize (const unsigned int _width, const unsigned int _height, const std::string &_format) |
Calculate image byte size base on a few parameters. More... | |
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) |
Save a frame using an image buffer. More... | |
Protected Member Functions | |
virtual void | AnimationComplete () |
Internal function used to indicate that an animation has completed. More... | |
virtual bool | AttachToVisualImpl (const std::string &_name, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0) |
Attach the camera to a scene node. More... | |
virtual bool | AttachToVisualImpl (uint32_t _id, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0) |
Attach the camera to a scene node. More... | |
virtual bool | AttachToVisualImpl (VisualPtr _visual, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0) |
Attach the camera to a visual. More... | |
std::string | FrameFilename () |
Get the next frame filename based on SDF parameters. More... | |
void | ReadPixelBuffer () |
Read image data from pixel buffer. More... | |
virtual void | SetClipDist () |
Set the clip distance based on stored SDF values. More... | |
virtual void | SetFixedYawAxis (const bool _useFixed, const ignition::math::Vector3d &_fixedAxis=ignition::math::Vector3d::UnitY) |
Tell the camera whether to yaw around its own local Y axis or a fixed axis of choice. More... | |
bool | TrackVisualImpl (const std::string &_visualName) |
Implementation of the Camera::TrackVisual call. More... | |
virtual bool | TrackVisualImpl (VisualPtr _visual) |
Set the camera to track a scene node. More... | |
virtual void | UpdateFOV () |
Update the camera's field of view. More... | |
Static Protected Member Functions | |
static double | LimitFOV (const double _fov) |
Limit field of view taking care of using a valid value for an OGRE camera. More... | |
Protected Attributes | |
Ogre::AnimationState * | animState |
Animation state, used to animate the camera. More... | |
unsigned char * | bayerFrameBuffer |
Buffer for a bayer image frame. More... | |
Ogre::Camera * | camera |
The OGRE camera. More... | |
Ogre::SceneNode * | cameraNode = nullptr |
Scene node that the camera is attached to. More... | |
ignition::math::Matrix4d | cameraProjectiveMatrix |
Camera projective matrix. More... | |
bool | cameraUsingIntrinsics |
Flag for signaling the usage of camera intrinsics within OGRE. More... | |
bool | captureData |
True to capture frames into an image buffer. More... | |
bool | captureDataOnce |
True to capture a frame once and save to disk. More... | |
std::vector< event::ConnectionPtr > | connections |
The camera's event connections. More... | |
Ogre::RenderTarget * | depthTarget |
Pointer to the depth target. More... | |
Ogre::Texture * | depthTexture |
Pointer to the depth texture. More... | |
Ogre::Viewport * | depthViewport |
Pointer to the depth viewport. More... | |
int | imageFormat |
Format for saving images. More... | |
int | imageHeight |
Save image height. More... | |
int | imageWidth |
Save image width. More... | |
bool | initialized |
True if initialized. More... | |
common::Time | lastRenderWallTime |
Time the last frame was rendered. More... | |
std::string | name |
Name of the camera. More... | |
bool | newData |
True if new data is available. More... | |
event::EventT< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> | newImageFrame |
Event triggered when a new frame is generated. More... | |
std::function< void()> | onAnimationComplete |
User callback for when an animation completes. More... | |
common::Time | prevAnimTime |
Previous time the camera animation was updated. More... | |
Ogre::RenderTarget * | renderTarget |
Target that renders frames. More... | |
Ogre::Texture * | renderTexture |
Texture that receives results from rendering. More... | |
std::list< msgs::Request > | requests |
List of requests. More... | |
unsigned int | saveCount |
Number of saved frames. More... | |
unsigned char * | saveFrameBuffer |
Buffer for a single image frame. More... | |
ScenePtr | scene |
Pointer to the scene. More... | |
Ogre::SceneNode * | sceneNode |
Scene node that controls camera position and orientation. More... | |
std::string | scopedName |
Scene scoped name of the camera. More... | |
std::string | scopedUniqueName |
Scene scoped name of the camera with a unique ID. More... | |
std::string | screenshotPath |
Path to saved screenshots. More... | |
sdf::ElementPtr | sdf |
Camera's SDF values. More... | |
unsigned int | textureHeight |
Height of the render texture. More... | |
unsigned int | textureWidth |
Width of the render texture. More... | |
Ogre::Viewport * | viewport |
Viewport the ogre camera uses. More... | |
unsigned int | windowId |
ID of the window that the camera is attached to. More... | |
Depth camera used to render depth data into an image buffer.
DepthCamera | ( | const std::string & | _namePrefix, |
ScenePtr | _scene, | ||
bool | _autoRender = true |
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) |
Constructor.
[in] | _namePrefix | Unique prefix name for the camera. |
[in] | _scene | Scene that will contain the camera |
[in] | _autoRender | Almost everyone should leave this as true. |
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virtual |
Destructor.
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protectedvirtualinherited |
Internal function used to indicate that an animation has completed.
Reimplemented in UserCamera.
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inherited |
Get the apect ratio.
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inherited |
Attach the camera to a scene node.
[in] | _visualName | Name of the visual to attach the camera to |
[in] | _inheritOrientation | True means camera acquires the visual's orientation |
[in] | _minDist | Minimum distance the camera is allowed to get to the visual |
[in] | _maxDist | Maximum distance the camera is allowd to get from the visual |
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inherited |
Attach the camera to a scene node.
[in] | _id | ID of the visual to attach the camera to |
[in] | _inheritOrientation | True means camera acquires the visual's orientation |
[in] | _minDist | Minimum distance the camera is allowed to get to the visual |
[in] | _maxDist | Maximum distance the camera is allowd to get from the visual |
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protectedvirtualinherited |
Attach the camera to a scene node.
[in] | _visualName | Name of the visual to attach the camera to |
[in] | _inheritOrientation | True means camera acquires the visual's orientation |
[in] | _minDist | Minimum distance the camera is allowed to get to the visual |
[in] | _maxDist | Maximum distance the camera is allowd to get from the visual |
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protectedvirtualinherited |
Attach the camera to a scene node.
[in] | _id | ID of the visual to attach the camera to |
[in] | _inheritOrientation | True means camera acquires the visual's orientation |
[in] | _minDist | Minimum distance the camera is allowed to get to the visual |
[in] | _maxDist | Maximum distance the camera is allowd to get from the visual |
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protectedvirtualinherited |
Attach the camera to a visual.
[in] | _visual | The visual to attach the camera to |
[in] | _inheritOrientation | True means camera acquires the visual's orientation |
[in] | _minDist | Minimum distance the camera is allowed to get to the visual |
[in] | _maxDist | Maximum distance the camera is allowd to get from the visual |
Reimplemented in UserCamera, and OculusCamera.
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virtualinherited |
Get the average FPS.
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staticinherited |
Computes the OpenGL NDC matrix.
[in] | _left | Left vertical clipping plane |
[in] | _right | Right vertical clipping plane |
[in] | _bottom | Bottom horizontal clipping plane |
[in] | _top | Top horizontal clipping plane |
[in] | _near | Distance to the nearer depth clipping plane This value is negative if the plane is to be behind the camera |
[in] | _far | Distance to the farther depth clipping plane This value is negative if the plane is to be behind the camera |
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staticinherited |
Computes the OpenGL perspective matrix.
[in] | _intrinsicsFx | Horizontal focal length (in pixels) |
[in] | _intrinsicsFy | Vertical focal length (in pixels) |
[in] | _intrinsicsCx | X coordinate of principal point in pixels |
[in] | _intrinsicsCy | Y coordinate of principal point in pixels |
[in] | _intrinsicsS | Skew coefficient defining the angle between the x and y pixel axes |
[in] | _clipNear | Distance to the nearer depth clipping plane This value is negative if the plane is to be behind the camera |
[in] | _clipFar | Distance to the farther depth clipping plane This value is negative if the plane is to be behind the camera |
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staticinherited |
Computes the OpenGL projection matrix by multiplying the OpenGL Normalized Device Coordinates matrix (NDC) with the OpenGL perspective matrix openglProjectionMatrix = ndcMatrix * perspectiveMatrix.
[in] | _imageWidth | Image width (in pixels) |
[in] | _imageHeight | Image height (in pixels) |
[in] | _intrinsicsFx | Horizontal focal length (in pixels) |
[in] | _intrinsicsFy | Vertical focal length (in pixels) |
[in] | _intrinsicsCx | X coordinate of principal point in pixels |
[in] | _intrinsicsCy | Y coordinate of principal point in pixels |
[in] | _intrinsicsS | Skew coefficient defining the angle between the x and y pixel axes |
[in] | _clipNear | Distance to the nearer depth clipping plane This value is negative if the plane is to be behind the camera |
[in] | _clipFar | Distance to the farther depth clipping plane This value is negative if the plane is to be behind the camera |
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staticinherited |
Computes the OpenGL projective matrix by multiplying the OpenGL Normalized Device Coordinates matrix (NDC) with the OpenGL perspective matrix openglProjectiveMatrix = ndcMatrix * perspectiveMatrix.
[in] | _imageWidth | Image width (in pixels) |
[in] | _imageHeight | Image height (in pixels) |
[in] | _intrinsicsFx | Horizontal focal length (in pixels) |
[in] | _intrinsicsFy | Vertical focal length (in pixels) |
[in] | _intrinsicsCx | X coordinate of principal point in pixels |
[in] | _intrinsicsCy | Y coordinate of principal point in pixels |
[in] | _intrinsicsS | Skew coefficient defining the angle between the x and y pixel axes |
[in] | _clipNear | Distance to the nearer depth clipping plane This value is negative if the plane is to be behind the camera |
[in] | _clipFar | Distance to the farther depth clipping plane This value is negative if the plane is to be behind the camera |
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virtualinherited |
Get a world space ray as cast from the camera through the viewport.
[in] | _screenx | X coordinate in the camera's viewport, in pixels. |
[in] | _screeny | Y coordinate in the camera's viewport, in pixels. |
[out] | _origin | Origin in the world coordinate frame of the resulting ray |
[out] | _dir | Direction of the resulting ray |
Reimplemented in UserCamera.
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inherited |
Return the value of this->captureData.
event::ConnectionPtr ConnectNewDepthFrame | ( | std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> | _subscriber | ) |
Connect a to the new depth image signal.
[in] | _subscriber | Subscriber callback function |
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inherited |
Connect to the new image signal.
[in] | _subscriber | Callback that is called when a new image is generated |
event::ConnectionPtr ConnectNewRGBPointCloud | ( | std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> | _subscriber | ) |
Connect a to the new rgb point cloud signal.
[in] | _subscriber | Subscriber callback function |
void CreateDepthTexture | ( | const std::string & | _textureName | ) |
Create a texture which will hold the depth data.
[in] | _textureName | Name of the texture to create |
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inherited |
Set the render target.
[in] | _textureName | Name of the new render texture |
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virtual |
All things needed to get back z buffer for depth data.
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inherited |
Get the camera's direction vector.
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inherited |
Enable or disable saving.
[in] | _enable | Set to True to enable saving of frames |
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inherited |
Get the far clip distance.
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virtual |
Finalize the camera.
Reimplemented from Camera.
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protectedinherited |
Get the next frame filename based on SDF parameters.
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inherited |
Get the scene this camera is in.
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inherited |
Get the camera FOV (horizontal)
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inherited |
Get the image size in bytes.
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staticinherited |
Calculate image byte size base on a few parameters.
[in] | _width | Width of an image |
[in] | _height | Height of an image |
[in] | _format | Image format |
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virtualinherited |
Get a pointer to the image data.
Get the raw image data from a camera's buffer.
[in] | _i | Index of the camera's texture (0 = RGB, 1 = depth). |
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inherited |
Get the depth of the image in bytes per pixel.
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inherited |
Get the string representation of the image format.
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virtualinherited |
Get the height of the image.
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inherited |
Get the memory size of this image.
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virtualinherited |
Get the width of the image.
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virtual |
Initialize the camera.
Reimplemented from Camera.
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inherited |
Return true if the camera has been initialized.
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inherited |
Return true if the camera is moving due to an animation.
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inherited |
Return true if the visual is within the camera's view frustum.
[in] | _visual | The visual to check for visibility |
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inherited |
Return true if the visual is within the camera's view frustum.
[in] | _visualName | Name of the visual to check for visibility |
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inherited |
Get the last time the camera was rendered.
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inherited |
Get the distortion model of this camera.
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staticprotectedinherited |
Limit field of view taking care of using a valid value for an OGRE camera.
[in] | _fov | expected field of view |
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virtual |
Load the camera with a set of parmeters.
[in] | _sdf | The SDF camera info |
Reimplemented from Camera.
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virtual |
Load the camera with default parmeters.
Reimplemented from Camera.
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virtualinherited |
Move the camera to a position (this is an animated motion).
[in] | _pose | End position of the camera |
[in] | _time | Duration of the camera's movement |
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inherited |
Move the camera to a series of poses (this is an animated motion).
[in] | _pts | Vector of poses to move to |
[in] | _time | Duration of the entire move |
[in] | _onComplete | Callback that is called when the move is complete |
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inherited |
Get the camera's unscoped name.
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inherited |
Get the near clip distance.
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inherited |
Get a pointer to the ogre camera.
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inherited |
Get a pointer to the Ogre::Viewport.
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inherited |
Rotate the camera around the y-axis.
[in] | _angle | Pitch amount |
[in] | _relativeTo | Coordinate frame to rotate in. Valid values are RF_LOCAL, RF_PARENT, and RF_WORLD. Default is RF_LOCAL |
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virtual |
Render the camera.
Reimplemented from Camera.
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virtualinherited |
Project 3D world coordinates to 2D screen coordinates.
[in] | _pt | 3D world coodinates |
Reimplemented in UserCamera.
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inherited |
Return the projection matrix of this camera.
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inherited |
Return the projection type as a string.
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protectedinherited |
Read image data from pixel buffer.
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virtualinherited |
Render the camera.
Called after the pre-render signal. This function will generate camera images.
[in] | _force | Force camera to render. Ignore camera update rate. |
Reimplemented in UserCamera.
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inherited |
Get the render Hz rate.
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inherited |
Get the render texture.
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inherited |
Reset video recording.
This will call common::VideoEncoder::Reset, which will cleanup temporary files and set video encoding values to their default settings.
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inherited |
Get the viewport right vector.
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inherited |
Rotate the camera around the x-axis.
[in] | _angle | Rotation amount |
[in] | _relativeTo | Coordinate frame to rotate in. Valid values are RF_LOCAL, RF_PARENT, and RF_WORLD. Default is RF_LOCAL |
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inherited |
Save the last frame to disk.
[in] | _filename | File in which to save a single frame |
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staticinherited |
Save a frame using an image buffer.
[in] | _image | The raw image buffer |
[in] | _width | Width of the image |
[in] | _height | Height of the image |
[in] | _depth | Depth of the image data |
[in] | _format | Format the image data is in |
[in] | _filename | Name of the file in which to write the frame |
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inherited |
Save the last encoded video to disk.
[in] | _filename | File in which to save the encoded video |
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inherited |
Get the camera's scene node.
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inherited |
Get the camera's scoped name (scene_name::camera_name)
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inherited |
Get the path to saved screenshots.
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inherited |
Set the aspect ratio.
[in] | _ratio | The aspect ratio (width / height) in pixels |
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virtualinherited |
Set background color for viewport (if viewport is not null)
[in] | _color | Background color. |
Reimplemented in WideAngleCamera.
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inherited |
Set whether to capture data.
[in] | _value | Set to true to capture data into a memory buffer. |
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inherited |
Capture data once and save to disk.
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virtualinherited |
Set the clip distances.
[in] | _near | Near clip distance in meters |
[in] | _far | Far clip distance in meters |
Reimplemented in UserCamera.
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protectedvirtualinherited |
Set the clip distance based on stored SDF values.
Reimplemented in WideAngleCamera.
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virtual |
Set the render target, which renders the depth data.
[in] | _target | Pointer to the render target |
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protectedvirtualinherited |
Tell the camera whether to yaw around its own local Y axis or a fixed axis of choice.
[in] | _useFixed | If true, the axis passed in the second parameter will always be the yaw axis no matter what the camera orientation. If false, the camera yaws around the local Y. |
[in] | _fixedAxis | The axis to use if the first parameter is true. |
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inherited |
Set the camera FOV (horizontal)
[in] | _angle | Horizontal field of view |
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inherited |
Set the image height.
[in] | _h | Image height |
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inherited |
Set the image size.
[in] | _w | Image width |
[in] | _h | Image height |
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inherited |
Set the image height.
[in] | _w | Image width |
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inherited |
Set the camera's name.
[in] | _name | New name for the camera |
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virtualinherited |
Set the type of projection used by the camera.
[in] | _type | The type of projection: "perspective" or "orthographic". |
Reimplemented in UserCamera.
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inherited |
Set the render Hz rate.
[in] | _hz | The Hz rate |
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virtualinherited |
Set the camera's render target.
[in] | _target | Pointer to the render target |
Reimplemented in WideAngleCamera, UserCamera, and OculusCamera.
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inherited |
Set the save frame pathname.
[in] | _pathname | Directory in which to store saved image frames |
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inherited |
Set the scene this camera is viewing.
[in] | _scene | Pointer to the scene |
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inherited |
Set the camera's scene node.
[in] | _node | The scene nodes to attach the camera to |
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inherited |
Set whether this camera inherits the yaw rotation of the tracked model.
[in] | _inheritYaw | True means camera inherits the yaw rotation of the tracked model. |
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inherited |
Set whether this camera is static when tracking a model.
[in] | _isStatic | True means camera is static when tracking a model. |
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inherited |
Set the maximum distance between the camera and tracked visual.
[in] | _dist | Maximum distance between camera and visual. |
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inherited |
Set the minimum distance between the camera and tracked visual.
[in] | _dist | Minimum distance between camera and visual. |
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inherited |
Set the position of the camera when tracking a visual.
[in] | _pos | Position of the camera. |
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inherited |
Set whether this camera's position is relative to tracked models.
[in] | _useModelFrame | True means camera's position is relative to tracked models. |
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inherited |
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virtualinherited |
Set the global pose of the camera.
[in] | _pose | The new ignition::math::Pose3d of the camera |
Reimplemented in UserCamera.
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inherited |
Set the world position.
[in] | _pos | The new position of the camera |
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inherited |
Set the world orientation.
[in] | _quat | The new orientation of the camera |
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inherited |
Set whether to view the world in wireframe.
[in] | _s | Set to True to render objects as wireframe |
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inherited |
Turn on video recording.
[in] | _format | String that represents the video type. Supported types include: "avi", "ogv", mp4", "v4l2". If using "v4l2", you must also specify a _filename. |
[in] | _filename | Name of the file that stores the video while it is being created. This is a temporary file when recording to disk, or a video4linux loopback device like /dev/video0 when the _format is "v4l2". If blank, a default temporary file is used. However, the "v4l2" _format must be accompanied with a video loopback device filename. |
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inherited |
Turn off video recording.
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inherited |
Get the height of the off-screen render texture.
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inherited |
Get the width of the off-screen render texture.
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inherited |
Toggle whether to view the world in wireframe.
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inherited |
Get the visual tracked by this camera.
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inherited |
Get whether this camera inherits the yaw rotation of the tracked model.
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inherited |
Get whether this camera is static when tracking a model.
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inherited |
Return the maximum distance to the tracked visual.
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inherited |
Return the minimum distance to the tracked visual.
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inherited |
Return the position of the camera when tracking a model.
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inherited |
Get whether this camera's position is relative to tracked models.
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inherited |
Set the camera to track a scene node.
[in] | _visualName | Name of the visual to track |
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protectedinherited |
Implementation of the Camera::TrackVisual call.
[in] | _visualName | Name of the visual to track |
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protectedvirtualinherited |
Set the camera to track a scene node.
[in] | _visual | The visual to track |
Reimplemented in UserCamera, and OculusCamera.
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inherited |
Translate the camera.
[in] | _direction | The translation vector |
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virtualinherited |
Get the triangle count.
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inherited |
Get the viewport up vector.
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virtualinherited |
Reimplemented in UserCamera, and OculusCamera.
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inherited |
Updates the camera intrinsics.
[in] | _intrinsicsFx | Horizontal focal length (in pixels) |
[in] | _intrinsicsFy | Vertical focal length (in pixels) |
[in] | _intrinsicsCx | X coordinate of principal point in pixels |
[in] | _intrinsicsCy | Y coordinate of principal point in pixels |
[in] | _intrinsicsS | Skew coefficient defining the angle between the x and y pixel axes |
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protectedvirtualinherited |
Update the camera's field of view.
Reimplemented in UserCamera, and WideAngleCamera.
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inherited |
Get the camera FOV (vertical)
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inherited |
Get the viewport height in pixels.
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inherited |
Get the viewport width in pixels.
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inherited |
Get the ID of the window this camera is rendering into.
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inherited |
Get point on a plane.
[in] | _x | X coordinate in camera's viewport, in pixels |
[in] | _y | Y coordinate in camera's viewport, in pixels |
[in] | _plane | Plane on which to find the intersecting point |
[out] | _result | Point on the plane |
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inherited |
Get the world pose.
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inherited |
Get the camera position in the world.
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inherited |
Get the camera's orientation in the world.
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inherited |
Rotate the camera around the z-axis.
[in] | _angle | Rotation amount |
[in] | _relativeTo | Coordinate frame to rotate in. Valid values are RF_LOCAL, RF_PARENT, and RF_WORLD. Default is RF_WORLD |
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inherited |
Get the Z-buffer value at the given image coordinate.
[in] | _x | Image coordinate; (0, 0) specifies the top-left corner. |
[in] | _y | Image coordinate; (0, 0) specifies the top-left corner. |
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protectedinherited |
Animation state, used to animate the camera.
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protectedinherited |
Buffer for a bayer image frame.
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protectedinherited |
The OGRE camera.
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protectedinherited |
Scene node that the camera is attached to.
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protectedinherited |
Camera projective matrix.
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protectedinherited |
Flag for signaling the usage of camera intrinsics within OGRE.
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protectedinherited |
True to capture frames into an image buffer.
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protectedinherited |
True to capture a frame once and save to disk.
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protectedinherited |
The camera's event connections.
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protected |
Pointer to the depth target.
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protected |
Pointer to the depth texture.
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protected |
Pointer to the depth viewport.
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protectedinherited |
Format for saving images.
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protectedinherited |
Save image height.
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protectedinherited |
Save image width.
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protectedinherited |
True if initialized.
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protectedinherited |
Time the last frame was rendered.
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protectedinherited |
Name of the camera.
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protectedinherited |
True if new data is available.
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protectedinherited |
Event triggered when a new frame is generated.
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protectedinherited |
User callback for when an animation completes.
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protectedinherited |
Previous time the camera animation was updated.
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protectedinherited |
Target that renders frames.
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protectedinherited |
Texture that receives results from rendering.
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protectedinherited |
List of requests.
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protectedinherited |
Number of saved frames.
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protectedinherited |
Buffer for a single image frame.
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protectedinherited |
Pointer to the scene.
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protectedinherited |
Scene node that controls camera position and orientation.
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protectedinherited |
Scene scoped name of the camera.
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protectedinherited |
Scene scoped name of the camera with a unique ID.
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protectedinherited |
Path to saved screenshots.
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protectedinherited |
Camera's SDF values.
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protectedinherited |
Height of the render texture.
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protectedinherited |
Width of the render texture.
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protectedinherited |
Viewport the ogre camera uses.
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protectedinherited |
ID of the window that the camera is attached to.