Basic camera sensor. More...

#include <rendering/rendering.hh>

Inheritance 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...

DistortionPtr	GetDistortion () const
	Get the distortion model of this camera. 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...

std::string	GetProjectionType () const
	Return the projection type as a string. 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...

void	Pitch (const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo=Ogre::Node::TS_LOCAL)
	Rotate the camera around the y-axis. More...

virtual void	PostRender ()
	Post render. More...

void	Render (bool _force=false)
	Render the camera. More...

void	Roll (const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo=Ogre::Node::TS_LOCAL)
	Rotate the camera around the x-axis. More...

void	RotatePitch (math::Angle _angle) GAZEBO_DEPRECATED(4.0)
	Rotate the camera around the y-axis. More...

void	RotateYaw (math::Angle _angle) GAZEBO_DEPRECATED(4.0)
	Rotate the camera around the z-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...

virtual 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...

virtual bool	SetProjectionType (const std::string &_type)
	Set the type of projection used by the camera. 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 ()

void	Yaw (const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo=Ogre::Node::TS_WORLD)
	Rotate the camera around the z-axis. More...

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...

virtual void	UpdateFOV ()
	Update the camera's field of view. 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
	Buffer for a single image frame. More...

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::DepthCamera, gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

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

virtual

Get the average FPS.

Returns: The average frames per second

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

DistortionPtr gazebo::rendering::Camera::GetDistortion ( ) const

Get the distortion model of this camera.

Returns: Distortion model.

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

std::string gazebo::rendering::Camera::GetProjectionType ( ) const

Return the projection type as a string.

Returns: "perspective" or "orthographic"

See Also: SetProjectionType(const std::string &_type)

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

virtual

Get the triangle count.

Returns: The current triangle count

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::DepthCamera, gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

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::DepthCamera, gazebo::rendering::UserCamera, and gazebo::rendering::OculusCamera.

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

virtual

Load the camera with default parmeters.

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

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

void gazebo::rendering::Camera::Pitch	(	const math::Angle &	_angle,
		Ogre::Node::TransformSpace	_relativeTo = `Ogre::Node::TS_LOCAL`
	)

Rotate the camera around the y-axis.

Parameters

[in]	_angle	Pitch amount
[in]	_relativeTo	Coordinate frame to rotate in. Valid values are Ogre::TS_LOCAL, Ogre::TS_PARENT, and Ogre::TS_WORLD. Default is Ogre::TS_LOCAL

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

virtual

Post render.

Called afer the render signal.

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

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.

Reimplemented in gazebo::rendering::OculusCamera.

void gazebo::rendering::Camera::Roll	(	const math::Angle &	_angle,
		Ogre::Node::TransformSpace	_relativeTo = `Ogre::Node::TS_LOCAL`
	)

Rotate the camera around the x-axis.

Parameters

[in]	_angle	Rotation amount
[in]	_relativeTo	Coordinate frame to rotate in. Valid values are Ogre::TS_LOCAL, Ogre::TS_PARENT, and Ogre::TS_WORLD. Default is Ogre::TS_LOCAL

void gazebo::rendering::Camera::RotatePitch ( math::Angle _angle )

Rotate the camera around the y-axis.

Parameters

[in] _angle Pitch amount

void gazebo::rendering::Camera::RotateYaw ( math::Angle _angle )

Rotate the camera around the z-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.

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

virtual

Set the clip distances.

Parameters

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

Reimplemented in gazebo::rendering::UserCamera.

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

virtual bool gazebo::rendering::Camera::SetProjectionType ( const std::string & _type )

virtual

Set the type of projection used by the camera.

Parameters

[in] _type The type of projection: "perspective" or "orthographic".

Returns: True if successful.

See Also: GetProjectionType()

Reimplemented in gazebo::rendering::UserCamera.

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

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

protectedvirtual

Update the camera's field of view.

Reimplemented in gazebo::rendering::UserCamera.

void gazebo::rendering::Camera::Yaw	(	const math::Angle &	_angle,
		Ogre::Node::TransformSpace	_relativeTo = `Ogre::Node::TS_WORLD`
	)

Rotate the camera around the z-axis.

Parameters

[in]	_angle	Rotation amount
[in]	_relativeTo	Coordinate frame to rotate in. Valid values are Ogre::TS_LOCAL, Ogre::TS_PARENT, and Ogre::TS_WORLD. Default Ogre::TS_WORLD

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

Buffer for a single image frame.

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.

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

Camera.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation