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gazebo::rendering::OculusCamera Class Reference

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

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::OculusCamera:
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Collaboration diagram for gazebo::rendering::OculusCamera:
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Public Member Functions

 OculusCamera (const std::string &_name, ScenePtr _scene)
 Constructor. More...
 
virtual ~OculusCamera ()
 Destructor. More...
 
void AdjustAspect (double _v)
 Change screen aspect ratio. More...
 
void Fini ()
 Finialize. More...
 
float GetAvgFPS () const
 Get the average frames per second. More...
 
virtual unsigned int GetImageHeight () const
 Get the height of the image. More...
 
virtual unsigned int GetImageWidth () const
 Get the width of the image. More...
 
unsigned int GetTriangleCount () const
 Get the triangle count. More...
 
void Init ()
 Initialize. More...
 
void Load (sdf::ElementPtr _sdf)
 Load the user camera. More...
 
void Load ()
 Generic load function. More...
 
virtual bool MoveToPosition (const math::Pose &_pose, double _time)
 Move the camera to a position (this is an animated motion). More...
 
void MoveToVisual (VisualPtr _visual)
 Move the camera to focus on a visual. More...
 
void MoveToVisual (const std::string &_visualName)
 Move the camera to focus on a visual. More...
 
virtual void PostRender ()
 Post render. More...
 
bool Ready ()
 Used to check if Oculus is plugged in and can be used. More...
 
void ResetSensor ()
 Reset the Oculus Rift sensor orientation. More...
 
void Resize (unsigned int _w, unsigned int _h)
 Resize the camera. More...
 
virtual void SetRenderTarget (Ogre::RenderTarget *_target)
 Set to true to enable rendering. More...
 
virtual void Update ()
 Render the camera. More...
 
- Public Member Functions inherited from gazebo::rendering::Camera
 Camera (const std::string &_namePrefix, ScenePtr _scene, bool _autoRender=true)
 Constructor. More...
 
virtual ~Camera ()
 Destructor. More...
 
void AttachToVisual (const std::string &_visualName, bool _inheritOrientation, double _minDist=0.0, double _maxDist=0.0)
 Attach the camera to a scene node. More...
 
void AttachToVisual (uint32_t _id, bool _inheritOrientation, double _minDist=0.0, double _maxDist=0.0)
 Attach the camera to a scene node. More...
 
template<typename T >
event::ConnectionPtr ConnectNewImageFrame (T _subscriber)
 Connect to the new image signal. More...
 
void CreateRenderTexture (const std::string &_textureName)
 Set the render target. More...
 
void DisconnectNewImageFrame (event::ConnectionPtr &_c)
 Disconnect from an image frame. More...
 
void EnableSaveFrame (bool _enable)
 Enable or disable saving. More...
 
float GetAspectRatio () const
 Get the apect ratio. More...
 
void GetCameraToViewportRay (int _screenx, int _screeny, math::Vector3 &_origin, math::Vector3 &_dir)
 Get a world space ray as cast from the camera through the viewport. More...
 
bool GetCaptureData () const
 Return the value of this->captureData. More...
 
math::Vector3 GetDirection () const
 Get the camera's direction vector. More...
 
double GetFarClip ()
 Get the far clip distance. More...
 
math::Angle GetHFOV () const
 Get the camera FOV (horizontal) More...
 
size_t GetImageByteSize () const
 Get the image size in bytes. More...
 
virtual const unsigned char * GetImageData (unsigned int i=0)
 Get a pointer to the image data. More...
 
unsigned int GetImageDepth () const
 Get the depth of the image. More...
 
std::string GetImageFormat () const
 Get the string representation of the image format. More...
 
bool GetInitialized () const
 Return true if the camera has been initialized. More...
 
common::Time GetLastRenderWallTime ()
 Get the last time the camera was rendered. More...
 
std::string GetName () const
 Get the camera's unscoped name. More...
 
double GetNearClip ()
 Get the near clip distance. More...
 
Ogre::Camera * GetOgreCamera () const
 Get a pointer to the ogre camera. More...
 
double GetRenderRate () const
 Get the render Hz rate. More...
 
Ogre::Texture * GetRenderTexture () const
 Get the render texture. More...
 
math::Vector3 GetRight ()
 Get the viewport right vector. More...
 
ScenePtr GetScene () const
 Get the scene this camera is in. More...
 
Ogre::SceneNode * GetSceneNode () const
 Get the camera's scene node. More...
 
std::string GetScopedName () const
 Get the camera's scoped name (scene_name::camera_name) More...
 
std::string GetScreenshotPath () const
 Get the path to saved screenshots. More...
 
unsigned int GetTextureHeight () const
 Get the height of the off-screen render texture. More...
 
unsigned int GetTextureWidth () const
 Get the width of the off-screen render texture. More...
 
math::Vector3 GetUp ()
 Get the viewport up vector. More...
 
math::Angle GetVFOV () const
 Get the camera FOV (vertical) More...
 
Ogre::Viewport * GetViewport () const
 Get a pointer to the Ogre::Viewport. More...
 
unsigned int GetViewportHeight () const
 Get the viewport height in pixels. More...
 
unsigned int GetViewportWidth () const
 Get the viewport width in pixels. More...
 
unsigned int GetWindowId () const
 Get the ID of the window this camera is rendering into. More...
 
bool GetWorldPointOnPlane (int _x, int _y, const math::Plane &_plane, math::Vector3 &_result)
 Get point on a plane. More...
 
math::Pose GetWorldPose () const
 Get the world pose. More...
 
math::Vector3 GetWorldPosition () const
 Get the camera position in the world. More...
 
math::Quaternion GetWorldRotation () const
 Get the camera's orientation in the world. More...
 
double GetZValue (int _x, int _y)
 Get the Z-buffer value at the given image coordinate. More...
 
bool IsAnimating () const
 Return true if the camera is moving due to an animation. More...
 
bool IsVisible (VisualPtr _visual)
 Return true if the visual is within the camera's view frustum. More...
 
bool IsVisible (const std::string &_visualName)
 Return true if the visual is within the camera's view frustum. More...
 
bool MoveToPositions (const std::vector< math::Pose > &_pts, double _time, boost::function< void()> _onComplete=NULL)
 Move the camera to a series of poses (this is an animated motion). More...
 
void Render (bool _force=false)
 Render the camera. More...
 
void RotatePitch (math::Angle _angle)
 Rotate the camera around the pitch axis. More...
 
void RotateYaw (math::Angle _angle)
 Rotate the camera around the yaw axis. More...
 
bool SaveFrame (const std::string &_filename)
 Save the last frame to disk. More...
 
void SetAspectRatio (float _ratio)
 Set the aspect ratio. More...
 
void SetCaptureData (bool _value)
 Set whether to capture data. More...
 
void SetCaptureDataOnce ()
 Capture data once and save to disk. More...
 
void SetClipDist (float _near, float _far)
 Set the clip distances. More...
 
void SetHFOV (math::Angle _angle)
 Set the camera FOV (horizontal) More...
 
void SetImageHeight (unsigned int _h)
 Set the image height. More...
 
void SetImageSize (unsigned int _w, unsigned int _h)
 Set the image size. More...
 
void SetImageWidth (unsigned int _w)
 Set the image height. More...
 
void SetName (const std::string &_name)
 Set the camera's name. More...
 
void SetRenderRate (double _hz)
 Set the render Hz rate. More...
 
void SetSaveFramePathname (const std::string &_pathname)
 Set the save frame pathname. More...
 
void SetScene (ScenePtr _scene)
 Set the scene this camera is viewing. More...
 
void SetSceneNode (Ogre::SceneNode *_node)
 Set the camera's scene node. More...
 
void SetWindowId (unsigned int _windowId)
 
virtual void SetWorldPose (const math::Pose &_pose)
 Set the global pose of the camera. More...
 
void SetWorldPosition (const math::Vector3 &_pos)
 Set the world position. More...
 
void SetWorldRotation (const math::Quaternion &_quat)
 Set the world orientation. More...
 
void ShowWireframe (bool _s)
 Set whether to view the world in wireframe. More...
 
void ToggleShowWireframe ()
 Toggle whether to view the world in wireframe. More...
 
void TrackVisual (const std::string &_visualName)
 Set the camera to track a scene node. More...
 
void Translate (const math::Vector3 &_direction)
 Translate the camera. More...
 

Protected Member Functions

virtual bool AttachToVisualImpl (VisualPtr _visual, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
 Set the camera to be attached to a visual. More...
 
virtual bool TrackVisualImpl (VisualPtr _visual)
 Set the camera to track a scene node. More...
 
- 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, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
 Attach the camera to a scene node. More...
 
virtual bool AttachToVisualImpl (uint32_t _id, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
 Attach the camera to a scene node. More...
 
std::string GetFrameFilename ()
 Get the next frame filename based on SDF parameters. More...
 
void ReadPixelBuffer ()
 Read image data from pixel buffer. More...
 
virtual void RenderImpl ()
 Implementation of the render call. More...
 
bool TrackVisualImpl (const std::string &_visualName)
 Implementation of the Camera::TrackVisual call. More...
 

Protected Attributes

Ogre::Camera * rightCamera
 Ogre camera for the right Oculus screen. More...
 
Ogre::Viewport * rightViewport
 View poer for the right camera. 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::ConnectionPtrconnections
 The camera's event connections. More...
 
int imageFormat
 Format for saving images. More...
 
int imageHeight
 Save image height. More...
 
int imageWidth
 Save image width. More...
 
bool initialized
 True if initialized. More...
 
common::Time lastRenderWallTime
 Time the last frame was rendered. More...
 
std::string name
 Name of the camera. More...
 
bool newData
 True if new data is available. More...
 
event::EventT< void(const
unsigned char *, unsigned int,
unsigned int, unsigned int,
const std::string &)> 
newImageFrame
 Event triggered when a new frame is generated. More...
 
boost::function< void()> onAnimationComplete
 User callback for when an animation completes. More...
 
common::Time prevAnimTime
 Previous time the camera animation was updated. More...
 
Ogre::RenderTarget * renderTarget
 Target that renders frames. More...
 
Ogre::Texture * renderTexture
 Texture that receives results from rendering. More...
 
std::list< msgs::Request > requests
 List of requests. More...
 
unsigned int saveCount
 Number of saved frames. More...
 
unsigned char * saveFrameBuffer
 
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)
 Calculate image byte size base on a few parameters. More...
 
static bool SaveFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, int _depth, const std::string &_format, const std::string &_filename)
 Save a frame using an image buffer. More...
 

Detailed Description

A camera used for user visualization of a scene.

Constructor & Destructor Documentation

gazebo::rendering::OculusCamera::OculusCamera ( const std::string &  _name,
ScenePtr  _scene 
)

Constructor.

Parameters
[in]_nameName of the camera.
[in]_sceneScene to put the camera in.
virtual gazebo::rendering::OculusCamera::~OculusCamera ( )
virtual

Destructor.

Member Function Documentation

void gazebo::rendering::OculusCamera::AdjustAspect ( double  _v)

Change screen aspect ratio.

Parameters
[in]_vAspect ratio.
virtual bool gazebo::rendering::OculusCamera::AttachToVisualImpl ( VisualPtr  _visual,
bool  _inheritOrientation,
double  _minDist = 0,
double  _maxDist = 0 
)
protectedvirtual

Set the camera to be attached to a visual.

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

Parameters
[in]_visualThe visual to attach to.
[in]_inheritOrientationTrue if the camera should also rotate when the visual rotates.
[in]_minDistMinimum distance the camera can get to the visual.
[in]_maxDistMaximum distance the camera can get from the visual.
Returns
True if successfully attach to the visual.

Reimplemented from gazebo::rendering::Camera.

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

Finialize.

Reimplemented from gazebo::rendering::Camera.

float gazebo::rendering::OculusCamera::GetAvgFPS ( ) const
virtual

Get the average frames per second.

Returns
The average rendering frames per second

Reimplemented from gazebo::rendering::Camera.

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

Get the height of the image.

Returns
Image height

Reimplemented from gazebo::rendering::Camera.

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

Get the width of the image.

Returns
Image width

Reimplemented from gazebo::rendering::Camera.

unsigned int gazebo::rendering::OculusCamera::GetTriangleCount ( ) const
virtual

Get the triangle count.

Returns
The number of triangles currently being rendered.

Reimplemented from gazebo::rendering::Camera.

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

Initialize.

Reimplemented from gazebo::rendering::Camera.

void gazebo::rendering::OculusCamera::Load ( sdf::ElementPtr  _sdf)
virtual

Load the user camera.

Parameters
[in]_sdfParameters for the camera.

Reimplemented from gazebo::rendering::Camera.

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

Generic load function.

Reimplemented from gazebo::rendering::Camera.

virtual bool gazebo::rendering::OculusCamera::MoveToPosition ( const math::Pose _pose,
double  _time 
)
virtual

Move the camera to a position (this is an animated motion).

See Also
Camera::MoveToPositions
Parameters
[in]_poseEnd position of the camera
[in]_timeDuration of the camera's movement

Reimplemented from gazebo::rendering::Camera.

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

Move the camera to focus on a visual.

Parameters
[in]_visualVisual to move the camera to.
void gazebo::rendering::OculusCamera::MoveToVisual ( const std::string &  _visualName)

Move the camera to focus on a visual.

Parameters
[in]_visualNameName of the visual to move the camera to.
virtual void gazebo::rendering::OculusCamera::PostRender ( )
virtual

Post render.

Reimplemented from gazebo::rendering::Camera.

bool gazebo::rendering::OculusCamera::Ready ( )

Used to check if Oculus is plugged in and can be used.

Returns
True when Oculus is ready to use.
void gazebo::rendering::OculusCamera::ResetSensor ( )

Reset the Oculus Rift sensor orientation.

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

Resize the camera.

Parameters
[in]_wWidth of the camera image.
[in]_hHeight of the camera image.
virtual void gazebo::rendering::OculusCamera::SetRenderTarget ( Ogre::RenderTarget *  _target)
virtual

Set to true to enable rendering.

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

Parameters
[in]_targetThe new rendering target.

Reimplemented from gazebo::rendering::Camera.

virtual bool gazebo::rendering::OculusCamera::TrackVisualImpl ( VisualPtr  _visual)
protectedvirtual

Set the camera to track a scene node.

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

Parameters
[in]_visualVisual to track.
Returns
True if the camera is now tracking the visual.

Reimplemented from gazebo::rendering::Camera.

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

Render the camera.

Reimplemented from gazebo::rendering::Camera.

Member Data Documentation

Ogre::Camera* gazebo::rendering::OculusCamera::rightCamera
protected

Ogre camera for the right Oculus screen.

Ogre::Viewport* gazebo::rendering::OculusCamera::rightViewport
protected

View poer for the right camera.


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