OculusCamera.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2014-2015 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.
 *
*/

#ifndef _GAZEBO_OCULUS_CAMERA_HH_
#define _GAZEBO_OCULUS_CAMERA_HH_

#include <string>
#include <vector>

#include "gazebo/rendering/Camera.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/common/CommonTypes.hh"

namespace OVR
{
  class HMDDevice;
  class SensorFusion;
  class DeviceManager;
  class SensorDevice;

  namespace Util
  {
    class MagCalibration;
    namespace Render
    {
      class StereoConfig;
    }
  }
}

namespace Ogre
{
  class CompositorInstance;
}

namespace gazebo
{
  namespace rendering
  {
    class OrbitViewController;
    class FPSViewController;
    class Visual;
    class SelectionBuffer;


    class GAZEBO_VISIBLE OculusCamera : public Camera
    {
      public: OculusCamera(const std::string &_name, ScenePtr _scene);

      public: virtual ~OculusCamera();

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

      public: void Load();

      public: void Init();

      public: virtual void Update();

      public: virtual void PostRender();

      public: void Fini();

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

      public: float GetAvgFPS() const;

      public: unsigned int GetTriangleCount() const;

      public: void MoveToVisual(VisualPtr _visual);

      // Doxygen automatically pulls in the correct documentation.
      public: virtual bool MoveToPosition(const math::Pose &_pose,
                                          double _time);

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

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

      public: void AdjustAspect(double _v);

      // Documentation inherited
      public: virtual unsigned int GetImageWidth() const;

      // Documentation inherited
      public: virtual unsigned int GetImageHeight() const;

      public: void ResetSensor();

      public: bool Ready();

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

      protected: virtual bool TrackVisualImpl(VisualPtr _visual);

      private: void OnControl(ConstWorldControlPtr &_data);

      private: void Oculus();

      protected: Ogre::Camera *rightCamera;

      protected: Ogre::Viewport *rightViewport;

      private: Ogre::CompositorInstance *compositors[2];

      private: OVR::DeviceManager *deviceManager;

      private: OVR::HMDDevice *hmd;

      private: OVR::Util::Render::StereoConfig *stereoConfig;

      private: OVR::SensorDevice *sensor;

      private: OVR::SensorFusion *sensorFusion;

      private: float centerOffset;

      private: transport::NodePtr node;

      private: transport::SubscriberPtr controlSub;

      private: bool ready;
    };
  }
}
#endif