GpuLaser.hh

Go to the documentation of this file.

/*
 * 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 laser sensor using OpenGL
 * Author: Mihai Emanuel Dolha
 * Date: 29 March 2012
 */

#ifndef _GPULASER_HH_
#define _GPULASER_HH_

#include <string>
#include <vector>

#include <sdf/sdf.hh>

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

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

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

namespace Ogre
{
  class Material;
  class Renderable;
  class Pass;
  class AutoParamDataSource;
  class Matrix4;
  class MovableObject;
}

namespace gazebo
{
  namespace common
  {
    class Mesh;
  }

  namespace rendering
  {
    class Scene;


    class GpuLaser : public Camera, public Ogre::RenderObjectListener
    {
      public: GpuLaser(const std::string &_namePrefix,
                          ScenePtr _scene, bool _autoRender = true);

      public: virtual ~GpuLaser();

      // Documentation inherited
      public: virtual void Load(sdf::ElementPtr &_sdf);

      // Documentation inherited
      public: virtual void Load();

      // Documentation inherited
      public: virtual void Init();

      // Documentation inherited
      public: virtual void Fini();

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

      // Documentation inherited
      public: virtual void PostRender();

      public: const float *GetLaserData();

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

      public: void DisconnectNewLaserFrame(event::ConnectionPtr &_c)
              { newLaserFrame.Disconnect(_c); }

      public: void SetRangeCount(unsigned int _w, unsigned int _h = 1);

      public: virtual void notifyRenderSingleObject(Ogre::Renderable *_rend,
              const Ogre::Pass *_p, const Ogre::AutoParamDataSource *_s,
              const Ogre::LightList *_ll, bool _supp);

      public: double GetHorzHalfAngle() const;

      public: double GetVertHalfAngle() const;

      public: void SetHorzHalfAngle(double _angle);

      public: void SetVertHalfAngle(double _angle);

      public: void SetIsHorizontal(bool _horizontal);

      public: bool IsHorizontal() const;

      public: double GetHorzFOV() const;

      public: double GetCosHorzFOV() const;

      public: void SetCosHorzFOV(double _chfov);

      public: double GetVertFOV() const;

      public: double GetCosVertFOV() const;

      public: void SetCosVertFOV(double _cvfov);

      public: double GetNearClip() const;

      public: double GetFarClip() const;

      public: void SetNearClip(double _near);

      public: void SetFarClip(double _far);

      public: void SetHorzFOV(double _hfov);

      public: void SetVertFOV(double _vfov);

      public: double GetCameraCount() const;

      public: void SetCameraCount(double _cameraCount);

      public: double GetRayCountRatio() const;

      public: void SetRayCountRatio(double _rayCountRatio);

      // Documentation inherited.
      private: virtual void RenderImpl();

      private: void UpdateRenderTarget(Ogre::RenderTarget *_target,
                                       Ogre::Material *_material,
                                       Ogre::Camera *_cam,
                                       bool _updateTex = false);

      private: void CreateOrthoCam();

      private: void CreateMesh();

      private: void CreateCanvas();

      private: Ogre::Matrix4 BuildScaledOrthoMatrix(float _left, float _right,
               float _bottom, float _top, float _near, float _far);

      private: virtual void Set1stPassTarget(Ogre::RenderTarget *_target,
                                             unsigned int _index);

      private: virtual void Set2ndPassTarget(Ogre::RenderTarget *_target);

      protected: double horzHalfAngle;

      protected: double vertHalfAngle;

      protected: double rayCountRatio;

      protected: double hfov;

      protected: double vfov;

      protected: double chfov;

      protected: double cvfov;

      protected: double near;

      protected: double far;

      protected: bool isHorizontal;

      protected: unsigned int cameraCount;

      private: event::EventT<void(const float *_frame, unsigned int _width,
                   unsigned int _height, unsigned int _depth,
                   const std::string &_format)> newLaserFrame;

      private: float *laserBuffer;

      private: float *laserScan;

      private: Ogre::Material *matFirstPass;

      private: Ogre::Material *matSecondPass;

      private: Ogre::Texture *firstPassTextures[3];

      private: Ogre::Texture *secondPassTexture;

      private: Ogre::RenderTarget *firstPassTargets[3];

      private: Ogre::RenderTarget *secondPassTarget;

      private: Ogre::Viewport *firstPassViewports[3];

      private: Ogre::Viewport *secondPassViewport;

      private: unsigned int textureCount;

      private: double cameraYaws[4];

      private: Ogre::RenderTarget *currentTarget;

      private: Ogre::Material *currentMat;

      private: Ogre::Camera *orthoCam;

      private: Ogre::SceneNode *pitchNodeOrtho;

      private: common::Mesh *undistMesh;

      private: Ogre::MovableObject *object;

      private: VisualPtr visual;

      private: unsigned int w2nd;

      private: unsigned int h2nd;

      private: double lastRenderDuration;

      private: std::vector<int> texIdx;

      private: static int texCount;
    };
  }
}
#endif