WideAngleCamera.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2015-2016 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_RENDERING_WIDEANGLECAMERA_HH_
#define _GAZEBO_RENDERING_WIDEANGLECAMERA_HH_


#include <string>
#include <utility>
#include <sdf/sdf.hh>

#include "gazebo/msgs/msgs.hh"

#include "gazebo/transport/Node.hh"
#include "gazebo/transport/Subscriber.hh"

#include "gazebo/math/Angle.hh"
#include "gazebo/math/Pose.hh"

#include "gazebo/rendering/ogre_gazebo.h"
#include "gazebo/msgs/MessageTypes.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"

#include "gazebo/rendering/Camera.hh"


namespace gazebo
{
  namespace rendering
  {

    // forward declarations
    class WideAngleCamera;
    class CameraLensPrivate;
    class WideAngleCameraPrivate;

    class GAZEBO_VISIBLE CameraLens
    {
      public: CameraLens();

      public: ~CameraLens() = default;

      public: void Init(const double _c1, const double _c2,
                        const std::string &_fun, const double _f,
                        const double _c3);

      public: void Init(const std::string &_name);

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

      public: void Load();

      public: std::string Type() const;

      public: bool IsCustom() const;

      public: double C1() const;

      public: double C2() const;

      public: double C3() const;

      public: double F() const;

      public: std::string Fun() const;

      public: double CutOffAngle() const;

      public: bool ScaleToHFOV() const;

      public: void SetType(const std::string &_type);

      public: void SetC1(const double _c);

      public: void SetC2(const double _c);

      public: void SetC3(const double _c);

      public: void SetF(const double _f);

      public: void SetFun(const std::string &_fun);

      public: void SetCutOffAngle(const double _angle);

      public: void SetScaleToHFOV(const bool _scale);

      public: void SetUniformVariables(Ogre::Pass *_pass, const float _ratio,
                                       const float _hfov);

      private: void ConvertToCustom();

      private: std::unique_ptr<CameraLensPrivate> dataPtr;
    };

    class GAZEBO_VISIBLE WideAngleCamera :
        public Camera,
        protected Ogre::CompositorInstance::Listener
    {
      public: WideAngleCamera(const std::string &_namePrefix, ScenePtr _scene,
                              const bool _autoRender = true,
                              const int _textureSize = 256);

      public: virtual ~WideAngleCamera();

      // Documentation inherited
      public: void Init() override;

      // Documentation inherited
      public: void Load() override;

      // Documentation inherited
      public: virtual void Fini() override;

      public: int EnvTextureSize() const;

      public: CameraLens *Lens() const;

      // Documentation inherited
      public: void SetRenderTarget(Ogre::RenderTarget *_target) override;

      public: void SetEnvTextureSize(const int _size);

      protected: void CreateEnvCameras();

      // Documentation inherited
      public: void SetClipDist() override;

      protected: void CreateEnvRenderTexture(const std::string &_textureName);

      // Documentation inherited
      protected: void RenderImpl() override;

      protected: void notifyMaterialRender(Ogre::uint32 _pass_id,
        Ogre::MaterialPtr &_material) override;

      private: std::unique_ptr<WideAngleCameraPrivate> dataPtr;
    };
  }
}


#endif