GPU based laser distance sensor. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::GpuLaser:

Public Member Functions
	GpuLaser (const std::string &_namePrefix, ScenePtr _scene, bool _autoRender=true)
	Constructor.
virtual	~GpuLaser ()
	Destructor.
template<typename T >
event::ConnectionPtr	ConnectNewLaserFrame (T _subscriber)
	Connect to a laser frame signal.
void	CreateLaserTexture (const std::string &_textureName)
	Create the texture which is used to render laser data.
void	DisconnectNewLaserFrame (event::ConnectionPtr &_c)
	Disconnect from a laser frame signal.
virtual void	Fini ()
	Finalize the camera.
double	GetCameraCount () const
	Get the number of cameras required.
double	GetCosHorzFOV () const
	Get Cos Horz field-of-view.
double	GetCosVertFOV () const
	Get Cos Vert field-of-view.
double	GetFarClip () const
	Get far clip.
double	GetHorzFOV () const
	Get the horizontal field of view of the laser sensor.
double	GetHorzHalfAngle () const
	Get (horizontal_max_angle + horizontal_min_angle) * 0.5.
const float *	GetLaserData ()
	All things needed to get back z buffer for laser data.
double	GetNearClip () const
	Get near clip.
double	GetRayCountRatio () const
	Get the ray count ratio (equivalent to aspect ratio)
double	GetVertFOV () const
	Get the vertical field-of-view.
double	GetVertHalfAngle () const
	Get (vertical_max_angle + vertical_min_angle) * 0.5.
virtual void	Init ()
	Initialize the camera.
bool	IsHorizontal () const
	Gets if sensor is horizontal.
virtual void	Load (sdf::ElementPtr &_sdf)
virtual void	Load ()
	Load the camera with default parmeters.
virtual void	notifyRenderSingleObject (Ogre::Renderable _rend, const Ogre::Pass _p, const Ogre::AutoParamDataSource _s, const Ogre::LightList _ll, bool _supp)
virtual void	PostRender ()
	Post render.
void	SetCameraCount (double _cameraCount)
	Set the number of cameras required.
void	SetCosHorzFOV (double _chfov)
	Set the Cos Horz FOV.
void	SetCosVertFOV (double _cvfov)
	Set the Cos Horz FOV.
void	SetFarClip (double _far)
	Set the far clip distance.
void	SetHorzFOV (double _hfov)
	Set the horizontal fov.
void	SetHorzHalfAngle (double _angle)
	Set the horizontal half angle.
void	SetIsHorizontal (bool _horizontal)
	Set sensor horizontal or vertical.
void	SetNearClip (double _near)
	Set the near clip distance.
void	SetRangeCount (unsigned int _w, unsigned int _h=1)
	Set the number of laser samples in the width and height.
void	SetRayCountRatio (double _rayCountRatio)
	Sets the ray count ratio (equivalen to aspect ratio)
void	SetVertFOV (double _vfov)
	Set the vertical fov.
void	SetVertHalfAngle (double _angle)
	Set the vertical half angle.
Public Member Functions inherited from gazebo::rendering::Camera
	Camera (const std::string &_namePrefix, ScenePtr _scene, bool _autoRender=true)
	Constructor.
virtual	~Camera ()
	Destructor.
void	AttachToVisual (const std::string &_visualName, bool _inheritOrientation, double _minDist=0.0, double _maxDist=0.0)
	Attach the camera to a scene node.
template<typename T >
event::ConnectionPtr	ConnectNewImageFrame (T _subscriber)
	Connect to the new image signal.
void	CreateRenderTexture (const std::string &_textureName)
	Set the render target.
void	DisconnectNewImageFrame (event::ConnectionPtr &_c)
	Disconnect from an image frame.
void	EnableSaveFrame (bool _enable)
	Enable or disable saving.
float	GetAspectRatio () const
	Get the apect ratio.
virtual float	GetAvgFPS ()
	Get the average FPS.
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.
math::Vector3	GetDirection () const
	Get the camera's direction vector.
double	GetFarClip ()
	Get the far clip distance.
math::Angle	GetHFOV () const
	Get the camera FOV (horizontal)
size_t	GetImageByteSize () const
	Get the image size in bytes.
virtual const unsigned char *	GetImageData (unsigned int i=0)
	Get a pointer to the image data.
unsigned int	GetImageDepth () const
	Get the depth of the image.
std::string	GetImageFormat () const
	Get the string representation of the image format.
virtual unsigned int	GetImageHeight () const
	Get the height of the image.
virtual unsigned int	GetImageWidth () const
	Get the width of the image.
bool	GetInitialized () const
	Return true if the camera has been initialized.
common::Time	GetLastRenderWallTime ()
	Get the last time the camera was rendered.
std::string	GetName () const
	Get the camera's name.
double	GetNearClip ()
	Get the near clip distance.
Ogre::Camera *	GetOgreCamera () const
	Get a pointer to the ogre camera.
Ogre::SceneNode *	GetPitchNode () const
	Get the camera's pitch scene node.
double	GetRenderRate () const
	Get the render Hz rate.
Ogre::Texture *	GetRenderTexture () const
	Get the render texture.
math::Vector3	GetRight ()
	Get the viewport right vector.
ScenePtr	GetScene () const
	Get the scene this camera is in.
Ogre::SceneNode *	GetSceneNode () const
	Get the camera's scene node.
std::string	GetScreenshotPath () const
	Get the path to saved screenshots.
unsigned int	GetTextureHeight () const
	Get the height of the off-screen render texture.
unsigned int	GetTextureWidth () const
	Get the width of the off-screen render texture.
virtual unsigned int	GetTriangleCount ()
	Get the triangle count.
math::Vector3	GetUp ()
	Get the viewport up vector.
math::Angle	GetVFOV () const
	Get the camera FOV (vertical)
Ogre::Viewport *	GetViewport () const
	Get a pointer to the Ogre::Viewport.
unsigned int	GetViewportHeight () const
	Get the viewport height in pixels.
unsigned int	GetViewportWidth () const
	Get the viewport width in pixels.
unsigned int	GetWindowId () const
	Get the ID of the window this camera is rendering into.
bool	GetWorldPointOnPlane (int _x, int _y, const math::Plane &_plane, math::Vector3 &_result)
	Get point on a plane.
math::Pose	GetWorldPose ()
	Get the global pose of the camera.
math::Vector3	GetWorldPosition () const
	Get the camera position in the world.
math::Quaternion	GetWorldRotation () const
	Get the camera's orientation in the world.
double	GetZValue (int _x, int _y)
	Get the Z-buffer value at the given image coordinate.
bool	IsAnimating () const
	Return true if the camera is moving due to an animation.
bool	IsInitialized () const GAZEBO_DEPRECATED(1.5)
	Deprecated.
bool	IsVisible (VisualPtr _visual)
	Return true if the visual is within the camera's view frustum.
bool	IsVisible (const std::string &_visualName)
	Return true if the visual is within the camera's view frustum.
virtual void	Load (sdf::ElementPtr _sdf)
	Load the camera with a set of parmeters.
virtual bool	MoveToPosition (const math::Pose &_pose, double _time)
	Move the camera to a position (this is an animated motion).
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).
void	Render ()
	Render the camera.
void	RotatePitch (math::Angle _angle)
	Rotate the camera around the pitch axis.
void	RotateYaw (math::Angle _angle)
	Rotate the camera around the yaw axis.
bool	SaveFrame (const std::string &_filename)
	Save the last frame to disk.
void	SetAspectRatio (float _ratio)
	Set the aspect ratio.
void	SetCaptureData (bool _value)
	Set whether to capture data.
void	SetCaptureDataOnce ()
	Capture data once and save to disk.
void	SetClipDist (float _near, float _far)
	Set the clip distances.
void	SetHFOV (math::Angle _angle)
	Set the camera FOV (horizontal)
void	SetImageHeight (unsigned int _h)
	Set the image height.
void	SetImageSize (unsigned int _w, unsigned int _h)
	Set the image size.
void	SetImageWidth (unsigned int _w)
	Set the image height.
void	SetName (const std::string &_name)
	Set the camera's name.
void	SetRenderRate (double _hz)
	Set the render Hz rate.
virtual void	SetRenderTarget (Ogre::RenderTarget *_target)
	Set the camera's render target.
void	SetSaveFramePathname (const std::string &_pathname)
	Set the save frame pathname.
void	SetScene (ScenePtr _scene)
	Set the scene this camera is viewing.
void	SetSceneNode (Ogre::SceneNode *_node)
	Set the camera's scene node.
void	SetWindowId (unsigned int _windowId)
virtual void	SetWorldPose (const math::Pose &_pose)
	Set the global pose of the camera.
void	SetWorldPosition (const math::Vector3 &_pos)
	Set the world position.
void	SetWorldRotation (const math::Quaternion &_quat)
	Set the world orientation.
void	ShowWireframe (bool _s)
	Set whether to view the world in wireframe.
void	ToggleShowWireframe ()
	Toggle whether to view the world in wireframe.
void	TrackVisual (const std::string &_visualName)
	Set the camera to track a scene node.
void	Translate (const math::Vector3 &_direction)
	Translate the camera.
virtual void	Update ()

Protected Attributes
unsigned int	cameraCount
	Number of cameras needed to generate the rays.
double	chfov
	Cos horizontal field-of-view.
double	cvfov
	Cos vertical field-of-view.
double	far
	Far clip plane.
double	hfov
	Horizontal field-of-view.
double	horzHalfAngle
	Horizontal half angle.
bool	isHorizontal
	True if the sensor is horizontal only.
double	near
	Near clip plane.
double	rayCountRatio
	Ray count ratio.
double	vertHalfAngle
	Vertical half angle.
double	vfov
	Vertical field-of-view.
Protected Attributes inherited from gazebo::rendering::Camera
Ogre::AnimationState *	animState
	Animation state, used to animate the camera.
unsigned char *	bayerFrameBuffer
	Buffer for a bayer image frame.
Ogre::Camera *	camera
	The OGRE camera.
bool	captureData
	True to capture frames into an image buffer.
bool	captureDataOnce
	True to capture a frame once and save to disk.
std::vector< event::ConnectionPtr >	connections
	The camera's event connections.
int	imageFormat
	Format for saving images.
int	imageHeight
	Save image height.
int	imageWidth
	Save image width.
bool	initialized
	True if initialized.
common::Time	lastRenderWallTime
	Time the last frame was rendered.
std::string	name
	Name of the camera.
bool	newData
	True if new data is available.
event::EventT< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)>	newImageFrame
	Event triggered when a new frame is generated.
boost::function< void()>	onAnimationComplete
	User callback for when an animation completes.
Ogre::SceneNode *	pitchNode
	Scene nod that controls camera pitch.
common::Time	prevAnimTime
	Previous time the camera animation was updated.
Ogre::RenderTarget *	renderTarget
	Target that renders frames.
Ogre::Texture *	renderTexture
	Texture that receives results from rendering.
std::list< msgs::Request >	requests
	List of requests.
unsigned int	saveCount
	Number of saved frames.
unsigned char *	saveFrameBuffer
ScenePtr	scene
	Pointer to the scene.
Ogre::SceneNode *	sceneNode
	Scene node that controls camera position.
std::string	screenshotPath
	Path to saved screenshots.
sdf::ElementPtr	sdf
	Camera's SDF values.
unsigned int	textureHeight
	Height of the render texture.
unsigned int	textureWidth
	Width of the render texture.
Ogre::Viewport *	viewport
	Viewport the ogre camera uses.
unsigned int	windowId
	ID of the window that the camera is attached to.

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.
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.
Protected Member Functions inherited from gazebo::rendering::Camera
virtual void	AnimationComplete ()
	Internal function used to indicate that an animation has completed.
virtual bool	AttachToVisualImpl (const std::string &_name, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
	Attach the camera to a scene node.
virtual bool	AttachToVisualImpl (VisualPtr _visual, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
	Attach the camera to a visual.
std::string	GetFrameFilename ()
	Get the next frame filename based on SDF parameters.
void	ReadPixelBuffer ()
	Read image data from pixel buffer.
virtual void	RenderImpl ()
	Implementation of the render call.
bool	TrackVisualImpl (const std::string &_visualName)
	Implementation of the Camera::TrackVisual call.
virtual bool	TrackVisualImpl (VisualPtr _visual)
	Set the camera to track a scene node.

Detailed Description

GPU based laser distance sensor.

Constructor & Destructor Documentation

gazebo::rendering::GpuLaser::GpuLaser	(	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::GpuLaser::~GpuLaser ( )

virtual

Destructor.

Member Function Documentation

template<typename T >

event::ConnectionPtr gazebo::rendering::GpuLaser::ConnectNewLaserFrame ( T _subscriber )

inline

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.

References gazebo::event::EventT< T >::Connect().

void gazebo::rendering::GpuLaser::CreateLaserTexture ( const std::string & _textureName )

Create the texture which is used to render laser data.

Parameters

[in] _textureName Name of the new texture.

void gazebo::rendering::GpuLaser::DisconnectNewLaserFrame ( event::ConnectionPtr & _c )

inline

Disconnect from a laser frame signal.

Parameters

[in] _c The connection to disconnect

References gazebo::event::EventT< T >::Disconnect().

virtual void gazebo::rendering::GpuLaser::Fini ( )

virtual

Finalize the camera.

This function is called before the camera is destructed

Reimplemented from gazebo::rendering::Camera.

double gazebo::rendering::GpuLaser::GetCameraCount ( ) const

Get the number of cameras required.

Returns: Number of cameras needed to generate the rays

double gazebo::rendering::GpuLaser::GetCosHorzFOV ( ) const

Get Cos Horz field-of-view.

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

double gazebo::rendering::GpuLaser::GetCosVertFOV ( ) const

Get Cos Vert field-of-view.

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

double gazebo::rendering::GpuLaser::GetFarClip ( ) const

Get far clip.

Returns: far clip distance

double gazebo::rendering::GpuLaser::GetHorzFOV ( ) const

Get the horizontal field of view of the laser sensor.

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

double gazebo::rendering::GpuLaser::GetHorzHalfAngle ( ) const

Get (horizontal_max_angle + horizontal_min_angle) * 0.5.

Returns: (horizontal_max_angle + horizontal_min_angle) * 0.5

const float* gazebo::rendering::GpuLaser::GetLaserData ( )

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

Returns: Array of laser data.

double gazebo::rendering::GpuLaser::GetNearClip ( ) const

Get near clip.

Returns: near clip distance

double gazebo::rendering::GpuLaser::GetRayCountRatio ( ) const

Get the ray count ratio (equivalent to aspect ratio)

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

double gazebo::rendering::GpuLaser::GetVertFOV ( ) const

Get the vertical field-of-view.

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

double gazebo::rendering::GpuLaser::GetVertHalfAngle ( ) const

Get (vertical_max_angle + vertical_min_angle) * 0.5.

Returns: (vertical_max_angle + vertical_min_angle) * 0.5

virtual void gazebo::rendering::GpuLaser::Init ( )

virtual

Initialize the camera.

Reimplemented from gazebo::rendering::Camera.

bool gazebo::rendering::GpuLaser::IsHorizontal ( ) const

Gets if sensor is horizontal.

Returns: True if horizontal, false if not

virtual void gazebo::rendering::GpuLaser::Load ( sdf::ElementPtr & _sdf )

virtual

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

virtual

Load the camera with default parmeters.

Reimplemented from gazebo::rendering::Camera.

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

virtual

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

virtual

Post render.

Called afer the render signal.

Reimplemented from gazebo::rendering::Camera.

void gazebo::rendering::GpuLaser::SetCameraCount ( double _cameraCount )

Set the number of cameras required.

Parameters

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

void gazebo::rendering::GpuLaser::SetCosHorzFOV ( double _chfov )

Set the Cos Horz FOV.

Parameters

[in] _chfov Cos Horz FOV

void gazebo::rendering::GpuLaser::SetCosVertFOV ( double _cvfov )

Set the Cos Horz FOV.

Parameters

[in] _cvfov Cos Horz FOV

void gazebo::rendering::GpuLaser::SetFarClip ( double _far )

Set the far clip distance.

Parameters

[in] _far far clip distance

void gazebo::rendering::GpuLaser::SetHorzFOV ( double _hfov )

Set the horizontal fov.

Parameters

[in] _hfov horizontal fov

void gazebo::rendering::GpuLaser::SetHorzHalfAngle ( double _angle )

Set the horizontal half angle.

Parameters

[in] _angle horizontal half angle

void gazebo::rendering::GpuLaser::SetIsHorizontal ( bool _horizontal )

Set sensor horizontal or vertical.

Parameters

[in] _horizontal True if horizontal, false if not

void gazebo::rendering::GpuLaser::SetNearClip ( double _near )

Set the near clip distance.

Parameters

[in] _near near clip distance

void gazebo::rendering::GpuLaser::SetRangeCount	(	unsigned int	_w,
		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 gazebo::rendering::GpuLaser::SetRayCountRatio ( double _rayCountRatio )

Sets the ray count ratio (equivalen to aspect ratio)

Parameters

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

void gazebo::rendering::GpuLaser::SetVertFOV ( double _vfov )

Set the vertical fov.

Parameters

[in] _vfov vertical fov

void gazebo::rendering::GpuLaser::SetVertHalfAngle ( double _angle )

Set the vertical half angle.

Parameters

[in] _angle vertical half angle

Member Data Documentation

unsigned int gazebo::rendering::GpuLaser::cameraCount

protected

Number of cameras needed to generate the rays.

double gazebo::rendering::GpuLaser::chfov

protected

Cos horizontal field-of-view.

double gazebo::rendering::GpuLaser::cvfov

protected

Cos vertical field-of-view.

double gazebo::rendering::GpuLaser::far

protected

Far clip plane.

double gazebo::rendering::GpuLaser::hfov

protected

Horizontal field-of-view.

double gazebo::rendering::GpuLaser::horzHalfAngle

protected

Horizontal half angle.

bool gazebo::rendering::GpuLaser::isHorizontal

protected

True if the sensor is horizontal only.

double gazebo::rendering::GpuLaser::near

protected

Near clip plane.

double gazebo::rendering::GpuLaser::rayCountRatio

protected

Ray count ratio.

double gazebo::rendering::GpuLaser::vertHalfAngle

protected

Vertical half angle.

double gazebo::rendering::GpuLaser::vfov

protected

Vertical field-of-view.

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

GpuLaser.hh

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation