A camera used for user visualization of a scene. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::UserCamera:

Public Member Functions
	UserCamera (const std::string &_name, ScenePtr _scene, bool _stereoEnabled=false)
	Constructor. More...

virtual	~UserCamera ()
	Destructor. More...

math::Pose	DefaultPose () const
	Get the default pose in the world coordinate frame. More...

void	EnableStereo (bool _enable)
	Turn on/off stereo rendering. More...

void	EnableViewController (bool _value) const
	Set whether the view controller is enabled. More...

void	Fini ()
	Finialize. 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...

std::string	GetViewControllerTypeString ()
	Get current view controller type. More...

VisualPtr	GetVisual (const math::Vector2i &_mousePos, std::string &_mod)
	Get an entity at a pixel location using a camera. More...

VisualPtr	GetVisual (const math::Vector2i &_mousePos) const
	Get a visual at a mouse position. More...

void	HandleKeyPressEvent (const std::string &_key)
	Handle a key press. More...

void	HandleKeyReleaseEvent (const std::string &_key)
	Handle a key release. More...

void	HandleMouseEvent (const common::MouseEvent &_evt)
	Handle a mouse event. More...

void	Init ()
	Initialize. More...

bool	IsCameraSetInWorldFile ()
	brief Show if the user camera pose has changed in the world file. More...

void	Load (sdf::ElementPtr _sdf)
	Load the user camera. More...

void	Load ()
	Generic load function. More...

virtual bool	MoveToPosition (const math::Pose &_pose, double _time)
	Move the camera to a position (this is an animated motion). More...

void	MoveToVisual (VisualPtr _visual)
	Move the camera to focus on a visual. More...

void	MoveToVisual (const std::string &_visualName)
	Move the camera to focus on a visual. More...

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

void	Resize (unsigned int _w, unsigned int _h)
	Resize the camera. More...

virtual void	SetClipDist (float _near, float _far)
	Set the clip distances. More...

void	SetDefaultPose (const math::Pose &_pose)
	Set the default pose in the world coordinate frame and set that as the current camera world pose. More...

void	SetFocalPoint (const math::Vector3 &_pt)
	Set the point the camera should orbit around. More...

void	SetJoyPoseControl (bool _value)
	brief Enable or disable camera control through ~/user_camera/joy_pose gz topic. More...

void	SetJoyTwistControl (bool _value)
	brief Enable or disable camera control through ~/user_camera/joy_twist gz topic. More...

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

virtual void	SetRenderTarget (Ogre::RenderTarget *_target)
	Set to true to enable rendering. More...

void	SetUseSDFPose (bool _value)
	brief Set if the user camera pose has changed in the world file. More...

void	SetViewController (const std::string &_type)
	Set view controller. More...

void	SetViewController (const std::string &_type, const math::Vector3 &_pos)
	Set view controller. More...

void	SetViewportDimensions (float _x, float _y, float _w, float _h)
	Set the dimensions of the viewport. More...

virtual void	SetWorldPose (const math::Pose &_pose)
	Set the pose in the world coordinate frame. More...

bool	StereoEnabled () const
	Get whether stereo is enabled. More...

virtual void	Update ()
	Render the camera. More...

Public Member Functions inherited from gazebo::rendering::Camera
	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...

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...

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...

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...

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...

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...

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...

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)

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...

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

Protected Member Functions
virtual void	AnimationComplete ()
	Internal function used to indicate that an animation has completed. More...

virtual bool	AttachToVisualImpl (VisualPtr _visual, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
	Set the camera to be attached to a visual. 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 Member Functions inherited from gazebo::rendering::Camera
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...

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...

Additional Inherited Members
Static Public Member Functions inherited from gazebo::rendering::Camera
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 Attributes inherited from gazebo::rendering::Camera
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

A camera used for user visualization of a scene.

Constructor & Destructor Documentation

gazebo::rendering::UserCamera::UserCamera	(	const std::string &	_name,
		ScenePtr	_scene,
		bool	_stereoEnabled = `false`
	)

Constructor.

Parameters

[in]	_name	Name of the camera.
[in]	_scene	Scene to put the camera in.
[in]	_stereoEnabled	True to enable stereo rendering. This is here for compatibility with 3D monitors/TVs.

virtual gazebo::rendering::UserCamera::~UserCamera ( )

virtual

Destructor.

Member Function Documentation

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

protectedvirtual

Internal function used to indicate that an animation has completed.

Reimplemented from gazebo::rendering::Camera.

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

protectedvirtual

Set the camera to be attached to a visual.

This causes the camera to move in relation to the specified visual.

Parameters

[in]	_visual	The visual to attach to.
[in]	_inheritOrientation	True if the camera should also rotate when the visual rotates.
[in]	_minDist	Minimum distance the camera can get to the visual.
[in]	_maxDist	Maximum distance the camera can get from the visual.

Returns: True if successfully attach to the visual.

Reimplemented from gazebo::rendering::Camera.

math::Pose gazebo::rendering::UserCamera::DefaultPose ( ) const

Get the default pose in the world coordinate frame.

Returns: Default pose of the camera.

void gazebo::rendering::UserCamera::EnableStereo ( bool _enable )

Turn on/off stereo rendering.

Stereo must be initially enable in the ~/.gazebo/gui.ini file using:

[rendering]
stereo=1

Parameters

[in] _enable True to turn on stereo, false to turn off.

void gazebo::rendering::UserCamera::EnableViewController ( bool _value ) const

Set whether the view controller is enabled.

The view controller is used to handle user camera movements.

Parameters

[in] _value True to enable viewcontroller, False to disable.

void gazebo::rendering::UserCamera::Fini ( )

virtual

Finialize.

Reimplemented from gazebo::rendering::Camera.

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

virtual

Get the height of the image.

Returns: Image height

Reimplemented from gazebo::rendering::Camera.

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

virtual

Get the width of the image.

Returns: Image width

Reimplemented from gazebo::rendering::Camera.

std::string gazebo::rendering::UserCamera::GetViewControllerTypeString ( )

Get current view controller type.

Returns: Type of the current view controller: "orbit", "fps"

VisualPtr gazebo::rendering::UserCamera::GetVisual	(	const math::Vector2i &	_mousePos,
		std::string &	_mod
	)

Get an entity at a pixel location using a camera.

Used for mouse picking.

Parameters

[in]	_mousePos	The position of the mouse in screen coordinates
[out]	_mod	Used for object manipulation

Returns: The selected entity, or NULL

VisualPtr gazebo::rendering::UserCamera::GetVisual ( const math::Vector2i & _mousePos ) const

Get a visual at a mouse position.

Parameters

[in] _mousePos 2D position of the mouse in pixels.

void gazebo::rendering::UserCamera::HandleKeyPressEvent ( const std::string & _key )

Handle a key press.

Parameters

[in] _key The key pressed.

void gazebo::rendering::UserCamera::HandleKeyReleaseEvent ( const std::string & _key )

Handle a key release.

Parameters

[in] _key The key released.

void gazebo::rendering::UserCamera::HandleMouseEvent ( const common::MouseEvent & _evt )

Handle a mouse event.

Parameters

[in] _evt The mouse event.

void gazebo::rendering::UserCamera::Init ( )

virtual

Initialize.

Reimplemented from gazebo::rendering::Camera.

bool gazebo::rendering::UserCamera::IsCameraSetInWorldFile ( )

brief Show if the user camera pose has changed in the world file.

return true if the camera pose changed in the world file.

void gazebo::rendering::UserCamera::Load ( sdf::ElementPtr _sdf )

virtual

Load the user camera.

Parameters

[in] _sdf Parameters for the camera.

Reimplemented from gazebo::rendering::Camera.

void gazebo::rendering::UserCamera::Load ( )

virtual

Generic load function.

Reimplemented from gazebo::rendering::Camera.

virtual bool gazebo::rendering::UserCamera::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 from gazebo::rendering::Camera.

void gazebo::rendering::UserCamera::MoveToVisual ( VisualPtr _visual )

Move the camera to focus on a visual.

Parameters

[in] _visual Visual to move the camera to.

void gazebo::rendering::UserCamera::MoveToVisual ( const std::string & _visualName )

Move the camera to focus on a visual.

Parameters

[in] _visualName Name of the visual to move the camera to.

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

virtual

Post render.

Reimplemented from gazebo::rendering::Camera.

void gazebo::rendering::UserCamera::Resize	(	unsigned int	_w,
		unsigned int	_h
	)

Resize the camera.

Parameters

[in]	_w	Width of the camera image.
[in]	_h	Height of the camera image.

virtual void gazebo::rendering::UserCamera::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 from gazebo::rendering::Camera.

void gazebo::rendering::UserCamera::SetDefaultPose ( const math::Pose & _pose )

Set the default pose in the world coordinate frame and set that as the current camera world pose.

Parameters

[in] _pose New default pose of the camera.

void gazebo::rendering::UserCamera::SetFocalPoint ( const math::Vector3 & _pt )

Set the point the camera should orbit around.

Parameters

[in] _pt The focal point

void gazebo::rendering::UserCamera::SetJoyPoseControl ( bool _value )

brief Enable or disable camera control through ~/user_camera/joy_pose gz topic.

Defaults to true.

Parameters

[in] _value True to enable camera pose control by gz topic ~/user_camera/joy_pose.

void gazebo::rendering::UserCamera::SetJoyTwistControl ( bool _value )

brief Enable or disable camera control through ~/user_camera/joy_twist gz topic.

Defaults to true.

Parameters

[in] _value True to enable camera pose control by gz topic ~/user_camera/joy_twist.

virtual bool gazebo::rendering::UserCamera::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 from gazebo::rendering::Camera.

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

virtual

Set to true to enable rendering.

Use this only if you really know what you're doing.

Parameters

[in] _target The new rendering target.

Reimplemented from gazebo::rendering::Camera.

void gazebo::rendering::UserCamera::SetUseSDFPose ( bool _value )

brief Set if the user camera pose has changed in the world file.

Parameters

[in] _value True if the camera pose changed in the world file.

void gazebo::rendering::UserCamera::SetViewController ( const std::string & _type )

Set view controller.

Parameters

[in] _type The type of view controller: "orbit", "fps"

void gazebo::rendering::UserCamera::SetViewController	(	const std::string &	_type,
		const math::Vector3 &	_pos
	)

Set view controller.

Parameters

[in]	_type	The type of view controller: "orbit", "fps"
[in]	_pos	The initial pose of the camera.

void gazebo::rendering::UserCamera::SetViewportDimensions	(	float	_x,
		float	_y,
		float	_w,
		float	_h
	)

Set the dimensions of the viewport.

Parameters

[in]	_x	X position of the viewport.
[in]	_y	Y position of the viewport.
[in]	_w	Width of the viewport.
[in]	_h	Height of the viewport.

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

virtual

Set the pose in the world coordinate frame.

Parameters

[in] _pose New pose of the camera.

Reimplemented from gazebo::rendering::Camera.

bool gazebo::rendering::UserCamera::StereoEnabled ( ) const

Get whether stereo is enabled.

Returns: True if stereo is enabled.

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

protectedvirtual

Set the camera to track a scene node.

Tracking just causes the camera to rotate to follow the visual.

Parameters

[in] _visual Visual to track.

Returns: True if the camera is now tracking the visual.

Reimplemented from gazebo::rendering::Camera.

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

virtual

Render the camera.

Reimplemented from gazebo::rendering::Camera.

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

protectedvirtual

Update the camera's field of view.

Reimplemented from gazebo::rendering::Camera.

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

UserCamera.hh

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation