Camera.hh

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/*
 * Copyright (C) 2012-2014 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.
 *
*/
/* Desc: A persepective OGRE Camera
 * Author: Nate Koenig
 * Date: 15 July 2003
 */

#ifndef _RENDERING_CAMERA_HH_
#define _RENDERING_CAMERA_HH_

#include <boost/enable_shared_from_this.hpp>
#include <string>
#include <utility>
#include <list>
#include <vector>
#include <deque>
#include <sdf/sdf.hh>

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

#include "gazebo/math/Angle.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/math/Plane.hh"
#include "gazebo/math/Vector2i.hh"

#include "gazebo/msgs/MessageTypes.hh"
#include "gazebo/rendering/RenderTypes.hh"

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

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


    class 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: virtual void Init();

      public: void SetRenderRate(double _hz);

      public: double GetRenderRate() const;

      // \todo Deprecated in Gazebo 2.1. In Gazebo 3.0 remove this function,
      // and change Render(bool _force) to have a default value of false.
      public: void Render();

      public: virtual void PostRender();

      public: virtual void Update();

      public: virtual void Fini();

      public: bool GetInitialized() const;

      public: void SetWindowId(unsigned int _windowId);

      public: unsigned int GetWindowId() const;

      public: void SetScene(ScenePtr _scene);

      public: math::Pose GetWorldPose();

      public: math::Vector3 GetWorldPosition() const;

      public: math::Quaternion GetWorldRotation() const;

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

      public: void SetWorldPosition(const math::Vector3 &_pos);

      public: void SetWorldRotation(const math::Quaternion &_quat);

      public: void Translate(const math::Vector3 &_direction);

      public: void RotateYaw(math::Angle _angle);

      public: void RotatePitch(math::Angle _angle);

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

      public: void SetHFOV(math::Angle _angle);

      public: math::Angle GetHFOV() const;

      public: math::Angle GetVFOV() const;

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

      public: void SetImageWidth(unsigned int _w);

      public: void SetImageHeight(unsigned int _h);

      public: virtual unsigned int GetImageWidth() const;

      public: unsigned int GetTextureWidth() const;

      public: virtual unsigned int GetImageHeight() const;

      public: unsigned int GetImageDepth() const;

      public: std::string GetImageFormat() const;

      public: unsigned int GetTextureHeight() const;

      public: size_t GetImageByteSize() const;

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

      public: double GetZValue(int _x, int _y);

      public: double GetNearClip();

      public: double GetFarClip();

      public: void EnableSaveFrame(bool _enable);

      public: bool GetCaptureData() const;

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

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

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

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

      public: unsigned int GetViewportWidth() const;

      public: unsigned int GetViewportHeight() const;

      public: math::Vector3 GetUp();

      public: math::Vector3 GetRight();

      public: virtual float GetAvgFPS() {return 0;}

      public: virtual unsigned int GetTriangleCount() {return 0;}

      public: void SetAspectRatio(float _ratio);

      public: float GetAspectRatio() const;

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

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

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

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

      public: std::string GetName() const;

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

      public: void ToggleShowWireframe();

      public: void ShowWireframe(bool _s);

      public: void GetCameraToViewportRay(int _screenx, int _screeny,
                                          math::Vector3 &_origin,
                                          math::Vector3 &_dir);

      public: void SetCaptureData(bool _value);

      public: void SetCaptureDataOnce();

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

      public: ScenePtr GetScene() const;

      public: bool GetWorldPointOnPlane(int _x, int _y,
                  const math::Plane &_plane, math::Vector3 &_result);

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

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

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

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

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

      public: math::Vector3 GetDirection() const;

      public: template<typename T>
              event::ConnectionPtr ConnectNewImageFrame(T _subscriber)
              {return newImageFrame.Connect(_subscriber);}

      public: void DisconnectNewImageFrame(event::ConnectionPtr &_c)
              {newImageFrame.Disconnect(_c);}

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


      public: common::Time GetLastRenderWallTime();

      public: bool IsVisible(VisualPtr _visual);

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

      public: bool IsAnimating() const;

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

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

      public: std::string GetScreenshotPath() const;

      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,
                     bool _inheritOrientation,
                     double _minDist = 0, double _maxDist = 0);

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

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

      protected: std::string GetFrameFilename();

      protected: virtual void AnimationComplete();

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

      private: void SetClipDist();

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


      private: void CreateCamera();

      protected: std::string name;

      protected: sdf::ElementPtr sdf;

      protected: unsigned int windowId;

      protected: unsigned int textureWidth;

      protected: unsigned int textureHeight;

      protected: Ogre::Camera *camera;

      protected: Ogre::Viewport *viewport;

      protected: Ogre::SceneNode *sceneNode;

      protected: Ogre::SceneNode *pitchNode;

      // \brief Buffer for a single image frame.
      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: boost::function<void()> onAnimationComplete;

      private: sdf::ElementPtr imageElem;

      private: VisualPtr trackedVisual;

      private: static unsigned int cameraCounter;

      private: Ogre::CompositorInstance *dsGBufferInstance;

      private: Ogre::CompositorInstance *dsMergeInstance;

      private: Ogre::CompositorInstance *dlGBufferInstance;

      private: Ogre::CompositorInstance *dlMergeInstance;

      private: Ogre::CompositorInstance *ssaoInstance;

      private: Ogre::CompositorInstance *gaussianNoiseInstance;

      private: boost::shared_ptr<GaussianNoiseCompositorListener>
        gaussianNoiseCompositorListener;

      private: std::deque<std::pair<math::Pose, double> > moveToPositionQueue;

      private: common::Time renderPeriod;

      private: common::PID trackVisualPID;

      private: common::PID trackVisualPitchPID;

      private: common::PID trackVisualYawPID;

      private: enum NoiseModelType
      {
        NONE,
        GAUSSIAN
      };

      private: bool noiseActive;

      private: enum NoiseModelType noiseType;

      private: double noiseMean;

      private: double noiseStdDev;

      // \todo Move this back up to public section in Gazebo 3.0. It is here
      // for ABI compatibility.
      public: void Render(bool _force);
    };
  }
}
#endif