Depth camera used to render depth data into an image buffer. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::DepthCamera:

Public Member Functions
	DepthCamera (const std::string &_namePrefix, ScenePtr _scene, bool _autoRender=true)
	Constructor. More...

virtual	~DepthCamera ()
	Destructor. More...

event::ConnectionPtr	ConnectNewDepthFrame (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
	Connect a to the new depth image signal. More...

event::ConnectionPtr	ConnectNewRGBPointCloud (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
	Connect a to the new rgb point cloud signal. More...

void	CreateDepthTexture (const std::string &_textureName)
	Create a texture which will hold the depth data. More...

virtual const float *	DepthData () const
	All things needed to get back z buffer for depth data. More...

void	DisconnectNewDepthFrame (event::ConnectionPtr &_c)
	Disconnect from an depth image singal. More...

void	DisconnectNewRGBPointCloud (event::ConnectionPtr &_c)
	Disconnect from an rgb point cloud singal. More...

void	Fini ()
	Finalize the camera. More...

virtual const float *	GetDepthData () GAZEBO_DEPRECATED(7.0)
	All things needed to get back z buffer for depth data. More...

void	Init ()
	Initialize the camera. More...

void	Load (sdf::ElementPtr _sdf)
	Load the camera with a set of parmeters. More...

void	Load ()
	Load the camera with default parmeters. More...

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

virtual void	SetDepthTarget (Ogre::RenderTarget *_target)
	Set the render target, which renders the depth data. 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...

float	AspectRatio () const
	Get the apect ratio. More...

void	AttachToVisual (const std::string &_visualName, const bool _inheritOrientation, const double _minDist=0.0, const double _maxDist=0.0)
	Attach the camera to a scene node. More...

void	AttachToVisual (uint32_t _id, const bool _inheritOrientation, const double _minDist=0.0, const double _maxDist=0.0)
	Attach the camera to a scene node. More...

virtual float	AvgFPS () const
	Get the average FPS. More...

void	CameraToViewportRay (const int _screenx, const int _screeny, ignition::math::Vector3d &_origin, ignition::math::Vector3d &_dir) const
	Get a world space ray as cast from the camera through the viewport. More...

bool	CaptureData () const
	Return the value of this->captureData. More...

event::ConnectionPtr	ConnectNewImageFrame (std::function< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
	Connect to the new image signal. More...

void	CreateRenderTexture (const std::string &_textureName)
	Set the render target. More...

ignition::math::Vector3d	Direction () const
	Get the camera's direction vector. More...

void	DisconnectNewImageFrame (event::ConnectionPtr &_c)
	Disconnect from an image frame. More...

void	EnableSaveFrame (const bool _enable)
	Enable or disable saving. More...

double	FarClip () const
	Get the far clip distance. More...

float	GetAspectRatio () const GAZEBO_DEPRECATED(7.0)
	Get the apect ratio. More...

virtual float	GetAvgFPS () const GAZEBO_DEPRECATED(7.0)
	Get the average FPS. More...

void	GetCameraToViewportRay (int _screenx, int _screeny, math::Vector3 &_origin, math::Vector3 &_dir) GAZEBO_DEPRECATED(7.0)
	Get a world space ray as cast from the camera through the viewport. More...

bool	GetCaptureData () const GAZEBO_DEPRECATED(7.0)
	Return the value of this->captureData. More...

math::Vector3	GetDirection () const GAZEBO_DEPRECATED(7.0)
	Get the camera's direction vector. More...

DistortionPtr	GetDistortion () const GAZEBO_DEPRECATED(7.0)
	Get the distortion model of this camera. More...

double	GetFarClip () GAZEBO_DEPRECATED(7.0)
	Get the far clip distance. More...

math::Angle	GetHFOV () const GAZEBO_DEPRECATED(7.0)
	Get the camera FOV (horizontal) More...

size_t	GetImageByteSize () const GAZEBO_DEPRECATED(7.0)
	Get the image size in bytes. More...

virtual const unsigned char *	GetImageData (unsigned int i=0) GAZEBO_DEPRECATED(7.0)
	Get a pointer to the image data. More...

unsigned int	GetImageDepth () const GAZEBO_DEPRECATED(7.0)
	Get the depth of the image. More...

std::string	GetImageFormat () const GAZEBO_DEPRECATED(7.0)
	Get the string representation of the image format. More...

virtual unsigned int	GetImageHeight () const GAZEBO_DEPRECATED(7.0)
	Get the height of the image. More...

virtual unsigned int	GetImageWidth () const GAZEBO_DEPRECATED(7.0)
	Get the width of the image. More...

bool	GetInitialized () const GAZEBO_DEPRECATED(7.0)
	Return true if the camera has been initialized. More...

common::Time	GetLastRenderWallTime () GAZEBO_DEPRECATED(7.0)
	Get the last time the camera was rendered. More...

std::string	GetName () const GAZEBO_DEPRECATED(7.0)
	Get the camera's unscoped name. More...

double	GetNearClip () GAZEBO_DEPRECATED(7.0)
	Get the near clip distance. More...

Ogre::Camera *	GetOgreCamera () const GAZEBO_DEPRECATED(7.0)
	Get a pointer to the ogre camera. More...

std::string	GetProjectionType () const GAZEBO_DEPRECATED(7.0)
	Return the projection type as a string. More...

double	GetRenderRate () const GAZEBO_DEPRECATED(7.0)
	Get the render Hz rate. More...

Ogre::Texture *	GetRenderTexture () const GAZEBO_DEPRECATED(7.0)
	Get the render texture. More...

math::Vector3	GetRight () GAZEBO_DEPRECATED(7.0)
	Get the viewport right vector. More...

ScenePtr	GetScene () const
	Get the scene this camera is in. More...

Ogre::SceneNode *	GetSceneNode () const GAZEBO_DEPRECATED(7.0)
	Get the camera's scene node. More...

std::string	GetScopedName () const GAZEBO_DEPRECATED(7.0)
	Get the camera's scoped name (scene_name::camera_name) More...

std::string	GetScreenshotPath () const GAZEBO_DEPRECATED(7.0)
	Get the path to saved screenshots. More...

unsigned int	GetTextureHeight () const GAZEBO_DEPRECATED(7.0)
	Get the height of the off-screen render texture. More...

unsigned int	GetTextureWidth () const GAZEBO_DEPRECATED(7.0)
	Get the width of the off-screen render texture. More...

virtual unsigned int	GetTriangleCount () const GAZEBO_DEPRECATED(7.0)
	Get the triangle count. More...

math::Vector3	GetUp () GAZEBO_DEPRECATED(7.0)
	Get the viewport up vector. More...

math::Angle	GetVFOV () const GAZEBO_DEPRECATED(7.0)
	Get the camera FOV (vertical) More...

Ogre::Viewport *	GetViewport () const GAZEBO_DEPRECATED(7.0)
	Get a pointer to the Ogre::Viewport. More...

unsigned int	GetViewportHeight () const GAZEBO_DEPRECATED(7.0)
	Get the viewport height in pixels. More...

unsigned int	GetViewportWidth () const GAZEBO_DEPRECATED(7.0)
	Get the viewport width in pixels. More...

unsigned int	GetWindowId () const GAZEBO_DEPRECATED(7.0)
	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) GAZEBO_DEPRECATED(7.0)
	Get point on a plane. More...

math::Pose	GetWorldPose () const GAZEBO_DEPRECATED(7.0)
	Get the world pose. More...

math::Vector3	GetWorldPosition () const GAZEBO_DEPRECATED(7.0)
	Get the camera position in the world. More...

math::Quaternion	GetWorldRotation () const GAZEBO_DEPRECATED(7.0)
	Get the camera's orientation in the world. More...

double	GetZValue (int _x, int _y) GAZEBO_DEPRECATED(7.0)
	Get the Z-buffer value at the given image coordinate. More...

ignition::math::Angle	HFOV () const
	Get the camera FOV (horizontal) More...

size_t	ImageByteSize () const
	Get the image size in bytes. More...

virtual const unsigned char *	ImageData (const unsigned int i=0) const
	Get a pointer to the image data. More...

unsigned int	ImageDepth () const
	Get the depth of the image. More...

std::string	ImageFormat () const
	Get the string representation of the image format. More...

virtual unsigned int	ImageHeight () const
	Get the height of the image. More...

virtual unsigned int	ImageWidth () const
	Get the width of the image. More...

bool	Initialized () const
	Return true if the camera has been initialized. 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...

common::Time	LastRenderWallTime () const
	Get the last time the camera was rendered. More...

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

virtual bool	MoveToPosition (const math::Pose &_pose, double _time) GAZEBO_DEPRECATED(7.0)
	Move the camera to a position (this is an animated motion). More...

virtual bool	MoveToPosition (const ignition::math::Pose3d &_pose, const double _time)
	Move the camera to a position (this is an animated motion). More...

bool	MoveToPositions (const std::vector< math::Pose > &_pts, double _time, std::function< void()> _onComplete=NULL) GAZEBO_DEPRECATED(7.0)
	Move the camera to a series of poses (this is an animated motion). More...

bool	MoveToPositions (const std::vector< ignition::math::Pose3d > &_pts, const double _time, std::function< void()> _onComplete=NULL)
	Move the camera to a series of poses (this is an animated motion). More...

std::string	Name () const
	Get the camera's unscoped name. More...

double	NearClip () const
	Get the near clip distance. More...

Ogre::Camera *	OgreCamera () const
	Get a pointer to the ogre camera. More...

Ogre::Viewport *	OgreViewport () const
	Get a pointer to the Ogre::Viewport. More...

void	Pitch (const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo=Ogre::Node::TS_LOCAL) GAZEBO_DEPRECATED(7.0)
	Rotate the camera around the y-axis. More...

void	Pitch (const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL)
	Rotate the camera around the y-axis. More...

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

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

double	RenderRate () const
	Get the render Hz rate. More...

Ogre::Texture *	RenderTexture () const
	Get the render texture. More...

ignition::math::Vector3d	Right () const
	Get the viewport right vector. More...

void	Roll (const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo=Ogre::Node::TS_LOCAL) GAZEBO_DEPRECATED(7.0)
	Rotate the camera around the x-axis. More...

void	Roll (const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL)
	Rotate the camera around the x-axis. More...

bool	SaveFrame (const std::string &_filename)
	Save the last frame to disk. More...

Ogre::SceneNode *	SceneNode () const
	Get the camera's scene node. More...

std::string	ScopedName () const
	Get the camera's scoped name (scene_name::camera_name) More...

std::string	ScreenshotPath () const
	Get the path to saved screenshots. More...

void	SetAspectRatio (float _ratio)
	Set the aspect ratio. More...

void	SetCaptureData (const bool _value)
	Set whether to capture data. More...

void	SetCaptureDataOnce ()
	Capture data once and save to disk. More...

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

void	SetHFOV (math::Angle _angle) GAZEBO_DEPRECATED(7.0)
	Set the camera FOV (horizontal) More...

void	SetHFOV (const ignition::math::Angle &_angle)
	Set the camera FOV (horizontal) More...

void	SetImageHeight (const unsigned int _h)
	Set the image height. More...

void	SetImageSize (const unsigned int _w, const unsigned int _h)
	Set the image size. More...

void	SetImageWidth (const 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 (const 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) GAZEBO_DEPRECATED(7.0)
	Set the global pose of the camera. More...

virtual void	SetWorldPose (const ignition::math::Pose3d &_pose)
	Set the global pose of the camera. More...

void	SetWorldPosition (const math::Vector3 &_pos) GAZEBO_DEPRECATED(7.0)
	Set the world position. More...

void	SetWorldPosition (const ignition::math::Vector3d &_pos)
	Set the world position. More...

void	SetWorldRotation (const math::Quaternion &_quat) GAZEBO_DEPRECATED(7.0)
	Set the world orientation. More...

void	SetWorldRotation (const ignition::math::Quaterniond &_quat)
	Set the world orientation. More...

void	ShowWireframe (const bool _s)
	Set whether to view the world in wireframe. More...

unsigned int	TextureHeight () const
	Get the height of the off-screen render texture. More...

unsigned int	TextureWidth () const
	Get the width of the off-screen render texture. 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) GAZEBO_DEPRECATED(7.0)
	Translate the camera. More...

void	Translate (const ignition::math::Vector3d &_direction)
	Translate the camera. More...

virtual unsigned int	TriangleCount () const
	Get the triangle count. More...

ignition::math::Vector3d	Up () const
	Get the viewport up vector. More...

virtual void	Update ()

ignition::math::Angle	VFOV () const
	Get the camera FOV (vertical) More...

unsigned int	ViewportHeight () const
	Get the viewport height in pixels. More...

unsigned int	ViewportWidth () const
	Get the viewport width in pixels. More...

unsigned int	WindowId () const
	Get the ID of the window this camera is rendering into. More...

bool	WorldPointOnPlane (const int _x, const int _y, const ignition::math::Planed &_plane, ignition::math::Vector3d &_result)
	Get point on a plane. More...

ignition::math::Pose3d	WorldPose () const
	Get the world pose. More...

ignition::math::Vector3d	WorldPosition () const
	Get the camera position in the world. More...

ignition::math::Quaterniond	WorldRotation () const
	Get the camera's orientation in the world. More...

void	Yaw (const math::Angle &_angle, Ogre::Node::TransformSpace _relativeTo=Ogre::Node::TS_WORLD) GAZEBO_DEPRECATED(7.0)
	Rotate the camera around the z-axis. More...

void	Yaw (const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_WORLD)
	Rotate the camera around the z-axis. More...

double	ZValue (const int _x, const int _y)
	Get the Z-buffer value at the given image coordinate. More...

Protected Attributes
Ogre::RenderTarget *	depthTarget
	Pointer to the depth target. More...

Ogre::Texture *	depthTexture
	Pointer to the depth texture. More...

Ogre::Viewport *	depthViewport
	Pointer to the depth viewport. 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...

std::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...

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) GAZEBO_DEPRECATED(7.0)
	Calculate image byte size base on a few parameters. More...

static size_t	ImageByteSize (const unsigned int _width, const unsigned int _height, const std::string &_format)
	Calculate image byte size base on a few parameters. More...

static bool	SaveFrame (const unsigned char *_image, const unsigned int _width, const unsigned int _height, const int _depth, const std::string &_format, const std::string &_filename)
	Save a frame using an image buffer. More...

Protected Member Functions inherited from gazebo::rendering::Camera
virtual void	AnimationComplete ()
	Internal function used to indicate that an animation has completed. More...

virtual bool	AttachToVisualImpl (const std::string &_name, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
	Attach the camera to a scene node. More...

virtual bool	AttachToVisualImpl (uint32_t _id, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
	Attach the camera to a scene node. More...

virtual bool	AttachToVisualImpl (VisualPtr _visual, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
	Attach the camera to a visual. More...

std::string	FrameFilename ()
	Get the next frame filename based on SDF parameters. More...

std::string	GetFrameFilename () GAZEBO_DEPRECATED(7.0)
	Get the next frame filename based on SDF parameters. More...

void	ReadPixelBuffer ()
	Read image data from pixel buffer. 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...

Detailed Description

Depth camera used to render depth data into an image buffer.

Constructor & Destructor Documentation

gazebo::rendering::DepthCamera::DepthCamera	(	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::DepthCamera::~DepthCamera ( )

virtual

Destructor.

Member Function Documentation

event::ConnectionPtr gazebo::rendering::DepthCamera::ConnectNewDepthFrame ( std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber )

Connect a to the new depth image signal.

Parameters

[in] _subscriber Subscriber callback function

Returns: Pointer to the new Connection. This must be kept in scope

event::ConnectionPtr gazebo::rendering::DepthCamera::ConnectNewRGBPointCloud ( std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber )

Connect a to the new rgb point cloud signal.

Parameters

[in] _subscriber Subscriber callback function

Returns: Pointer to the new Connection. This must be kept in scope

void gazebo::rendering::DepthCamera::CreateDepthTexture ( const std::string & _textureName )

Create a texture which will hold the depth data.

Parameters

[in] _textureName Name of the texture to create

virtual const float* gazebo::rendering::DepthCamera::DepthData ( ) const

virtual

All things needed to get back z buffer for depth data.

Returns: The z-buffer as a float array

void gazebo::rendering::DepthCamera::DisconnectNewDepthFrame ( event::ConnectionPtr & _c )

Disconnect from an depth image singal.

Parameters

[in] _c The connection to disconnect

void gazebo::rendering::DepthCamera::DisconnectNewRGBPointCloud ( event::ConnectionPtr & _c )

Disconnect from an rgb point cloud singal.

Parameters

[in] _c The connection to disconnect

void gazebo::rendering::DepthCamera::Fini ( )

virtual

Finalize the camera.

Reimplemented from gazebo::rendering::Camera.

virtual const float* gazebo::rendering::DepthCamera::GetDepthData ( )

virtual

All things needed to get back z buffer for depth data.

Returns: The z-buffer as a float array

Deprecated:: See DepthData()

void gazebo::rendering::DepthCamera::Init ( )

virtual

Initialize the camera.

Reimplemented from gazebo::rendering::Camera.

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

virtual

Load the camera with a set of parmeters.

Parameters

[in] _sdf The SDF camera info

Reimplemented from gazebo::rendering::Camera.

void gazebo::rendering::DepthCamera::Load ( )

virtual

Load the camera with default parmeters.

Reimplemented from gazebo::rendering::Camera.

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

virtual

Render the camera.

Reimplemented from gazebo::rendering::Camera.

virtual void gazebo::rendering::DepthCamera::SetDepthTarget ( Ogre::RenderTarget * _target )

virtual

Set the render target, which renders the depth data.

Parameters

[in] _target Pointer to the render target

Member Data Documentation

Ogre::RenderTarget* gazebo::rendering::DepthCamera::depthTarget

protected

Pointer to the depth target.

Ogre::Texture* gazebo::rendering::DepthCamera::depthTexture

protected

Pointer to the depth texture.

Ogre::Viewport* gazebo::rendering::DepthCamera::depthViewport

protected

Pointer to the depth viewport.

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

DepthCamera.hh

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation