GPU based laser distance sensor. More...

#include <rendering/rendering.hh>

Inherits Camera, and RenderObjectListener.

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

virtual	~GpuLaser ()
	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...

unsigned int	CameraCount () const
	Get the number of cameras required. More...

virtual 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...

event::ConnectionPtr	ConnectNewLaserFrame (std::function< void(const float *_frame, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)> _subscriber)
	Connect to a laser frame signal. More...

double	CosHorzFOV () const
	Get Cos Horz field-of-view. More...

double	CosVertFOV () const
	Get Cos Vert field-of-view. More...

void	CreateLaserTexture (const std::string &_textureName)
	Create the texture which is used to render laser data. 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) GAZEBO_DEPRECATED(8.0)
	Disconnect from an image frame. More...

void	DisconnectNewLaserFrame (event::ConnectionPtr &_c) GAZEBO_DEPRECATED(8.0)
	Disconnect from a laser frame signal. More...

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

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

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

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

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

double	HorzFOV () const
	Get the horizontal field of view of the laser sensor. More...

double	HorzHalfAngle () const
	Get (horizontal_max_angle + horizontal_min_angle) * 0.5. 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 in bytes per pixel. 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...

virtual void	Init ()
	Initialize the camera. 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	IsHorizontal () const
	Gets if sensor is horizontal. 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...

const float *	LaserData () const
	All things needed to get back z buffer for laser data. 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 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 ignition::math::Pose3d &_pose, const double _time)
	Move the camera to a position (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 near clip. More...

virtual void	notifyRenderSingleObject (Ogre::Renderable _rend, const Ogre::Pass _p, const Ogre::AutoParamDataSource _s, const Ogre::LightList _ll, bool _supp)

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

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

virtual ignition::math::Vector2i	Project (const ignition::math::Vector3d &_pt) const
	Project 3D world coordinates to 2D screen coordinates. More...

ignition::math::Matrix4d	ProjectionMatrix () const
	Return the projection matrix of this camera. More...

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

double	RayCountRatio () const
	Get the ray count ratio (equivalent to aspect ratio) More...

virtual 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...

bool	ResetVideo ()
	Reset video recording. More...

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

bool	SaveVideo (const std::string &_filename)
	Save the last encoded video 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...

virtual bool	SetBackgroundColor (const common::Color &_color)
	Set background color for viewport (if viewport is not null) More...

void	SetCameraCount (const unsigned int _cameraCount)
	Set the number of cameras required. 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	SetCosHorzFOV (const double _chfov)
	Set the Cos Horz FOV. More...

void	SetCosVertFOV (const double _cvfov)
	Set the Cos Horz FOV. More...

void	SetFarClip (const double _far)
	Set the far clip distance. More...

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

void	SetHorzFOV (const double _hfov)
	Set the horizontal fov. More...

void	SetHorzHalfAngle (const double _angle)
	Set the horizontal half angle. 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	SetIsHorizontal (const bool _horizontal)
	Set sensor horizontal or vertical. More...

void	SetName (const std::string &_name)
	Set the camera's name. More...

void	SetNearClip (const double _near)
	Set the near clip distance. More...

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

void	SetRangeCount (const unsigned int _w, const unsigned int _h=1)
	Set the number of laser samples in the width and height. More...

void	SetRayCountRatio (const double _rayCountRatio)
	Sets the ray count ratio (equivalen to aspect ratio) 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	SetTrackInheritYaw (const bool _inheritYaw)
	Set whether this camera inherits the yaw rotation of the tracked model. More...

void	SetTrackIsStatic (const bool _isStatic)
	Set whether this camera is static when tracking a model. More...

void	SetTrackMaxDistance (const double _dist)
	Set the maximum distance between the camera and tracked visual. More...

void	SetTrackMinDistance (const double _dist)
	Set the minimum distance between the camera and tracked visual. More...

void	SetTrackPosition (const ignition::math::Vector3d &_pos)
	Set the position of the camera when tracking a visual. More...

void	SetTrackUseModelFrame (const bool _useModelFrame)
	Set whether this camera's position is relative to tracked models. More...

void	SetVertFOV (const double _vfov)
	Set the vertical fov. More...

void	SetVertHalfAngle (const double _angle)
	Set the vertical half angle. More...

void	SetWindowId (unsigned int _windowId)

virtual void	SetWorldPose (const math::Pose &_pose) GAZEBO_DEPRECATED(8.0)
	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 ignition::math::Vector3d &_pos)
	Set the world position. 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...

bool	StartVideo (const std::string &_format, const std::string &_filename="")
	Turn on video recording. More...

bool	StopVideo ()
	Turn off video recording. 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...

VisualPtr	TrackedVisual () const
	Get the visual tracked by this camera. More...

bool	TrackInheritYaw () const
	Get whether this camera inherits the yaw rotation of the tracked model. More...

bool	TrackIsStatic () const
	Get whether this camera is static when tracking a model. More...

double	TrackMaxDistance () const
	Return the maximum distance to the tracked visual. More...

double	TrackMinDistance () const
	Return the minimum distance to the tracked visual. More...

ignition::math::Vector3d	TrackPosition () const
	Return the position of the camera when tracking a model. More...

bool	TrackUseModelFrame () const
	Get whether this camera's position is relative to tracked models. More...

void	TrackVisual (const std::string &_visualName)
	Set the camera to track a scene node. 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 ()

double	VertFOV () const
	Get the vertical field-of-view. More...

double	VertHalfAngle () const
	Get (vertical_max_angle + vertical_min_angle) * 0.5. More...

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 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...

Static Public Member Functions
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
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...

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

virtual void	SetClipDist ()
	Set the clip distance based on stored SDF values. More...

virtual void	SetFixedYawAxis (const bool _useFixed, const ignition::math::Vector3d &_fixedAxis=ignition::math::Vector3d::UnitY)
	Tell the camera whether to yaw around its own local Y axis or a fixed axis of choice. 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...

unsigned int	cameraCount
	Number of cameras needed to generate the rays. 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...

double	chfov
	Cos horizontal field-of-view. More...

std::vector< event::ConnectionPtr >	connections
	The camera's event connections. More...

double	cvfov
	Cos vertical field-of-view. More...

double	farClip
	Far clip plane. More...

double	hfov
	Horizontal field-of-view. More...

double	horzHalfAngle
	Horizontal half angle. 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...

bool	isHorizontal
	True if the sensor is horizontal only. More...

common::Time	lastRenderWallTime
	Time the last frame was rendered. More...

std::string	name
	Name of the camera. More...

double	nearClip
	Near clip plane. 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...

double	rayCountRatio
	Ray count ratio. 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...

double	vertHalfAngle
	Vertical half angle. More...

double	vfov
	Vertical field-of-view. 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

GPU based laser distance sensor.

Constructor & Destructor Documentation

GpuLaser	(	const std::string &	_namePrefix,
		ScenePtr	_scene,
		const 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 ~GpuLaser ( )

virtual

Destructor.

Member Function Documentation

virtual void AnimationComplete ( )

protectedvirtualinherited

Internal function used to indicate that an animation has completed.

Reimplemented in UserCamera.

float AspectRatio ( ) const

inherited

Get the apect ratio.

Returns: The aspect ratio (width / height) in pixels

void AttachToVisual	(	const std::string &	_visualName,
		const bool	_inheritOrientation,
		const double	_minDist = `0.0`,
		const double	_maxDist = `0.0`
	)

inherited

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 AttachToVisual	(	uint32_t	_id,
		const bool	_inheritOrientation,
		const double	_minDist = `0.0`,
		const double	_maxDist = `0.0`
	)

inherited

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 AttachToVisualImpl	(	const std::string &	_name,
		const bool	_inheritOrientation,
		const double	_minDist = `0`,
		const double	_maxDist = `0`
	)

protectedvirtualinherited

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 AttachToVisualImpl	(	uint32_t	_id,
		const bool	_inheritOrientation,
		const double	_minDist = `0`,
		const double	_maxDist = `0`
	)

protectedvirtualinherited

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 AttachToVisualImpl	(	VisualPtr	_visual,
		const bool	_inheritOrientation,
		const double	_minDist = `0`,
		const double	_maxDist = `0`
	)

protectedvirtualinherited

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 UserCamera, and OculusCamera.

virtual float AvgFPS ( ) const

virtualinherited

Get the average FPS.

Returns: The average frames per second

unsigned int CameraCount ( ) const

Get the number of cameras required.

Returns: Number of cameras needed to generate the rays

virtual void CameraToViewportRay	(	const int	_screenx,
		const int	_screeny,
		ignition::math::Vector3d &	_origin,
		ignition::math::Vector3d &	_dir
	)		const

virtualinherited

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

Reimplemented in UserCamera.

bool CaptureData ( ) const

inherited

Return the value of this->captureData.

Returns: True if the camera is set to capture data.

event::ConnectionPtr ConnectNewImageFrame ( std::function< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber )

inherited

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.

event::ConnectionPtr ConnectNewLaserFrame ( std::function< void(const float *_frame, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)> _subscriber )

Connect to a laser frame 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.

double CosHorzFOV ( ) const

Get Cos Horz field-of-view.

Returns: 2 * atan(tan(this->hfov/2) / cos(this->vfov/2))

double CosVertFOV ( ) const

Get Cos Vert field-of-view.

Returns: 2 * atan(tan(this->vfov/2) / cos(this->hfov/2))

void CreateLaserTexture ( const std::string & _textureName )

Create the texture which is used to render laser data.

Parameters

[in] _textureName Name of the new texture.

void CreateRenderTexture ( const std::string & _textureName )

inherited

Set the render target.

Parameters

[in] _textureName Name of the new render texture

ignition::math::Vector3d Direction ( ) const

inherited

Get the camera's direction vector.

Returns: Direction the camera is facing

void DisconnectNewImageFrame ( event::ConnectionPtr & _c )

inherited

Disconnect from an image frame.

Parameters

[in] _c The connection to disconnect

Deprecated:: Use event::~Connection to disconnect

void DisconnectNewLaserFrame ( event::ConnectionPtr & _c )

Disconnect from a laser frame signal.

Parameters

[in] _c The connection to disconnect

Deprecated:: Use event::~Connection to disconnect

void EnableSaveFrame ( const bool _enable )

inherited

Enable or disable saving.

Parameters

[in] _enable Set to True to enable saving of frames

double FarClip ( ) const

Get far clip.

Returns: far clip distance

virtual void Fini ( )

virtual

Finalize the camera.

This function is called before the camera is destructed

Reimplemented from Camera.

std::string FrameFilename ( )

protectedinherited

Get the next frame filename based on SDF parameters.

Returns: The frame's filename

ScenePtr GetScene ( ) const

inherited

Get the scene this camera is in.

Returns: Pointer to scene containing this camera

ignition::math::Angle HFOV ( ) const

inherited

Get the camera FOV (horizontal)

Returns: The horizontal field of view

double HorzFOV ( ) const

Get the horizontal field of view of the laser sensor.

Returns: The horizontal field of view of the laser sensor.

double HorzHalfAngle ( ) const

Get (horizontal_max_angle + horizontal_min_angle) * 0.5.

Returns: (horizontal_max_angle + horizontal_min_angle) * 0.5

size_t ImageByteSize ( ) const

inherited

Get the image size in bytes.

Returns: Size in bytes

static size_t ImageByteSize	(	const unsigned int	_width,
		const unsigned int	_height,
		const std::string &	_format
	)

staticinherited

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* ImageData ( const unsigned int i = 0 ) const

virtualinherited

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 ImageDepth ( ) const

inherited

Get the depth of the image in bytes per pixel.

Returns: Depth of the image in bytes per pixel

std::string ImageFormat ( ) const

inherited

Get the string representation of the image format.

Returns: String representation of the image format.

virtual unsigned int ImageHeight ( ) const

virtualinherited

Get the height of the image.

Returns: Image height

virtual unsigned int ImageWidth ( ) const

virtualinherited

Get the width of the image.

Returns: Image width

virtual void Init ( )

virtual

Initialize the camera.

Reimplemented from Camera.

bool Initialized ( ) const

inherited

Return true if the camera has been initialized.

Returns: True if initialized was successful

bool IsAnimating ( ) const

inherited

Return true if the camera is moving due to an animation.

bool IsHorizontal ( ) const

Gets if sensor is horizontal.

Returns: True if horizontal, false if not

bool IsVisible ( VisualPtr _visual )

inherited

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 IsVisible ( const std::string & _visualName )

inherited

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

const float* LaserData ( ) const

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

Returns: Array of laser data.

common::Time LastRenderWallTime ( ) const

inherited

Get the last time the camera was rendered.

Returns: Time the camera was last rendered

DistortionPtr LensDistortion ( ) const

inherited

Get the distortion model of this camera.

Returns: Distortion model.

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the camera with a set of parmeters.

Parameters

[in] _sdf The SDF camera info

Reimplemented from Camera.

virtual void Load ( )

virtual

Load the camera with default parmeters.

Reimplemented from Camera.

virtual bool MoveToPosition	(	const ignition::math::Pose3d &	_pose,
		const double	_time
	)

virtualinherited

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

bool MoveToPositions	(	const std::vector< ignition::math::Pose3d > &	_pts,
		const double	_time,
		std::function< void()>	_onComplete = `NULL`
	)

inherited

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

std::string Name ( ) const

inherited

Get the camera's unscoped name.

Returns: The name of the camera

double NearClip ( ) const

Get near clip.

Returns: near clip distance

virtual void notifyRenderSingleObject	(	Ogre::Renderable *	_rend,
		const Ogre::Pass *	_p,
		const Ogre::AutoParamDataSource *	_s,
		const Ogre::LightList *	_ll,
		bool	_supp
	)

virtual

Ogre::Camera* OgreCamera ( ) const

inherited

Get a pointer to the ogre camera.

Returns: Pointer to the OGRE camera

Ogre::Viewport* OgreViewport ( ) const

inherited

Get a pointer to the Ogre::Viewport.

Returns: Pointer to the Ogre::Viewport

void Pitch	(	const ignition::math::Angle &	_angle,
		ReferenceFrame	_relativeTo = `RF_LOCAL`
	)

inherited

Rotate the camera around the y-axis.

Parameters

[in]	_angle	Pitch amount
[in]	_relativeTo	Coordinate frame to rotate in. Valid values are RF_LOCAL, RF_PARENT, and RF_WORLD. Default is RF_LOCAL

virtual void PostRender ( )

virtual

Post render.

Called afer the render signal.

Reimplemented from Camera.

virtual ignition::math::Vector2i Project ( const ignition::math::Vector3d & _pt ) const

virtualinherited

Project 3D world coordinates to 2D screen coordinates.

Parameters

[in] _pt 3D world coodinates

Returns: _pt 2D screen coordinates

Reimplemented in UserCamera.

ignition::math::Matrix4d ProjectionMatrix ( ) const

inherited

Return the projection matrix of this camera.

Returns: the projection matrix

std::string ProjectionType ( ) const

inherited

Return the projection type as a string.

Returns: "perspective" or "orthographic"

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

double RayCountRatio ( ) const

Get the ray count ratio (equivalent to aspect ratio)

Returns: The ray count ratio (equivalent to aspect ratio)

void ReadPixelBuffer ( )

protectedinherited

Read image data from pixel buffer.

virtual void Render ( const bool _force = false )

virtualinherited

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.

Reimplemented in UserCamera.

double RenderRate ( ) const

inherited

Get the render Hz rate.

Returns: The Hz rate

Ogre::Texture* RenderTexture ( ) const

inherited

Get the render texture.

Returns: Pointer to the render texture

bool ResetVideo ( )

inherited

Reset video recording.

This will call common::VideoEncoder::Reset, which will cleanup temporary files and set video encoding values to their default settings.

See Also: common::VideoEncoder::Reset

Returns: True if reset was succesful. Currently this function will always return true.

ignition::math::Vector3d Right ( ) const

inherited

Get the viewport right vector.

Returns: The viewport right vector

void Roll	(	const ignition::math::Angle &	_angle,
		ReferenceFrame	_relativeTo = `RF_LOCAL`
	)

inherited

Rotate the camera around the x-axis.

Parameters

[in]	_angle	Rotation amount
[in]	_relativeTo	Coordinate frame to rotate in. Valid values are RF_LOCAL, RF_PARENT, and RF_WORLD. Default is RF_LOCAL

bool SaveFrame ( const std::string & _filename )

inherited

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 SaveFrame	(	const unsigned char *	_image,
		const unsigned int	_width,
		const unsigned int	_height,
		const int	_depth,
		const std::string &	_format,
		const std::string &	_filename
	)

staticinherited

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

bool SaveVideo ( const std::string & _filename )

inherited

Save the last encoded video to disk.

Parameters

[in] _filename File in which to save the encoded video

Returns: True if saving was successful. The return value is set by common::VideoEncoder::SaveToFile().

See Also: common::VideoEncoder::SaveToFile

Ogre::SceneNode* SceneNode ( ) const

inherited

Get the camera's scene node.

Returns: The scene node the camera is attached to

std::string ScopedName ( ) const

inherited

Get the camera's scoped name (scene_name::camera_name)

Returns: The name of the camera

std::string ScreenshotPath ( ) const

inherited

Get the path to saved screenshots.

Returns: Path to saved screenshots.

void SetAspectRatio ( float _ratio )

inherited

Set the aspect ratio.

Parameters

[in] _ratio The aspect ratio (width / height) in pixels

virtual bool SetBackgroundColor ( const common::Color & _color )

virtualinherited

Set background color for viewport (if viewport is not null)

Parameters

[in] _color Background color.

Returns: True if successful. False if viewport is null

Reimplemented in WideAngleCamera.

void SetCameraCount ( const unsigned int _cameraCount )

Set the number of cameras required.

Parameters

[in] _cameraCount The number of cameras required to generate the rays

void SetCaptureData ( const bool _value )

inherited

Set whether to capture data.

Parameters

[in] _value Set to true to capture data into a memory buffer.

void SetCaptureDataOnce ( )

inherited

Capture data once and save to disk.

virtual void SetClipDist	(	const float	_near,
		const float	_far
	)

virtualinherited

Set the clip distances.

Parameters

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

Reimplemented in UserCamera.

virtual void SetClipDist ( )

protectedvirtualinherited

Set the clip distance based on stored SDF values.

Reimplemented in WideAngleCamera.

void SetCosHorzFOV ( const double _chfov )

Set the Cos Horz FOV.

Parameters

[in] _chfov Cos Horz FOV

void SetCosVertFOV ( const double _cvfov )

Set the Cos Horz FOV.

Parameters

[in] _cvfov Cos Horz FOV

void SetFarClip ( const double _far )

Set the far clip distance.

Parameters

[in] _far far clip distance

virtual void SetFixedYawAxis	(	const bool	_useFixed,
		const ignition::math::Vector3d &	_fixedAxis = `ignition::math::Vector3d::UnitY`
	)

protectedvirtualinherited

Tell the camera whether to yaw around its own local Y axis or a fixed axis of choice.

Parameters

[in]	_useFixed	If true, the axis passed in the second parameter will always be the yaw axis no matter what the camera orientation. If false, the camera yaws around the local Y.
[in]	_fixedAxis	The axis to use if the first parameter is true.

void SetHFOV ( const ignition::math::Angle & _angle )

inherited

Set the camera FOV (horizontal)

Parameters

[in] _angle Horizontal field of view

void SetHorzFOV ( const double _hfov )

Set the horizontal fov.

Parameters

[in] _hfov horizontal fov

void SetHorzHalfAngle ( const double _angle )

Set the horizontal half angle.

Parameters

[in] _angle horizontal half angle

void SetImageHeight ( const unsigned int _h )

inherited

Set the image height.

Parameters

[in] _h Image height

void SetImageSize	(	const unsigned int	_w,
		const unsigned int	_h
	)

inherited

Set the image size.

Parameters

[in]	_w	Image width
[in]	_h	Image height

void SetImageWidth ( const unsigned int _w )

inherited

Set the image height.

Parameters

[in] _w Image width

void SetIsHorizontal ( const bool _horizontal )

Set sensor horizontal or vertical.

Parameters

[in] _horizontal True if horizontal, false if not

void SetName ( const std::string & _name )

inherited

Set the camera's name.

Parameters

[in] _name New name for the camera

void SetNearClip ( const double _near )

Set the near clip distance.

Parameters

[in] _near near clip distance

virtual bool SetProjectionType ( const std::string & _type )

virtualinherited

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 UserCamera.

void SetRangeCount	(	const unsigned int	_w,
		const unsigned int	_h = `1`
	)

Set the number of laser samples in the width and height.

Parameters

[in]	_w	Number of samples in the horizontal sweep
[in]	_h	Number of samples in the vertical sweep

void SetRayCountRatio ( const double _rayCountRatio )

Sets the ray count ratio (equivalen to aspect ratio)

Parameters

[in] _rayCountRatio ray count ratio (equivalent to aspect ratio)

void SetRenderRate ( const double _hz )

inherited

Set the render Hz rate.

Parameters

[in] _hz The Hz rate

virtual void SetRenderTarget ( Ogre::RenderTarget * _target )

virtualinherited

Set the camera's render target.

Parameters

[in] _target Pointer to the render target

Reimplemented in WideAngleCamera, UserCamera, and OculusCamera.

void SetSaveFramePathname ( const std::string & _pathname )

inherited

Set the save frame pathname.

Parameters

[in] _pathname Directory in which to store saved image frames

void SetScene ( ScenePtr _scene )

inherited

Set the scene this camera is viewing.

Parameters

[in] _scene Pointer to the scene

void SetSceneNode ( Ogre::SceneNode * _node )

inherited

Set the camera's scene node.

Parameters

[in] _node The scene nodes to attach the camera to

void SetTrackInheritYaw ( const bool _inheritYaw )

inherited

Set whether this camera inherits the yaw rotation of the tracked model.

Parameters

[in] _inheritYaw True means camera inherits the yaw rotation of the tracked model.

See Also: TrackInheritYaw()

void SetTrackIsStatic ( const bool _isStatic )

inherited

Set whether this camera is static when tracking a model.

Parameters

[in] _isStatic True means camera is static when tracking a model.

See Also: TrackIsStatic()

void SetTrackMaxDistance ( const double _dist )

inherited

Set the maximum distance between the camera and tracked visual.

Parameters

[in] _dist Maximum distance between camera and visual.

See Also: TrackMaxDistance()

void SetTrackMinDistance ( const double _dist )

inherited

Set the minimum distance between the camera and tracked visual.

Parameters

[in] _dist Minimum distance between camera and visual.

See Also: TrackMinDistance()

void SetTrackPosition ( const ignition::math::Vector3d & _pos )

inherited

Set the position of the camera when tracking a visual.

Parameters

[in] _pos Position of the camera.

See Also: TrackPosition()

void SetTrackUseModelFrame ( const bool _useModelFrame )

inherited

Set whether this camera's position is relative to tracked models.

Parameters

[in] _useModelFrame True means camera's position is relative to tracked models.

See Also: TrackUseModelFrame()

void SetVertFOV ( const double _vfov )

Set the vertical fov.

Parameters

[in] _vfov vertical fov

void SetVertHalfAngle ( const double _angle )

Set the vertical half angle.

Parameters

[in] _angle vertical half angle

void SetWindowId ( unsigned int _windowId )

inherited

virtual void SetWorldPose ( const math::Pose & _pose )

virtualinherited

Set the global pose of the camera.

Parameters

[in] _pose The new math::Pose of the camera

Deprecated:: See function that accepts an ignition::math parameter.

Reimplemented in UserCamera.

virtual void SetWorldPose ( const ignition::math::Pose3d & _pose )

virtualinherited

Set the global pose of the camera.

Parameters

[in] _pose The new ignition::math::Pose3d of the camera

Reimplemented in UserCamera.

void SetWorldPosition ( const ignition::math::Vector3d & _pos )

inherited

Set the world position.

Parameters

[in] _pos The new position of the camera

void SetWorldRotation ( const ignition::math::Quaterniond & _quat )

inherited

Set the world orientation.

Parameters

[in] _quat The new orientation of the camera

void ShowWireframe ( const bool _s )

inherited

Set whether to view the world in wireframe.

Parameters

[in] _s Set to True to render objects as wireframe

bool StartVideo	(	const std::string &	_format,
		const std::string &	_filename = `""`
	)

inherited

Turn on video recording.

Parameters

[in]	_format	String that represents the video type. Supported types include: "avi", "ogv", mp4", "v4l2". If using "v4l2", you must also specify a _filename.
[in]	_filename	Name of the file that stores the video while it is being created. This is a temporary file when recording to disk, or a video4linux loopback device like /dev/video0 when the _format is "v4l2". If blank, a default temporary file is used. However, the "v4l2" _format must be accompanied with a video loopback device filename.

Returns: True on success. The return value is set by common::VideoEncoder::Start().

See Also: common::VideoEncoder::Start

bool StopVideo ( )

inherited

Turn off video recording.

Returns: True on success. The return value is set by common::VideoEncoder::Stop().

See Also: common::VideoEncoder::Stop

unsigned int TextureHeight ( ) const

inherited

Get the height of the off-screen render texture.

Returns: Render texture height

unsigned int TextureWidth ( ) const

inherited

Get the width of the off-screen render texture.

Returns: Render texture width

void ToggleShowWireframe ( )

inherited

Toggle whether to view the world in wireframe.

VisualPtr TrackedVisual ( ) const

inherited

Get the visual tracked by this camera.

Returns: Tracked visual.

bool TrackInheritYaw ( ) const

inherited

Get whether this camera inherits the yaw rotation of the tracked model.

Returns: True if the camera inherits the yaw rotation of the tracked model.

See Also: SetTrackInheritYaw(const bool _inheritYaw)

bool TrackIsStatic ( ) const

inherited

Get whether this camera is static when tracking a model.

Returns: True if camera is static when tracking a model.

See Also: SetTrackIsStatic(const bool _isStatic)

double TrackMaxDistance ( ) const

inherited

Return the maximum distance to the tracked visual.

Returns: Maximum distance to the model.

See Also: SetTrackMaxDistance(const double _dist)

double TrackMinDistance ( ) const

inherited

Return the minimum distance to the tracked visual.

Returns: Minimum distance to the model.

See Also: SetTrackMinDistance(const double _dist)

ignition::math::Vector3d TrackPosition ( ) const

inherited

Return the position of the camera when tracking a model.

Returns: Position of the camera.

See Also: SetTrackPosition(const ignition::math::Vector3d &_pos)

bool TrackUseModelFrame ( ) const

inherited

Get whether this camera's position is relative to tracked models.

Returns: True if camera's position is relative to tracked models.

See Also: SetTrackUseModelFrame(const bool _useModelFrame)

void TrackVisual ( const std::string & _visualName )

inherited

Set the camera to track a scene node.

Parameters

[in] _visualName Name of the visual to track

bool TrackVisualImpl ( const std::string & _visualName )

protectedinherited

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 TrackVisualImpl ( VisualPtr _visual )

protectedvirtualinherited

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 UserCamera, and OculusCamera.

void Translate ( const ignition::math::Vector3d & _direction )

inherited

Translate the camera.

Parameters

[in] _direction The translation vector

virtual unsigned int TriangleCount ( ) const

virtualinherited

Get the triangle count.

Returns: The current triangle count

ignition::math::Vector3d Up ( ) const

inherited

Get the viewport up vector.

Returns: The viewport up vector

virtual void Update ( )

virtualinherited

Reimplemented in UserCamera, and OculusCamera.

virtual void UpdateFOV ( )

protectedvirtualinherited

Update the camera's field of view.

Reimplemented in UserCamera, and WideAngleCamera.

double VertFOV ( ) const

Get the vertical field-of-view.

Returns: The vertical field of view of the laser sensor.

double VertHalfAngle ( ) const

Get (vertical_max_angle + vertical_min_angle) * 0.5.

Returns: (vertical_max_angle + vertical_min_angle) * 0.5

ignition::math::Angle VFOV ( ) const

inherited

Get the camera FOV (vertical)

Returns: The vertical field of view

Deprecated:

See function that returns an ignition::math object.

See Also: VFOV

unsigned int ViewportHeight ( ) const

inherited

Get the viewport height in pixels.

Returns: The viewport height

unsigned int ViewportWidth ( ) const

inherited

Get the viewport width in pixels.

Returns: The viewport width

unsigned int WindowId ( ) const

inherited

Get the ID of the window this camera is rendering into.

Returns: The ID of the window.

bool WorldPointOnPlane	(	const int	_x,
		const int	_y,
		const ignition::math::Planed &	_plane,
		ignition::math::Vector3d &	_result
	)

inherited

Get point on a plane.

Parameters

[in]	_x	X coordinate in camera's viewport, in pixels
[in]	_y	Y coordinate 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

ignition::math::Pose3d WorldPose ( ) const

inherited

Get the world pose.

Returns: The pose of the camera in the world coordinate frame.

ignition::math::Vector3d WorldPosition ( ) const

inherited

Get the camera position in the world.

Returns: The world position of the camera

ignition::math::Quaterniond WorldRotation ( ) const

inherited

Get the camera's orientation in the world.

Returns: The camera's orientation as an ignition::math::Quaterniond

void Yaw	(	const ignition::math::Angle &	_angle,
		ReferenceFrame	_relativeTo = `RF_WORLD`
	)

inherited

Rotate the camera around the z-axis.

Parameters

[in]	_angle	Rotation amount
[in]	_relativeTo	Coordinate frame to rotate in. Valid values are RF_LOCAL, RF_PARENT, and RF_WORLD. Default is RF_WORLD

double ZValue	(	const int	_x,
		const int	_y
	)

inherited

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.

Member Data Documentation

Ogre::AnimationState* animState

protectedinherited

Animation state, used to animate the camera.

unsigned char* bayerFrameBuffer

protectedinherited

Buffer for a bayer image frame.

Ogre::Camera* camera

protectedinherited

The OGRE camera.

unsigned int cameraCount

protected

Number of cameras needed to generate the rays.

bool captureData

protectedinherited

True to capture frames into an image buffer.

bool captureDataOnce

protectedinherited

True to capture a frame once and save to disk.

double chfov

protected

Cos horizontal field-of-view.

std::vector<event::ConnectionPtr> connections

protectedinherited

The camera's event connections.

double cvfov

protected

Cos vertical field-of-view.

double farClip

protected

Far clip plane.

double hfov

protected

Horizontal field-of-view.

double horzHalfAngle

protected

Horizontal half angle.

int imageFormat

protectedinherited

Format for saving images.

int imageHeight

protectedinherited

Save image height.

int imageWidth

protectedinherited

Save image width.

bool initialized

protectedinherited

True if initialized.

bool isHorizontal

protected

True if the sensor is horizontal only.

common::Time lastRenderWallTime

protectedinherited

Time the last frame was rendered.

std::string name

protectedinherited

Name of the camera.

double nearClip

protected

Near clip plane.

bool newData

protectedinherited

True if new data is available.

event::EventT<void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> newImageFrame

protectedinherited

Event triggered when a new frame is generated.

std::function<void()> onAnimationComplete

protectedinherited

User callback for when an animation completes.

common::Time prevAnimTime

protectedinherited

Previous time the camera animation was updated.

double rayCountRatio

protected

Ray count ratio.

Ogre::RenderTarget* renderTarget

protectedinherited

Target that renders frames.

Ogre::Texture* renderTexture

protectedinherited

Texture that receives results from rendering.

std::list<msgs::Request> requests

protectedinherited

List of requests.

unsigned int saveCount

protectedinherited

Number of saved frames.

unsigned char* saveFrameBuffer

protectedinherited

Buffer for a single image frame.

ScenePtr scene

protectedinherited

Pointer to the scene.

Ogre::SceneNode* sceneNode

protectedinherited

Scene node that controls camera position and orientation.

std::string scopedName

protectedinherited

Scene scoped name of the camera.

std::string scopedUniqueName

protectedinherited

Scene scoped name of the camera with a unique ID.

std::string screenshotPath

protectedinherited

Path to saved screenshots.

sdf::ElementPtr sdf

protectedinherited

Camera's SDF values.

unsigned int textureHeight

protectedinherited

Height of the render texture.

unsigned int textureWidth

protectedinherited

Width of the render texture.

double vertHalfAngle

protected

Vertical half angle.

double vfov

protected

Vertical field-of-view.

Ogre::Viewport* viewport

protectedinherited

Viewport the ogre camera uses.

unsigned int windowId

protectedinherited

ID of the window that the camera is attached to.

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

GpuLaser.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation