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

#include <rendering/rendering.hh>

Inherits Camera.

Public Member Functions
	UserCamera (const std::string &_name, ScenePtr _scene, bool _stereoEnabled=false)
	Constructor. More...

virtual	~UserCamera ()
	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...

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...

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

double	DevicePixelRatio () const
	Get the screen point to device pixel ratio. More...

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

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

void	EnableStereo (bool _enable)
	Turn on/off stereo rendering. More...

void	EnableViewController (bool _value) const
	Set whether the view controller is enabled. More...

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

void	Fini ()
	Finialize. More...

virtual unsigned int	GetImageHeight () const

virtual unsigned int	GetImageWidth () const

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

std::string	GetViewControllerTypeString ()
	Get current view controller type. More...

void	HandleKeyPressEvent (const std::string &_key)
	Handle a key press. More...

void	HandleKeyReleaseEvent (const std::string &_key)
	Handle a key release. More...

void	HandleMouseEvent (const common::MouseEvent &_evt)
	Handle a mouse event. 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 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...

void	Init ()
	Initialize. More...

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

ignition::math::Pose3d	InitialPose () const
	Get the initial pose in the world coordinate frame. More...

bool	IsAnimating () const
	Return true if the camera is moving due to an animation. More...

bool	IsCameraSetInWorldFile ()
	brief Show if the user camera pose has changed in the world file. 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...

void	Load (sdf::ElementPtr _sdf)
	Load the user camera. More...

void	Load ()
	Generic load function. 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...

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...

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 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...

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...

void	Resize (unsigned int _w, unsigned int _h)
	Resize the camera. 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) GAZEBO_DEPRECATED(9.0)
	Set background color for viewport (if viewport is not null) More...

virtual bool	SetBackgroundColor (const ignition::math::Color &_color)
	Set background color for viewport (if viewport is not null) 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	SetDevicePixelRatio (const double _ratio)
	Set the screen point to device pixel ratio. More...

void	SetFocalPoint (const ignition::math::Vector3d &_pt)
	Set the point the camera should orbit around. 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	SetInitialPose (const ignition::math::Pose3d &_pose)
	Set the initial pose in the world coordinate frame and set that as the current camera world pose. More...

void	SetJoyPoseControl (bool _value)
	brief Enable or disable camera control through ~/user_camera/joy_pose gz topic. More...

void	SetJoyTwistControl (bool _value)
	brief Enable or disable camera control through ~/user_camera/joy_twist gz topic. 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 to true to enable rendering. 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	SetUseSDFPose (bool _value)
	brief Set if the user camera pose has changed in the world file. More...

void	SetViewController (const std::string &_type)
	Set view controller. More...

void	SetViewController (const std::string &_type, const ignition::math::Vector3d &_pos)
	Set view controller. More...

void	SetViewportDimensions (float _x, float _y, float _w, float _h)
	Set the dimensions of the viewport. More...

void	SetWindowId (unsigned int _windowId)

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	StereoEnabled () const
	Get whether stereo is enabled. 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 ()
	Render the camera. 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...

VisualPtr	Visual (const ignition::math::Vector2i &_mousePos, std::string &_mod) const
	Get an entity at a pixel location using a camera. More...

VisualPtr	Visual (const ignition::math::Vector2i &_mousePos) const
	Get a visual at a mouse position. 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 (VisualPtr _visual, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
	Set the camera to be attached to a visual. 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...

std::string	FrameFilename ()
	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...

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...

virtual bool	TrackVisualImpl (VisualPtr _visual)
	Set the camera to track a scene node. More...

bool	TrackVisualImpl (const std::string &_visualName)
	Implementation of the Camera::TrackVisual call. 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...

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...

Detailed Description

A camera used for user visualization of a scene.

Constructor & Destructor Documentation

UserCamera	(	const std::string &	_name,
		ScenePtr	_scene,
		bool	_stereoEnabled = `false`
	)

Constructor.

Parameters

[in]	_name	Name of the camera.
[in]	_scene	Scene to put the camera in.
[in]	_stereoEnabled	True to enable stereo rendering. This is here for compatibility with 3D monitors/TVs.

virtual ~UserCamera ( )

virtual

Destructor.

Member Function Documentation

virtual void AnimationComplete ( )

protectedvirtual

Internal function used to indicate that an animation has completed.

Reimplemented from Camera.

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	(	VisualPtr	_visual,
		const bool	_inheritOrientation,
		const double	_minDist = `0`,
		const 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]	_visual	The visual to attach to.
[in]	_inheritOrientation	True if the camera should also rotate when the visual rotates.
[in]	_minDist	Minimum distance the camera can get to the visual.
[in]	_maxDist	Maximum distance the camera can get from the visual.

Returns: True if successfully attach to the visual.

Reimplemented from Camera.

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 float AvgFPS ( ) const

virtualinherited

Get the average FPS.

Returns: The average frames per second

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

virtual

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 from Camera.

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.

void CreateRenderTexture ( const std::string & _textureName )

inherited

Set the render target.

Parameters

[in] _textureName Name of the new render texture

double DevicePixelRatio ( ) const

Get the screen point to device pixel ratio.

Returns: Point to pixel ratio

ignition::math::Vector3d Direction ( ) const

inherited

Get the camera's direction vector.

Returns: Direction the camera is facing

void EnableSaveFrame ( const bool _enable )

inherited

Enable or disable saving.

Parameters

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

void EnableStereo ( bool _enable )

Turn on/off stereo rendering.

Stereo must be initially enable in the ~/.gazebo/gui.ini file using:

[rendering]
stereo=1

Parameters

[in] _enable True to turn on stereo, false to turn off.

void EnableViewController ( bool _value ) const

Set whether the view controller is enabled.

The view controller is used to handle user camera movements.

Parameters

[in] _value True to enable viewcontroller, False to disable.

double FarClip ( ) const

inherited

Get the far clip distance.

Returns: Far clip distance

void Fini ( )

virtual

Finialize.

Reimplemented from Camera.

std::string FrameFilename ( )

protectedinherited

Get the next frame filename based on SDF parameters.

Returns: The frame's filename

virtual unsigned int GetImageHeight ( ) const

virtual

virtual unsigned int GetImageWidth ( ) const

virtual

ScenePtr GetScene ( ) const

inherited

Get the scene this camera is in.

Returns: Pointer to scene containing this camera

std::string GetViewControllerTypeString ( )

Get current view controller type.

Returns: Type of the current view controller: "orbit", "fps"

void HandleKeyPressEvent ( const std::string & _key )

Handle a key press.

Parameters

[in] _key The key pressed.

void HandleKeyReleaseEvent ( const std::string & _key )

Handle a key release.

Parameters

[in] _key The key released.

void HandleMouseEvent ( const common::MouseEvent & _evt )

Handle a mouse event.

Parameters

[in] _evt The mouse event.

ignition::math::Angle HFOV ( ) const

inherited

Get the camera FOV (horizontal)

Returns: The horizontal field of view

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

void Init ( )

virtual

Initialize.

Reimplemented from Camera.

bool Initialized ( ) const

inherited

Return true if the camera has been initialized.

Returns: True if initialized was successful

ignition::math::Pose3d InitialPose ( ) const

Get the initial pose in the world coordinate frame.

Returns: Initial pose of the camera.

bool IsAnimating ( ) const

inherited

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

bool IsCameraSetInWorldFile ( )

brief Show if the user camera pose has changed in the world file.

return true if the camera pose changed in the world file.

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

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.

void Load ( sdf::ElementPtr _sdf )

virtual

Load the user camera.

Parameters

[in] _sdf Parameters for the camera.

Reimplemented from Camera.

void Load ( )

virtual

Generic load function.

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

void MoveToVisual ( VisualPtr _visual )

Move the camera to focus on a visual.

Parameters

[in] _visual Visual to move the camera to.

void MoveToVisual ( const std::string & _visualName )

Move the camera to focus on a visual.

Parameters

[in] _visualName Name of the visual to move the camera to.

std::string Name ( ) const

inherited

Get the camera's unscoped name.

Returns: The name of the camera

double NearClip ( ) const

inherited

Get the near clip distance.

Returns: Near clip distance

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.

Reimplemented from Camera.

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

virtual

Project 3D world coordinates to 2D screen coordinates.

Parameters

[in] _pt 3D world coodinates

Returns: _pt 2D screen coordinates

Reimplemented from Camera.

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)

void ReadPixelBuffer ( )

protectedinherited

Read image data from pixel buffer.

virtual void Render ( const bool _force = false )

virtual

Render the camera.

The _force parameter is ignored. Called after the pre-render signal. This function will generate camera images.

UserCamera does not throttle the Render function. It is assumed Render is called at the desired and correct time interval. We recommend setting this time interval to the value returned by the RenderRate() function.

Parameters

[in] _force This parameter is not used.

Reimplemented from Camera.

virtual void RenderImpl ( )

protectedvirtualinherited

Implementation of the render call.

Reimplemented in WideAngleCamera, and OculusCamera.

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.

void Resize	(	unsigned int	_w,
		unsigned int	_h
	)

Resize the camera.

Parameters

[in]	_w	Width of the camera image.
[in]	_h	Height of the camera image.

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

Deprecated:: Use function which accepts ignition::math::Color.

virtual bool SetBackgroundColor ( const ignition::math::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 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
	)

virtual

Set the clip distances.

Parameters

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

Reimplemented from Camera.

virtual void SetClipDist ( )

protectedvirtualinherited

Set the clip distance based on stored SDF values.

Reimplemented in WideAngleCamera.

void SetDevicePixelRatio ( const double _ratio )

Set the screen point to device pixel ratio.

Parameters

[in] _ratio Point to pixel ratio.

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 SetFocalPoint ( const ignition::math::Vector3d & _pt )

Set the point the camera should orbit around.

Parameters

[in] _pt The focal point

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

inherited

Set the camera FOV (horizontal)

Parameters

[in] _angle Horizontal field of view

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 SetInitialPose ( const ignition::math::Pose3d & _pose )

Set the initial pose in the world coordinate frame and set that as the current camera world pose.

Parameters

[in] _pose New default pose of the camera.

void SetJoyPoseControl ( bool _value )

brief Enable or disable camera control through ~/user_camera/joy_pose gz topic.

Defaults to true.

Parameters

[in] _value True to enable camera pose control by gz topic ~/user_camera/joy_pose.

void SetJoyTwistControl ( bool _value )

brief Enable or disable camera control through ~/user_camera/joy_twist gz topic.

Defaults to true.

Parameters

[in] _value True to enable camera pose control by gz topic ~/user_camera/joy_twist.

void SetName ( const std::string & _name )

inherited

Set the camera's name.

Parameters

[in] _name New name for the camera

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

virtual

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 from Camera.

void SetRenderRate ( const double _hz )

inherited

Set the render Hz rate.

Parameters

[in] _hz The Hz rate

virtual void SetRenderTarget ( Ogre::RenderTarget * _target )

virtual

Set to true to enable rendering.

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

Parameters

[in] _target The new rendering target.

Reimplemented from Camera.

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 SetUseSDFPose ( bool _value )

brief Set if the user camera pose has changed in the world file.

Parameters

[in] _value True if the camera pose changed in the world file.

void SetViewController ( const std::string & _type )

Set view controller.

Parameters

[in] _type The type of view controller: "orbit", "fps"

void SetViewController	(	const std::string &	_type,
		const ignition::math::Vector3d &	_pos
	)

Set view controller.

Parameters

[in]	_type	The type of view controller: "orbit", "fps"
[in]	_pos	The initial pose of the camera.

void SetViewportDimensions	(	float	_x,
		float	_y,
		float	_w,
		float	_h
	)

Set the dimensions of the viewport.

Parameters

[in]	_x	X position of the viewport.
[in]	_y	Y position of the viewport.
[in]	_w	Width of the viewport.
[in]	_h	Height of the viewport.

void SetWindowId ( unsigned int _windowId )

inherited

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

virtual

Set the global pose of the camera.

Parameters

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

Reimplemented from Camera.

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 StereoEnabled ( ) const

Get whether stereo is enabled.

Returns: True if stereo is enabled.

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

virtual bool 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] _visual Visual to track.

Returns: True if the camera is now tracking the visual.

Reimplemented from Camera.

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

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 ( )

virtual

Render the camera.

Reimplemented from Camera.

virtual void UpdateFOV ( )

protectedvirtual

Update the camera's field of view.

Reimplemented from Camera.

ignition::math::Angle VFOV ( ) const

inherited

Get the camera FOV (vertical)

Returns: The vertical field of view

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

VisualPtr Visual	(	const ignition::math::Vector2i &	_mousePos,
		std::string &	_mod
	)		const

Get an entity at a pixel location using a camera.

Used for mouse picking.

Parameters

[in]	_mousePos	The position of the mouse in screen coordinates
[out]	_mod	Used for object manipulation

Returns: The selected entity, or NULL

VisualPtr Visual ( const ignition::math::Vector2i & _mousePos ) const

Get a visual at a mouse position.

Parameters

[in] _mousePos 2D position of the mouse in pixels.

Returns: The selected entity, or NULL

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.

bool captureData

protectedinherited

True to capture frames into an image buffer.

bool captureDataOnce

protectedinherited

True to capture a frame once and save to disk.

std::vector<event::ConnectionPtr> connections

protectedinherited

The camera's event connections.

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.

common::Time lastRenderWallTime

protectedinherited

Time the last frame was rendered.

std::string name

protectedinherited

Name of the camera.

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.

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.

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:

UserCamera.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation