gazebo::rendering::Camera Class Reference

Basic camera sensor. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::Camera:

Collaboration diagram for gazebo::rendering::Camera:

Public Member Functions
	Camera (const std::string &_namePrefix, ScenePtr _scene, bool _autoRender=true)
	Constructor. More...
virtual	~Camera ()
	Destructor. More...
void	AttachToVisual (const std::string &_visualName, bool _inheritOrientation, double _minDist=0.0, double _maxDist=0.0)
	Attach the camera to a scene node. More...
void	AttachToVisual (uint32_t _id, bool _inheritOrientation, double _minDist=0.0, double _maxDist=0.0)
	Attach the camera to a scene node. More...
template<typename T >
event::ConnectionPtr	ConnectNewImageFrame (T _subscriber)
	Connect to the new image signal. More...
void	CreateRenderTexture (const std::string &_textureName)
	Set the render target. More...
void	DisconnectNewImageFrame (event::ConnectionPtr &_c)
	Disconnect from an image frame. More...
void	EnableSaveFrame (bool _enable)
	Enable or disable saving. More...
virtual void	Fini ()
	Finalize the camera. More...
float	GetAspectRatio () const
	Get the apect ratio. More...
virtual float	GetAvgFPS () const
	Get the average FPS. More...
void	GetCameraToViewportRay (int _screenx, int _screeny, math::Vector3 &_origin, math::Vector3 &_dir)
	Get a world space ray as cast from the camera through the viewport. More...
bool	GetCaptureData () const
	Return the value of this->captureData. More...
math::Vector3	GetDirection () const
	Get the camera's direction vector. More...
double	GetFarClip ()
	Get the far clip distance. More...
math::Angle	GetHFOV () const
	Get the camera FOV (horizontal) More...
size_t	GetImageByteSize () const
	Get the image size in bytes. More...
virtual const unsigned char *	GetImageData (unsigned int i=0)
	Get a pointer to the image data. More...
unsigned int	GetImageDepth () const
	Get the depth of the image. More...
std::string	GetImageFormat () const
	Get the string representation of the image format. More...
virtual unsigned int	GetImageHeight () const
	Get the height of the image. More...
virtual unsigned int	GetImageWidth () const
	Get the width of the image. More...
bool	GetInitialized () const
	Return true if the camera has been initialized. More...
common::Time	GetLastRenderWallTime ()
	Get the last time the camera was rendered. More...
std::string	GetName () const
	Get the camera's unscoped name. More...
double	GetNearClip ()
	Get the near clip distance. More...
Ogre::Camera *	GetOgreCamera () const
	Get a pointer to the ogre camera. More...
double	GetRenderRate () const
	Get the render Hz rate. More...
Ogre::Texture *	GetRenderTexture () const
	Get the render texture. More...
math::Vector3	GetRight ()
	Get the viewport right vector. More...
ScenePtr	GetScene () const
	Get the scene this camera is in. More...
Ogre::SceneNode *	GetSceneNode () const
	Get the camera's scene node. More...
std::string	GetScopedName () const
	Get the camera's scoped name (scene_name::camera_name) More...
std::string	GetScreenshotPath () const
	Get the path to saved screenshots. More...
unsigned int	GetTextureHeight () const
	Get the height of the off-screen render texture. More...
unsigned int	GetTextureWidth () const
	Get the width of the off-screen render texture. More...
virtual unsigned int	GetTriangleCount () const
	Get the triangle count. More...
math::Vector3	GetUp ()
	Get the viewport up vector. More...
math::Angle	GetVFOV () const
	Get the camera FOV (vertical) More...
Ogre::Viewport *	GetViewport () const
	Get a pointer to the Ogre::Viewport. More...
unsigned int	GetViewportHeight () const
	Get the viewport height in pixels. More...
unsigned int	GetViewportWidth () const
	Get the viewport width in pixels. More...
unsigned int	GetWindowId () const
	Get the ID of the window this camera is rendering into. More...
bool	GetWorldPointOnPlane (int _x, int _y, const math::Plane &_plane, math::Vector3 &_result)
	Get point on a plane. More...
math::Pose	GetWorldPose () const
	Get the world pose. More...
math::Vector3	GetWorldPosition () const
	Get the camera position in the world. More...
math::Quaternion	GetWorldRotation () const
	Get the camera's orientation in the world. More...
double	GetZValue (int _x, int _y)
	Get the Z-buffer value at the given image coordinate. More...
virtual void	Init ()
	Initialize the camera. 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...
virtual void	Load (sdf::ElementPtr _sdf)
	Load the camera with a set of parmeters. More...
virtual void	Load ()
	Load the camera with default parmeters. More...
virtual bool	MoveToPosition (const math::Pose &_pose, double _time)
	Move the camera to a position (this is an animated motion). More...
bool	MoveToPositions (const std::vector< math::Pose > &_pts, double _time, boost::function< void()> _onComplete=NULL)
	Move the camera to a series of poses (this is an animated motion). More...
virtual void	PostRender ()
	Post render. More...
void	Render (bool _force=false)
	Render the camera. More...
void	RotatePitch (math::Angle _angle)
	Rotate the camera around the pitch axis. More...
void	RotateYaw (math::Angle _angle)
	Rotate the camera around the yaw axis. More...
bool	SaveFrame (const std::string &_filename)
	Save the last frame to disk. More...
void	SetAspectRatio (float _ratio)
	Set the aspect ratio. More...
void	SetCaptureData (bool _value)
	Set whether to capture data. More...
void	SetCaptureDataOnce ()
	Capture data once and save to disk. More...
void	SetClipDist (float _near, float _far)
	Set the clip distances. More...
void	SetHFOV (math::Angle _angle)
	Set the camera FOV (horizontal) More...
void	SetImageHeight (unsigned int _h)
	Set the image height. More...
void	SetImageSize (unsigned int _w, unsigned int _h)
	Set the image size. More...
void	SetImageWidth (unsigned int _w)
	Set the image height. More...
void	SetName (const std::string &_name)
	Set the camera's name. More...
void	SetRenderRate (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	SetWindowId (unsigned int _windowId)
virtual void	SetWorldPose (const math::Pose &_pose)
	Set the global pose of the camera. More...
void	SetWorldPosition (const math::Vector3 &_pos)
	Set the world position. More...
void	SetWorldRotation (const math::Quaternion &_quat)
	Set the world orientation. More...
void	ShowWireframe (bool _s)
	Set whether to view the world in wireframe. More...
void	ToggleShowWireframe ()
	Toggle whether to view the world in wireframe. More...
void	TrackVisual (const std::string &_visualName)
	Set the camera to track a scene node. More...
void	Translate (const math::Vector3 &_direction)
	Translate the camera. More...
virtual void	Update ()

Static Public Member Functions
static size_t	GetImageByteSize (unsigned int _width, unsigned int _height, const std::string &_format)
	Calculate image byte size base on a few parameters. More...
static bool	SaveFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, 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, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
	Attach the camera to a scene node. More...
virtual bool	AttachToVisualImpl (uint32_t _id, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
	Attach the camera to a scene node. More...
virtual bool	AttachToVisualImpl (VisualPtr _visual, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
	Attach the camera to a visual. More...
std::string	GetFrameFilename ()
	Get the next frame filename based on SDF parameters. More...
void	ReadPixelBuffer ()
	Read image data from pixel buffer. More...
virtual void	RenderImpl ()
	Implementation of the render call. 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...

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...
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...
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...
boost::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
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...

Detailed Description

Basic camera sensor.

This is the base class for all cameras.

Constructor & Destructor Documentation

gazebo::rendering::Camera::Camera	(	const std::string &	_namePrefix,
		ScenePtr	_scene,
		bool	_autoRender = true
	)

Constructor.

Parameters

[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.

virtual gazebo::rendering::Camera::~Camera ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::rendering::Camera::AnimationComplete ( )

protectedvirtual

Internal function used to indicate that an animation has completed.

Reimplemented in gazebo::rendering::UserCamera.

void gazebo::rendering::Camera::AttachToVisual	(	const std::string &	_visualName,
		bool	_inheritOrientation,
		double	_minDist = 0.0,
		double	_maxDist = 0.0
	)

Attach the camera to a scene node.

Parameters

[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

void gazebo::rendering::Camera::AttachToVisual	(	uint32_t	_id,
		bool	_inheritOrientation,
		double	_minDist = 0.0,
		double	_maxDist = 0.0
	)

Attach the camera to a scene node.

Parameters

[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

virtual bool gazebo::rendering::Camera::AttachToVisualImpl ( const std::string &  _name, bool  _inheritOrientation, double  _minDist = 0, double  _maxDist = 0  )

protectedvirtual

Attach the camera to a scene node.

Parameters

[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

Returns

True on success

virtual bool gazebo::rendering::Camera::AttachToVisualImpl ( uint32_t  _id, bool  _inheritOrientation, double  _minDist = 0, double  _maxDist = 0  )

protectedvirtual

Attach the camera to a scene node.

Parameters

[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

Returns

True on success

virtual bool gazebo::rendering::Camera::AttachToVisualImpl ( VisualPtr  _visual, bool  _inheritOrientation, double  _minDist = 0, double  _maxDist = 0  )

protectedvirtual

Attach the camera to a visual.

Parameters

[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

Returns

True on success

Reimplemented in gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

template<typename T >

event::ConnectionPtr gazebo::rendering::Camera::ConnectNewImageFrame ( T  _subscriber )

inline

Connect to the new image signal.

Parameters

[in]

_subscriber

Callback that is called when a new image is generated

Returns

A pointer to the connection. This must be kept in scope.

void gazebo::rendering::Camera::CreateRenderTexture

(

const std::string &

_textureName

)

Set the render target.

Parameters

[in]

_textureName

Name of the new render texture

void gazebo::rendering::Camera::DisconnectNewImageFrame ( event::ConnectionPtr &  _c )

inline

Disconnect from an image frame.

Parameters

[in]

_c

The connection to disconnect

void gazebo::rendering::Camera::EnableSaveFrame

(

bool

_enable

)

Enable or disable saving.

Parameters

[in]

_enable

Set to True to enable saving of frames

virtual void gazebo::rendering::Camera::Fini ( )

virtual

Finalize the camera.

This function is called before the camera is destructed

Reimplemented in gazebo::rendering::GpuLaser, gazebo::rendering::OculusCamera, gazebo::rendering::DepthCamera, and gazebo::rendering::UserCamera.

float gazebo::rendering::Camera::GetAspectRatio

(

)

const

Get the apect ratio.

Returns

The aspect ratio (width / height) in pixels

virtual float gazebo::rendering::Camera::GetAvgFPS ( ) const

inlinevirtual

Get the average FPS.

Returns

The average frames per second

Reimplemented in gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

void gazebo::rendering::Camera::GetCameraToViewportRay	(	int	_screenx,
		int	_screeny,
		math::Vector3 &	_origin,
		math::Vector3 &	_dir
	)

Get a world space ray as cast from the camera through the viewport.

Parameters

[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

bool gazebo::rendering::Camera::GetCaptureData

(

)

const

Return the value of this->captureData.

Returns

True if the camera is set to capture data.

math::Vector3 gazebo::rendering::Camera::GetDirection

(

)

const

Get the camera's direction vector.

Returns

Direction the camera is facing

double gazebo::rendering::Camera::GetFarClip

(

)

Get the far clip distance.

Returns

Far clip distance

std::string gazebo::rendering::Camera::GetFrameFilename ( )

protected

Get the next frame filename based on SDF parameters.

Returns

The frame's filename

math::Angle gazebo::rendering::Camera::GetHFOV

(

)

const

Get the camera FOV (horizontal)

Returns

The horizontal field of view

size_t gazebo::rendering::Camera::GetImageByteSize

(

)

const

Get the image size in bytes.

Returns

Size in bytes

static size_t gazebo::rendering::Camera::GetImageByteSize ( unsigned int  _width, unsigned int  _height, const std::string &  _format  )

static

Calculate image byte size base on a few parameters.

Parameters

[in]	_width	Width of an image
[in]	_height	Height of an image
[in]	_format	Image format

Returns

Size of an image based on the parameters

virtual const unsigned char* gazebo::rendering::Camera::GetImageData ( unsigned int  i = 0 )

virtual

Get a pointer to the image data.

Get the raw image data from a camera's buffer.

Parameters

[in]

_i

Index of the camera's texture (0 = RGB, 1 = depth).

Returns

Pointer to the raw data, null if data is not available.

unsigned int gazebo::rendering::Camera::GetImageDepth

(

)

const

Get the depth of the image.

Returns

Depth of the image

std::string gazebo::rendering::Camera::GetImageFormat

(

)

const

Get the string representation of the image format.

Returns

String representation of the image format.

virtual unsigned int gazebo::rendering::Camera::GetImageHeight ( ) const

virtual

Get the height of the image.

Returns

Image height

Reimplemented in gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

virtual unsigned int gazebo::rendering::Camera::GetImageWidth ( ) const

virtual

Get the width of the image.

Returns

Image width

Reimplemented in gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

bool gazebo::rendering::Camera::GetInitialized

(

)

const

Return true if the camera has been initialized.

Returns

True if initialized was successful

common::Time gazebo::rendering::Camera::GetLastRenderWallTime

(

)

Get the last time the camera was rendered.

Returns

Time the camera was last rendered

std::string gazebo::rendering::Camera::GetName

(

)

const

Get the camera's unscoped name.

Returns

The name of the camera

double gazebo::rendering::Camera::GetNearClip

(

)

Get the near clip distance.

Returns

Near clip distance

Ogre::Camera* gazebo::rendering::Camera::GetOgreCamera

(

)

const

Get a pointer to the ogre camera.

Returns

Pointer to the OGRE camera

double gazebo::rendering::Camera::GetRenderRate

(

)

const

Get the render Hz rate.

Returns

The Hz rate

Ogre::Texture* gazebo::rendering::Camera::GetRenderTexture

(

)

const

Get the render texture.

Returns

Pointer to the render texture

math::Vector3 gazebo::rendering::Camera::GetRight

(

)

Get the viewport right vector.

Returns

The viewport right vector

ScenePtr gazebo::rendering::Camera::GetScene

(

)

const

Get the scene this camera is in.

Returns

Pointer to scene containing this camera

Ogre::SceneNode* gazebo::rendering::Camera::GetSceneNode

(

)

const

Get the camera's scene node.

Returns

The scene node the camera is attached to

std::string gazebo::rendering::Camera::GetScopedName

(

)

const

Get the camera's scoped name (scene_name::camera_name)

Returns

The name of the camera

std::string gazebo::rendering::Camera::GetScreenshotPath

(

)

const

Get the path to saved screenshots.

Returns

Path to saved screenshots.

unsigned int gazebo::rendering::Camera::GetTextureHeight

(

)

const

Get the height of the off-screen render texture.

Returns

Render texture height

unsigned int gazebo::rendering::Camera::GetTextureWidth

(

)

const

Get the width of the off-screen render texture.

Returns

Render texture width

virtual unsigned int gazebo::rendering::Camera::GetTriangleCount ( ) const

inlinevirtual

Get the triangle count.

Returns

The current triangle count

Reimplemented in gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

math::Vector3 gazebo::rendering::Camera::GetUp

(

)

Get the viewport up vector.

Returns

The viewport up vector

math::Angle gazebo::rendering::Camera::GetVFOV

(

)

const

Get the camera FOV (vertical)

Returns

The vertical field of view

Ogre::Viewport* gazebo::rendering::Camera::GetViewport

(

)

const

Get a pointer to the Ogre::Viewport.

Returns

Pointer to the Ogre::Viewport

unsigned int gazebo::rendering::Camera::GetViewportHeight

(

)

const

Get the viewport height in pixels.

Returns

The viewport height

unsigned int gazebo::rendering::Camera::GetViewportWidth

(

)

const

Get the viewport width in pixels.

Returns

The viewport width

unsigned int gazebo::rendering::Camera::GetWindowId

(

)

const

Get the ID of the window this camera is rendering into.

Returns

The ID of the window.

bool gazebo::rendering::Camera::GetWorldPointOnPlane	(	int	_x,
		int	_y,
		const math::Plane &	_plane,
		math::Vector3 &	_result
	)

Get point on a plane.

Parameters

[in]	_x	X cooridnate in camera's viewport, in pixels
[in]	_y	Y cooridnate in camera's viewport, in pixels
[in]	_plane	Plane on which to find the intersecting point
[out]	_result	Point on the plane

Returns

True if a valid point was found

math::Pose gazebo::rendering::Camera::GetWorldPose

(

)

const

Get the world pose.

Returns

The pose of the camera in the world coordinate frame.

math::Vector3 gazebo::rendering::Camera::GetWorldPosition

(

)

const

Get the camera position in the world.

Returns

The world position of the camera

math::Quaternion gazebo::rendering::Camera::GetWorldRotation

(

)

const

Get the camera's orientation in the world.

Returns

The camera's orientation as a math::Quaternion

double gazebo::rendering::Camera::GetZValue	(	int	_x,
		int	_y
	)

Get the Z-buffer value at the given image coordinate.

Parameters

[in]	_x	Image coordinate; (0, 0) specifies the top-left corner.
[in]	_y	Image coordinate; (0, 0) specifies the top-left corner.

Returns

Image z value; note that this is abitrarily scaled and is not the same as the depth value.

virtual void gazebo::rendering::Camera::Init ( )

virtual

Initialize the camera.

Reimplemented in gazebo::rendering::GpuLaser, gazebo::rendering::OculusCamera, gazebo::rendering::DepthCamera, and gazebo::rendering::UserCamera.

bool gazebo::rendering::Camera::IsAnimating

(

)

const

Return true if the camera is moving due to an animation.

bool gazebo::rendering::Camera::IsVisible

(

VisualPtr

_visual

)

Return true if the visual is within the camera's view frustum.

Parameters

[in]

_visual

The visual to check for visibility

Returns

True if the _visual is in the camera's frustum

bool gazebo::rendering::Camera::IsVisible

(

const std::string &

_visualName

)

Return true if the visual is within the camera's view frustum.

Parameters

[in]

_visualName

Name of the visual to check for visibility

Returns

True if the _visual is in the camera's frustum

virtual void gazebo::rendering::Camera::Load ( sdf::ElementPtr  _sdf )

virtual

Load the camera with a set of parmeters.

Parameters

[in]

_sdf

The SDF camera info

Reimplemented in gazebo::rendering::GpuLaser, gazebo::rendering::OculusCamera, gazebo::rendering::DepthCamera, and gazebo::rendering::UserCamera.

virtual void gazebo::rendering::Camera::Load ( )

virtual

Load the camera with default parmeters.

Reimplemented in gazebo::rendering::GpuLaser, gazebo::rendering::OculusCamera, gazebo::rendering::DepthCamera, and gazebo::rendering::UserCamera.

virtual bool gazebo::rendering::Camera::MoveToPosition ( const math::Pose &  _pose, double  _time  )

virtual

Move the camera to a position (this is an animated motion).

See Also

Camera::MoveToPositions

Parameters

[in]	_pose	End position of the camera
[in]	_time	Duration of the camera's movement

Reimplemented in gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

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

Move the camera to a series of poses (this is an animated motion).

See Also

Camera::MoveToPosition

Parameters

[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

virtual void gazebo::rendering::Camera::PostRender ( )

virtual

Post render.

Called afer the render signal.

Reimplemented in gazebo::rendering::GpuLaser, gazebo::rendering::OculusCamera, gazebo::rendering::DepthCamera, and gazebo::rendering::UserCamera.

void gazebo::rendering::Camera::ReadPixelBuffer ( )

protected

Read image data from pixel buffer.

void gazebo::rendering::Camera::Render

(

bool

_force = false

)

Render the camera.

Called after the pre-render signal. This function will generate camera images.

Parameters

[in]

_force

Force camera to render. Ignore camera update rate.

virtual void gazebo::rendering::Camera::RenderImpl ( )

protectedvirtual

Implementation of the render call.

void gazebo::rendering::Camera::RotatePitch

(

math::Angle

_angle

)

Rotate the camera around the pitch axis.

Parameters

[in]

_angle

Pitch amount

void gazebo::rendering::Camera::RotateYaw

(

math::Angle

_angle

)

Rotate the camera around the yaw axis.

Parameters

[in]

_angle

Rotation amount

bool gazebo::rendering::Camera::SaveFrame

(

const std::string &

_filename

)

Save the last frame to disk.

Parameters

[in]

_filename

File in which to save a single frame

Returns

True if saving was successful

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

static

Save a frame using an image buffer.

Parameters

[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

Returns

True if saving was successful

void gazebo::rendering::Camera::SetAspectRatio

(

float

_ratio

)

Set the aspect ratio.

Parameters

[in]

_ratio

The aspect ratio (width / height) in pixels

void gazebo::rendering::Camera::SetCaptureData

(

bool

_value

)

Set whether to capture data.

Parameters

[in]

_value

Set to true to capture data into a memory buffer.

void gazebo::rendering::Camera::SetCaptureDataOnce

(

)

Capture data once and save to disk.

void gazebo::rendering::Camera::SetClipDist	(	float	_near,
		float	_far
	)

Set the clip distances.

Parameters

[in]	_near	Near clip distance in meters
[in]	_far	Far clip distance in meters

void gazebo::rendering::Camera::SetHFOV

(

math::Angle

_angle

)

Set the camera FOV (horizontal)

Parameters

[in]

_radians

Horizontal field of view

void gazebo::rendering::Camera::SetImageHeight

(

unsigned int

_h

)

Set the image height.

Parameters

[in]

_h

Image height

void gazebo::rendering::Camera::SetImageSize	(	unsigned int	_w,
		unsigned int	_h
	)

Set the image size.

Parameters

[in]	_w	Image width
[in]	_h	Image height

void gazebo::rendering::Camera::SetImageWidth

(

unsigned int

_w

)

Set the image height.

Parameters

[in]

_w

Image width

void gazebo::rendering::Camera::SetName

(

const std::string &

_name

)

Set the camera's name.

Parameters

[in]

_name

New name for the camera

void gazebo::rendering::Camera::SetRenderRate

(

double

_hz

)

Set the render Hz rate.

Parameters

[in]

_hz

The Hz rate

virtual void gazebo::rendering::Camera::SetRenderTarget ( Ogre::RenderTarget *  _target )

virtual

Set the camera's render target.

Parameters

[in]

_target

Pointer to the render target

Reimplemented in gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

void gazebo::rendering::Camera::SetSaveFramePathname

(

const std::string &

_pathname

)

Set the save frame pathname.

Parameters

[in]

_pathname

Directory in which to store saved image frames

void gazebo::rendering::Camera::SetScene

(

ScenePtr

_scene

)

Set the scene this camera is viewing.

Parameters

[in]

_scene

Pointer to the scene

void gazebo::rendering::Camera::SetSceneNode

(

Ogre::SceneNode *

_node

)

Set the camera's scene node.

Parameters

[in]

_node

The scene nodes to attach the camera to

void gazebo::rendering::Camera::SetWindowId

(

unsigned int

_windowId

)

virtual void gazebo::rendering::Camera::SetWorldPose ( const math::Pose &  _pose )

virtual

Set the global pose of the camera.

Parameters

[in]

_pose

The new math::Pose of the camera

Reimplemented in gazebo::rendering::UserCamera.

void gazebo::rendering::Camera::SetWorldPosition

(

const math::Vector3 &

_pos

)

Set the world position.

Parameters

[in]

_pos

The new position of the camera

void gazebo::rendering::Camera::SetWorldRotation

(

const math::Quaternion &

_quat

)

Set the world orientation.

Parameters

[in]

_quat

The new orientation of the camera

void gazebo::rendering::Camera::ShowWireframe

(

bool

_s

)

Set whether to view the world in wireframe.

Parameters

[in]

_s

Set to True to render objects as wireframe

void gazebo::rendering::Camera::ToggleShowWireframe

(

)

Toggle whether to view the world in wireframe.

void gazebo::rendering::Camera::TrackVisual

(

const std::string &

_visualName

)

Set the camera to track a scene node.

Parameters

[in]

_visualName

Name of the visual to track

bool gazebo::rendering::Camera::TrackVisualImpl ( const std::string &  _visualName )

protected

Implementation of the Camera::TrackVisual call.

Parameters

[in]

_visualName

Name of the visual to track

Returns

True if able to track the visual

virtual bool gazebo::rendering::Camera::TrackVisualImpl ( VisualPtr  _visual )

protectedvirtual

Set the camera to track a scene node.

Parameters

[in]

_visual

The visual to track

Returns

True if able to track the visual

Reimplemented in gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

void gazebo::rendering::Camera::Translate

(

const math::Vector3 &

_direction

)

Translate the camera.

Parameters

[in]

_direction

The translation vector

virtual void gazebo::rendering::Camera::Update ( )

virtual

Reimplemented in gazebo::rendering::OculusCamera, and gazebo::rendering::UserCamera.

Member Data Documentation

Ogre::AnimationState* gazebo::rendering::Camera::animState

protected

Animation state, used to animate the camera.

unsigned char* gazebo::rendering::Camera::bayerFrameBuffer

protected

Buffer for a bayer image frame.

Ogre::Camera* gazebo::rendering::Camera::camera

protected

The OGRE camera.

bool gazebo::rendering::Camera::captureData

protected

True to capture frames into an image buffer.

bool gazebo::rendering::Camera::captureDataOnce

protected

True to capture a frame once and save to disk.

std::vector<event::ConnectionPtr> gazebo::rendering::Camera::connections

protected

The camera's event connections.

int gazebo::rendering::Camera::imageFormat

protected

Format for saving images.

int gazebo::rendering::Camera::imageHeight

protected

Save image height.

int gazebo::rendering::Camera::imageWidth

protected

Save image width.

bool gazebo::rendering::Camera::initialized

protected

True if initialized.

common::Time gazebo::rendering::Camera::lastRenderWallTime

protected

Time the last frame was rendered.

std::string gazebo::rendering::Camera::name

protected

Name of the camera.

bool gazebo::rendering::Camera::newData

protected

True if new data is available.

event::EventT<void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> gazebo::rendering::Camera::newImageFrame

protected

Event triggered when a new frame is generated.

boost::function<void()> gazebo::rendering::Camera::onAnimationComplete

protected

User callback for when an animation completes.

common::Time gazebo::rendering::Camera::prevAnimTime

protected

Previous time the camera animation was updated.

Ogre::RenderTarget* gazebo::rendering::Camera::renderTarget

protected

Target that renders frames.

Ogre::Texture* gazebo::rendering::Camera::renderTexture

protected

Texture that receives results from rendering.

std::list<msgs::Request> gazebo::rendering::Camera::requests

protected

List of requests.

unsigned int gazebo::rendering::Camera::saveCount

protected

Number of saved frames.

unsigned char* gazebo::rendering::Camera::saveFrameBuffer

protected

ScenePtr gazebo::rendering::Camera::scene

protected

Pointer to the scene.

Ogre::SceneNode* gazebo::rendering::Camera::sceneNode

protected

Scene node that controls camera position and orientation.

std::string gazebo::rendering::Camera::scopedName

protected

Scene scoped name of the camera.

std::string gazebo::rendering::Camera::scopedUniqueName

protected

Scene scoped name of the camera with a unique ID.

std::string gazebo::rendering::Camera::screenshotPath

protected

Path to saved screenshots.

sdf::ElementPtr gazebo::rendering::Camera::sdf

protected

Camera's SDF values.

unsigned int gazebo::rendering::Camera::textureHeight

protected

Height of the render texture.

unsigned int gazebo::rendering::Camera::textureWidth

protected

Width of the render texture.

Ogre::Viewport* gazebo::rendering::Camera::viewport

protected

Viewport the ogre camera uses.

unsigned int gazebo::rendering::Camera::windowId

protected

ID of the window that the camera is attached to.

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The documentation for this class was generated from the following file:

• Camera.hh