DepthCamera.hh

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/*
 * Copyright (C) 2012-2015 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 with Depth Sensor
 * Author: Nate Koenig
 * Date: 15 July 2003
 */

#ifndef _RENDERING_DEPTHCAMERA_HH_
#define _RENDERING_DEPTHCAMERA_HH_
#include <string>

#include <sdf/sdf.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"

#include "gazebo/rendering/Camera.hh"
#include "gazebo/util/system.hh"

namespace Ogre
{
  class Material;
  class RenderTarget;
  class Texture;
  class Viewport;
}

namespace gazebo
{
  namespace rendering
  {
    class Scene;


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

      public: virtual ~DepthCamera();

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

      public: void Load();

      public: void Init();

      public: void Fini();

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

      public: virtual void PostRender();

      public: virtual const float *GetDepthData();

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

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

      public: void DisconnectNewDepthFrame(event::ConnectionPtr &_c)
              { newDepthFrame.Disconnect(_c); }

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

      public: void DisconnectNewRGBPointCloud(event::ConnectionPtr &c)
              { newRGBPointCloud.Disconnect(c); }


      private: virtual void RenderImpl();

      private: void UpdateRenderTarget(Ogre::RenderTarget *_target,
                                       Ogre::Material *_material,
                                       const std::string &_matName);

      protected: Ogre::Texture *depthTexture;

      protected: Ogre::RenderTarget *depthTarget;

      protected: Ogre::Viewport *depthViewport;

      private: float *depthBuffer;

      private: Ogre::Material *depthMaterial;

      private: bool outputPoints;

      private: float *pcdBuffer;

      private: Ogre::Viewport *pcdViewport;

      private: Ogre::Material *pcdMaterial;

      private: Ogre::Texture *pcdTexture;

      private: Ogre::RenderTarget *pcdTarget;

      private: event::EventT<void(const float *, unsigned int, unsigned int,
                   unsigned int, const std::string &)> newRGBPointCloud;

      private: event::EventT<void(const float *, unsigned int, unsigned int,
                   unsigned int, const std::string &)> newDepthFrame;
    };
  }
}
#endif