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...

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)
	Disconnect from an image frame. More...

void	DisconnectNewLaserFrame (event::ConnectionPtr &_c)
	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...

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

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

double	GetCameraCount () const GAZEBO_DEPRECATED(7.0)
	Get the number of cameras required. More...

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

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

double	GetCosHorzFOV () const GAZEBO_DEPRECATED(7.0)
	Get Cos Horz field-of-view. More...

double	GetCosVertFOV () const GAZEBO_DEPRECATED(7.0)
	Get Cos Vert field-of-view. More...

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

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

double	GetFarClip () const GAZEBO_DEPRECATED(7.0)
	Get far clip. More...

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

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

double	GetHorzFOV () const GAZEBO_DEPRECATED(7.0)
	Get the horizontal field of view of the laser sensor. More...

double	GetHorzHalfAngle () const GAZEBO_DEPRECATED(7.0)
	Get (horizontal_max_angle + horizontal_min_angle) * 0.5. More...

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

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

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

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

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

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

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

const float *	GetLaserData () GAZEBO_DEPRECATED(7.0)
	All things needed to get back z buffer for laser data. More...

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

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

double	GetNearClip () const GAZEBO_DEPRECATED(7.0)
	Get near clip. More...

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

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

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

double	GetRayCountRatio () const GAZEBO_DEPRECATED(7.0)
	Get the ray count ratio (equivalent to aspect ratio) More...

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

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

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

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

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

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

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

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

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

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

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

double	GetVertFOV () const GAZEBO_DEPRECATED(7.0)
	Get the vertical field-of-view. More...

double	GetVertHalfAngle () const GAZEBO_DEPRECATED(7.0)
	Get (vertical_max_angle + vertical_min_angle) * 0.5. More...

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

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

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

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

unsigned int	GetWindowId () const GAZEBO_DEPRECATED(7.0)
	Get the ID of the window this camera is rendering into. More...

bool	GetWorldPointOnPlane (int _x, int _y, const math::Plane &_plane, math::Vector3 &_result) GAZEBO_DEPRECATED(7.0)
	Get point on a plane. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	ToggleShowWireframe ()
	Toggle whether to view the world in wireframe. More...

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

void	Translate (const math::Vector3 &_direction) GAZEBO_DEPRECATED(7.0)
	Translate the camera. More...

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

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

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

virtual void	Update ()

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

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

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

Static Public Member Functions
static size_t	GetImageByteSize (unsigned int _width, unsigned int _height, const std::string &_format) GAZEBO_DEPRECATED(7.0)
	Calculate image byte size base on a few parameters. More...

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

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

Protected Member Functions
virtual void	AnimationComplete ()
	Internal function used to indicate that an animation has completed. More...

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

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

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

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

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

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

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

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

virtual void	UpdateFOV ()
	Update the camera's field of view. More...

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()

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.

§ ~GpuLaser()

virtual ~GpuLaser ( )

virtual

Destructor.

Member Function Documentation

§ AnimationComplete()

virtual void AnimationComplete ( )

protectedvirtualinherited

Internal function used to indicate that an animation has completed.

Reimplemented in UserCamera.

§ AspectRatio()

float AspectRatio ( ) const

inherited

Get the apect ratio.

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

§ AttachToVisual() [1/2]

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

§ AttachToVisual() [2/2]

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

§ AttachToVisualImpl() [1/3]

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

§ AttachToVisualImpl() [2/3]

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

§ AttachToVisualImpl() [3/3]

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.

§ AvgFPS()

virtual float AvgFPS ( ) const

virtualinherited

Get the average FPS.

Returns: The average frames per second

§ CameraCount()

unsigned int CameraCount ( ) const

Get the number of cameras required.

Returns: Number of cameras needed to generate the rays

§ CameraToViewportRay()

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

inherited

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

Deprecated:: See function that accepts ignition::math parameters.

§ CaptureData()

bool CaptureData ( ) const

inherited

Return the value of this->captureData.

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

§ ConnectNewImageFrame()

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.

§ ConnectNewLaserFrame()

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.

§ CosHorzFOV()

double CosHorzFOV ( ) const

Get Cos Horz field-of-view.

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

§ CosVertFOV()

double CosVertFOV ( ) const

Get Cos Vert field-of-view.

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

§ CreateLaserTexture()

void CreateLaserTexture ( const std::string & _textureName )

Create the texture which is used to render laser data.

Parameters

[in] _textureName Name of the new texture.

§ CreateRenderTexture()

void CreateRenderTexture ( const std::string & _textureName )

inherited

Set the render target.

Parameters

[in] _textureName Name of the new render texture

§ Direction()

ignition::math::Vector3d Direction ( ) const

inherited

Get the camera's direction vector.

Returns: Direction the camera is facing

§ DisconnectNewImageFrame()

void DisconnectNewImageFrame ( event::ConnectionPtr & _c )

inherited

Disconnect from an image frame.

Parameters

[in] _c The connection to disconnect

§ DisconnectNewLaserFrame()

void DisconnectNewLaserFrame ( event::ConnectionPtr & _c )

Disconnect from a laser frame signal.

Parameters

[in] _c The connection to disconnect

§ EnableSaveFrame()

void EnableSaveFrame ( const bool _enable )

inherited

Enable or disable saving.

Parameters

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

§ FarClip()

double FarClip ( ) const

Get far clip.

Returns: far clip distance

§ Fini()

virtual void Fini ( )

virtual

Finalize the camera.

This function is called before the camera is destructed

Reimplemented from Camera.

§ FrameFilename()

std::string FrameFilename ( )

protectedinherited

Get the next frame filename based on SDF parameters.

Returns: The frame's filename

§ GetAspectRatio()

float GetAspectRatio ( ) const

inherited

Get the apect ratio.

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

Deprecated:: See AspectRatio()

§ GetAvgFPS()

virtual float GetAvgFPS ( ) const

virtualinherited

Get the average FPS.

Returns: The average frames per second

Deprecated:: See AvgFPS()

§ GetCameraCount()

double GetCameraCount ( ) const

Get the number of cameras required.

Returns: Number of cameras needed to generate the rays

Deprecated:: See CameraCount()

§ GetCameraToViewportRay()

void GetCameraToViewportRay	(	int	_screenx,
		int	_screeny,
		math::Vector3 &	_origin,
		math::Vector3 &	_dir
	)

inherited

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

Deprecated:: See function that accepts ignition::math parameters.

See also: CameraToViewportRay

§ GetCaptureData()

bool GetCaptureData ( ) const

inherited

Return the value of this->captureData.

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

Deprecated:: See CaptureData()

§ GetCosHorzFOV()

double GetCosHorzFOV ( ) const

Get Cos Horz field-of-view.

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

Deprecated:: See CosHorzFOV()

§ GetCosVertFOV()

double GetCosVertFOV ( ) const

Get Cos Vert field-of-view.

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

Deprecated:: See CosVertFOV()

§ GetDirection()

math::Vector3 GetDirection ( ) const

inherited

Get the camera's direction vector.

Returns: Direction the camera is facing

Deprecated:: See function that returns an ignition::math object.

See also: Direction

§ GetDistortion()

DistortionPtr GetDistortion ( ) const

inherited

Get the distortion model of this camera.

Returns: Distortion model.

Deprecated:: See LensDistortion() const;

§ GetFarClip() [1/2]

double GetFarClip ( ) const

Get far clip.

Returns: far clip distance

Deprecated:: See FarClip()

§ GetFarClip() [2/2]

double GetFarClip ( )

inherited

Get the far clip distance.

Returns: Far clip distance

Deprecated:: See FarClip()

§ GetFrameFilename()

std::string GetFrameFilename ( )

protectedinherited

Get the next frame filename based on SDF parameters.

Returns: The frame's filename

Deprecated:: See FrameFilename()

§ GetHFOV()

math::Angle GetHFOV ( ) const

inherited

Get the camera FOV (horizontal)

Returns: The horizontal field of view

Deprecated:: See function that returns an ignition::math object.

See also: HFOV

§ GetHorzFOV()

double GetHorzFOV ( ) const

Get the horizontal field of view of the laser sensor.

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

Deprecated:: See HorzFOV()

§ GetHorzHalfAngle()

double GetHorzHalfAngle ( ) const

Get (horizontal_max_angle + horizontal_min_angle) * 0.5.

Returns: (horizontal_max_angle + horizontal_min_angle) * 0.5

Deprecated:: See HorzHalfAngle()

§ GetImageByteSize() [1/2]

size_t GetImageByteSize ( ) const

inherited

Get the image size in bytes.

Returns: Size in bytes

Deprecated:: See ImageByteSize()

§ GetImageByteSize() [2/2]

static size_t GetImageByteSize	(	unsigned int	_width,
		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

Deprecated:: See ImageByteSize()

§ GetImageData()

virtual const unsigned char* GetImageData ( unsigned int i = 0 )

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.

Deprecated:: See ImageData()

§ GetImageDepth()

unsigned int GetImageDepth ( ) const

inherited

Get the depth of the image.

Returns: Depth of the image

Deprecated:: See ImageDepth()

§ GetImageFormat()

std::string GetImageFormat ( ) const

inherited

Get the string representation of the image format.

Returns: String representation of the image format.

Deprecated:: See ImageFormat()

§ GetImageHeight()

virtual unsigned int GetImageHeight ( ) const

virtualinherited

Get the height of the image.

Returns: Image height

Deprecated:: See ImageHeight()

Reimplemented in UserCamera, and OculusCamera.

§ GetImageWidth()

virtual unsigned int GetImageWidth ( ) const

virtualinherited

Get the width of the image.

Returns: Image width

Deprecated:: See ImageWidth()

Reimplemented in UserCamera, and OculusCamera.

§ GetInitialized()

bool GetInitialized ( ) const

inherited

Return true if the camera has been initialized.

Returns: True if initialized was successful

Deprecated:: See Initialized()

§ GetLaserData()

const float* GetLaserData ( )

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

Returns: Array of laser data.

Deprecated:: See LaserData()

§ GetLastRenderWallTime()

common::Time GetLastRenderWallTime ( )

inherited

Get the last time the camera was rendered.

Returns: Time the camera was last rendered

Deprecated:: See LastRenderWallTime()

§ GetName()

std::string GetName ( ) const

inherited

Get the camera's unscoped name.

Returns: The name of the camera

Deprecated:: See Name()

§ GetNearClip() [1/2]

double GetNearClip ( ) const

Get near clip.

Returns: near clip distance

Deprecated:: See NearClip()

§ GetNearClip() [2/2]

double GetNearClip ( )

inherited

Get the near clip distance.

Returns: Near clip distance

Deprecated:: See NearClip()

§ GetOgreCamera()

Ogre::Camera* GetOgreCamera ( ) const

inherited

Get a pointer to the ogre camera.

Returns: Pointer to the OGRE camera

Deprecated:: See OgreCamera()

§ GetProjectionType()

std::string GetProjectionType ( ) const

inherited

Return the projection type as a string.

Returns: "perspective" or "orthographic"

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

Deprecated:: See ProjectionType()

§ GetRayCountRatio()

double GetRayCountRatio ( ) const

Get the ray count ratio (equivalent to aspect ratio)

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

Deprecated:: See RayCountRatio()

§ GetRenderRate()

double GetRenderRate ( ) const

inherited

Get the render Hz rate.

Returns: The Hz rate

Deprecated:: See RenderRate()

§ GetRenderTexture()

Ogre::Texture* GetRenderTexture ( ) const

inherited

Get the render texture.

Returns: Pointer to the render texture

Deprecated:: See RenderTexture()

§ GetRight()

math::Vector3 GetRight ( )

inherited

Get the viewport right vector.

Returns: The viewport right vector

Deprecated:: See function that returns an ignition::math object.

See also: Right

§ GetScene()

ScenePtr GetScene ( ) const

inherited

Get the scene this camera is in.

Returns: Pointer to scene containing this camera

§ GetSceneNode()

Ogre::SceneNode* GetSceneNode ( ) const

inherited

Get the camera's scene node.

Returns: The scene node the camera is attached to

Deprecated:: See SceneNode()

§ GetScopedName()

std::string GetScopedName ( ) const

inherited

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

Returns: The name of the camera

Deprecated:: See ScopedName()

§ GetScreenshotPath()

std::string GetScreenshotPath ( ) const

inherited

Get the path to saved screenshots.

Returns: Path to saved screenshots.

Deprecated:: See ScreenshotPath()

§ GetTextureHeight()

unsigned int GetTextureHeight ( ) const

inherited

Get the height of the off-screen render texture.

Returns: Render texture height

Deprecated:: See TextureHeight()

§ GetTextureWidth()

unsigned int GetTextureWidth ( ) const

inherited

Get the width of the off-screen render texture.

Returns: Render texture width

Deprecated:: See TextureWidth()

§ GetTriangleCount()

virtual unsigned int GetTriangleCount ( ) const

virtualinherited

Get the triangle count.

Returns: The current triangle count

Deprecated:: See TriangleCount()

§ GetUp()

math::Vector3 GetUp ( )

inherited

Get the viewport up vector.

Returns: The viewport up vector

Deprecated:: See function that returns an ignition::math object.

See also: Up

§ GetVertFOV()

double GetVertFOV ( ) const

Get the vertical field-of-view.

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

Deprecated:: See VertFOV()

§ GetVertHalfAngle()

double GetVertHalfAngle ( ) const

Get (vertical_max_angle + vertical_min_angle) * 0.5.

Returns: (vertical_max_angle + vertical_min_angle) * 0.5

Deprecated:: See VertHalfAngle()

§ GetVFOV()

math::Angle GetVFOV ( ) 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

§ GetViewport()

Ogre::Viewport* GetViewport ( ) const

inherited

Get a pointer to the Ogre::Viewport.

Returns: Pointer to the Ogre::Viewport

Deprecated:: See OgreViewport()

§ GetViewportHeight()

unsigned int GetViewportHeight ( ) const

inherited

Get the viewport height in pixels.

Returns: The viewport height

Deprecated:: See ViewportHeight()

§ GetViewportWidth()

unsigned int GetViewportWidth ( ) const

inherited

Get the viewport width in pixels.

Returns: The viewport width

Deprecated:: See ViewportWidth()

§ GetWindowId()

unsigned int GetWindowId ( ) const

inherited

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

Returns: The ID of the window.

Deprecated:: See WindowId()

§ GetWorldPointOnPlane()

bool GetWorldPointOnPlane	(	int	_x,
		int	_y,
		const math::Plane &	_plane,
		math::Vector3 &	_result
	)

inherited

Get point on a plane.

Parameters

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

Deprecated:: See function that accepts ignition::math parameters.

See also: WorldPointOnPlane

§ GetWorldPose()

math::Pose GetWorldPose ( ) const

inherited

Get the world pose.

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

Deprecated:: See function that returns an ignition::math object

See also: WorldPose

§ GetWorldPosition()

math::Vector3 GetWorldPosition ( ) const

inherited

Get the camera position in the world.

Returns: The world position of the camera

Deprecated:: See function that returns an ignition::math object

See also: WorldPosition

§ GetWorldRotation()

math::Quaternion GetWorldRotation ( ) const

inherited

Get the camera's orientation in the world.

Returns: The camera's orientation as a math::Quaternion

Deprecated:: See function that returns an ignition::math object

See also: WorldRotation

§ GetZValue()

double GetZValue	(	int	_x,
		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.

Deprecated:: See ZValue()

§ HFOV()

ignition::math::Angle HFOV ( ) const

inherited

Get the camera FOV (horizontal)

Returns: The horizontal field of view

§ HorzFOV()

double HorzFOV ( ) const

Get the horizontal field of view of the laser sensor.

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

§ HorzHalfAngle()

double HorzHalfAngle ( ) const

Get (horizontal_max_angle + horizontal_min_angle) * 0.5.

Returns: (horizontal_max_angle + horizontal_min_angle) * 0.5

§ ImageByteSize() [1/2]

size_t ImageByteSize ( ) const

inherited

Get the image size in bytes.

Returns: Size in bytes

§ ImageByteSize() [2/2]

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

§ ImageData()

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.

§ ImageDepth()

unsigned int ImageDepth ( ) const

inherited

Get the depth of the image.

Returns: Depth of the image

§ ImageFormat()

std::string ImageFormat ( ) const

inherited

Get the string representation of the image format.

Returns: String representation of the image format.

§ ImageHeight()

virtual unsigned int ImageHeight ( ) const

virtualinherited

Get the height of the image.

Returns: Image height

§ ImageWidth()

virtual unsigned int ImageWidth ( ) const

virtualinherited

Get the width of the image.

Returns: Image width

§ Init()

virtual void Init ( )

virtual

Initialize the camera.

Reimplemented from Camera.

§ Initialized()

bool Initialized ( ) const

inherited

Return true if the camera has been initialized.

Returns: True if initialized was successful

§ IsAnimating()

bool IsAnimating ( ) const

inherited

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

§ IsHorizontal()

bool IsHorizontal ( ) const

Gets if sensor is horizontal.

Returns: True if horizontal, false if not

§ IsVisible() [1/2]

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

§ IsVisible() [2/2]

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

§ LaserData()

const float* LaserData ( ) const

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

Returns: Array of laser data.

§ LastRenderWallTime()

common::Time LastRenderWallTime ( ) const

inherited

Get the last time the camera was rendered.

Returns: Time the camera was last rendered

§ LensDistortion()

DistortionPtr LensDistortion ( ) const

inherited

Get the distortion model of this camera.

Returns: Distortion model.

§ Load() [1/2]

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.

§ Load() [2/2]

virtual void Load ( )

virtual

Load the camera with default parmeters.

Reimplemented from Camera.

§ MoveToPosition() [1/2]

virtual bool MoveToPosition	(	const math::Pose &	_pose,
		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

Deprecated:: See function that accepts ignition::math parameters.

Reimplemented in UserCamera, and OculusCamera.

§ MoveToPosition() [2/2]

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

§ MoveToPositions() [1/2]

bool MoveToPositions	(	const std::vector< math::Pose > &	_pts,
		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

Deprecated:: See function that accepts ignition::math parameters.

§ MoveToPositions() [2/2]

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

§ Name()

std::string Name ( ) const

inherited

Get the camera's unscoped name.

Returns: The name of the camera

§ NearClip()

double NearClip ( ) const

Get near clip.

Returns: near clip distance

§ notifyRenderSingleObject()

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

virtual

§ OgreCamera()

Ogre::Camera* OgreCamera ( ) const

inherited

Get a pointer to the ogre camera.

Returns: Pointer to the OGRE camera

§ OgreViewport()

Ogre::Viewport* OgreViewport ( ) const

inherited

Get a pointer to the Ogre::Viewport.

Returns: Pointer to the Ogre::Viewport

§ Pitch() [1/2]

void Pitch	(	const math::Angle &	_angle,
		Ogre::Node::TransformSpace	_relativeTo = `Ogre::Node::TS_LOCAL`
	)

inherited

Rotate the camera around the y-axis.

Parameters

[in]	_angle	Pitch amount
[in]	_relativeTo	Coordinate frame to rotate in. Valid values are Ogre::TS_LOCAL, Ogre::TS_PARENT, and Ogre::TS_WORLD. Default is Ogre::TS_LOCAL

Deprecated:: See function the accepts an ignition::math parameter

§ Pitch() [2/2]

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

§ PostRender()

virtual void PostRender ( )

virtual

Post render.

Called afer the render signal.

Reimplemented from Camera.

§ Project()

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

inherited

Project 3D world coordinates to 2D screen coordinates.

Parameters

[in] _pt 3D world coodinates

Returns: _pt 2D screen coordinates

§ ProjectionMatrix()

ignition::math::Matrix4d ProjectionMatrix ( ) const

inherited

Return the projection matrix of this camera.

Returns: the projection matrix

§ ProjectionType()

std::string ProjectionType ( ) const

inherited

Return the projection type as a string.

Returns: "perspective" or "orthographic"

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

§ RayCountRatio()

double RayCountRatio ( ) const

Get the ray count ratio (equivalent to aspect ratio)

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

§ ReadPixelBuffer()

void ReadPixelBuffer ( )

protectedinherited

Read image data from pixel buffer.

§ Render()

void Render ( const bool _force = false )

inherited

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.

§ RenderRate()

double RenderRate ( ) const

inherited

Get the render Hz rate.

Returns: The Hz rate

§ RenderTexture()

Ogre::Texture* RenderTexture ( ) const

inherited

Get the render texture.

Returns: Pointer to the render texture

§ Right()

ignition::math::Vector3d Right ( ) const

inherited

Get the viewport right vector.

Returns: The viewport right vector

§ Roll() [1/2]

void Roll	(	const math::Angle &	_angle,
		Ogre::Node::TransformSpace	_relativeTo = `Ogre::Node::TS_LOCAL`
	)

inherited

Rotate the camera around the x-axis.

Parameters

[in]	_angle	Rotation amount
[in]	_relativeTo	Coordinate frame to rotate in. Valid values are Ogre::TS_LOCAL, Ogre::TS_PARENT, and Ogre::TS_WORLD. Default is Ogre::TS_LOCAL

Deprecated:: See function the accepts an ignition::math parameter

§ Roll() [2/2]

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

§ SaveFrame() [1/2]

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

§ SaveFrame() [2/2]

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

§ SceneNode()

Ogre::SceneNode* SceneNode ( ) const

inherited

Get the camera's scene node.

Returns: The scene node the camera is attached to

§ ScopedName()

std::string ScopedName ( ) const

inherited

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

Returns: The name of the camera

§ ScreenshotPath()

std::string ScreenshotPath ( ) const

inherited

Get the path to saved screenshots.

Returns: Path to saved screenshots.

§ SetAspectRatio()

void SetAspectRatio ( float _ratio )

inherited

Set the aspect ratio.

Parameters

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

§ SetCameraCount()

void SetCameraCount ( const unsigned int _cameraCount )

Set the number of cameras required.

Parameters

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

§ SetCaptureData()

void SetCaptureData ( const bool _value )

inherited

Set whether to capture data.

Parameters

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

§ SetCaptureDataOnce()

void SetCaptureDataOnce ( )

inherited

Capture data once and save to disk.

§ SetClipDist()

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.

§ SetCosHorzFOV()

void SetCosHorzFOV ( const double _chfov )

Set the Cos Horz FOV.

Parameters

[in] _chfov Cos Horz FOV

§ SetCosVertFOV()

void SetCosVertFOV ( const double _cvfov )

Set the Cos Horz FOV.

Parameters

[in] _cvfov Cos Horz FOV

§ SetFarClip()

void SetFarClip ( const double _far )

Set the far clip distance.

Parameters

[in] _far far clip distance

§ SetHFOV() [1/2]

void SetHFOV ( math::Angle _angle )

inherited

Set the camera FOV (horizontal)

Parameters

[in] _angle Horizontal field of view

Deprecated:: See function the accepts an ignition::math parameter

§ SetHFOV() [2/2]

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

inherited

Set the camera FOV (horizontal)

Parameters

[in] _angle Horizontal field of view

§ SetHorzFOV()

void SetHorzFOV ( const double _hfov )

Set the horizontal fov.

Parameters

[in] _hfov horizontal fov

§ SetHorzHalfAngle()

void SetHorzHalfAngle ( const double _angle )

Set the horizontal half angle.

Parameters

[in] _angle horizontal half angle

§ SetImageHeight()

void SetImageHeight ( const unsigned int _h )

inherited

Set the image height.

Parameters

[in] _h Image height

§ SetImageSize()

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

inherited

Set the image size.

Parameters

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

§ SetImageWidth()

void SetImageWidth ( const unsigned int _w )

inherited

Set the image height.

Parameters

[in] _w Image width

§ SetIsHorizontal()

void SetIsHorizontal ( const bool _horizontal )

Set sensor horizontal or vertical.

Parameters

[in] _horizontal True if horizontal, false if not

§ SetName()

void SetName ( const std::string & _name )

inherited

Set the camera's name.

Parameters

[in] _name New name for the camera

§ SetNearClip()

void SetNearClip ( const double _near )

Set the near clip distance.

Parameters

[in] _near near clip distance

§ SetProjectionType()

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.

§ SetRangeCount()

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

§ SetRayCountRatio()

void SetRayCountRatio ( const double _rayCountRatio )

Sets the ray count ratio (equivalen to aspect ratio)

Parameters

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

§ SetRenderRate()

void SetRenderRate ( const double _hz )

inherited

Set the render Hz rate.

Parameters

[in] _hz The Hz rate

§ SetRenderTarget()

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.

§ SetSaveFramePathname()

void SetSaveFramePathname ( const std::string & _pathname )

inherited

Set the save frame pathname.

Parameters

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

§ SetScene()

void SetScene ( ScenePtr _scene )

inherited

Set the scene this camera is viewing.

Parameters

[in] _scene Pointer to the scene

§ SetSceneNode()

void SetSceneNode ( Ogre::SceneNode * _node )

inherited

Set the camera's scene node.

Parameters

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

§ SetVertFOV()

void SetVertFOV ( const double _vfov )

Set the vertical fov.

Parameters

[in] _vfov vertical fov

§ SetVertHalfAngle()

void SetVertHalfAngle ( const double _angle )

Set the vertical half angle.

Parameters

[in] _angle vertical half angle

§ SetWindowId()

void SetWindowId ( unsigned int _windowId )

inherited

§ SetWorldPose() [1/2]

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.

§ SetWorldPose() [2/2]

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

§ SetWorldPosition() [1/2]

void SetWorldPosition ( const math::Vector3 & _pos )

inherited

Set the world position.

Parameters

[in] _pos The new position of the camera

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

§ SetWorldPosition() [2/2]

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

inherited

Set the world position.

Parameters

[in] _pos The new position of the camera

§ SetWorldRotation() [1/2]

void SetWorldRotation ( const math::Quaternion & _quat )

inherited

Set the world orientation.

Parameters

[in] _quat The new orientation of the camera

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

§ SetWorldRotation() [2/2]

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

inherited

Set the world orientation.

Parameters

[in] _quat The new orientation of the camera

§ ShowWireframe()

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

§ TextureHeight()

unsigned int TextureHeight ( ) const

inherited

Get the height of the off-screen render texture.

Returns: Render texture height

§ TextureWidth()

unsigned int TextureWidth ( ) const

inherited

Get the width of the off-screen render texture.

Returns: Render texture width

§ ToggleShowWireframe()

void ToggleShowWireframe ( )

inherited

Toggle whether to view the world in wireframe.

§ TrackVisual()

void TrackVisual ( const std::string & _visualName )

inherited

Set the camera to track a scene node.

Parameters

[in] _visualName Name of the visual to track

§ TrackVisualImpl() [1/2]

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

§ TrackVisualImpl() [2/2]

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.

§ Translate() [1/2]

void Translate ( const math::Vector3 & _direction )

inherited

Translate the camera.

Parameters

[in] _direction The translation vector

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

§ Translate() [2/2]

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

inherited

Translate the camera.

Parameters

[in] _direction The translation vector

§ TriangleCount()

virtual unsigned int TriangleCount ( ) const

virtualinherited

Get the triangle count.

Returns: The current triangle count

§ Up()

ignition::math::Vector3d Up ( ) const

inherited

Get the viewport up vector.

Returns: The viewport up vector

§ Update()

virtual void Update ( )

virtualinherited

Reimplemented in UserCamera, and OculusCamera.

§ UpdateFOV()

virtual void UpdateFOV ( )

protectedvirtualinherited

Update the camera's field of view.

Reimplemented in UserCamera.

§ VertFOV()

double VertFOV ( ) const

Get the vertical field-of-view.

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

§ VertHalfAngle()

double VertHalfAngle ( ) const

Get (vertical_max_angle + vertical_min_angle) * 0.5.

Returns: (vertical_max_angle + vertical_min_angle) * 0.5

§ VFOV()

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

§ ViewportHeight()

unsigned int ViewportHeight ( ) const

inherited

Get the viewport height in pixels.

Returns: The viewport height

§ ViewportWidth()

unsigned int ViewportWidth ( ) const

inherited

Get the viewport width in pixels.

Returns: The viewport width

§ WindowId()

unsigned int WindowId ( ) const

inherited

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

Returns: The ID of the window.

§ WorldPointOnPlane()

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

§ WorldPose()

ignition::math::Pose3d WorldPose ( ) const

inherited

Get the world pose.

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

§ WorldPosition()

ignition::math::Vector3d WorldPosition ( ) const

inherited

Get the camera position in the world.

Returns: The world position of the camera

§ WorldRotation()

ignition::math::Quaterniond WorldRotation ( ) const

inherited

Get the camera's orientation in the world.

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

§ Yaw() [1/2]

void Yaw	(	const math::Angle &	_angle,
		Ogre::Node::TransformSpace	_relativeTo = `Ogre::Node::TS_WORLD`
	)

inherited

Rotate the camera around the z-axis.

Parameters

[in]	_angle	Rotation amount
[in]	_relativeTo	Coordinate frame to rotate in. Valid values are Ogre::TS_LOCAL, Ogre::TS_PARENT, and Ogre::TS_WORLD. Default is Ogre::TS_WORLD

Deprecated:: See function the accepts an ignition::math parameter

§ Yaw() [2/2]

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

§ ZValue()

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

§ animState

Ogre::AnimationState* animState

protectedinherited

Animation state, used to animate the camera.

§ bayerFrameBuffer

unsigned char* bayerFrameBuffer

protectedinherited

Buffer for a bayer image frame.

§ camera

Ogre::Camera* camera

protectedinherited

The OGRE camera.

§ cameraCount

unsigned int cameraCount

protected

Number of cameras needed to generate the rays.

§ captureData

bool captureData

protectedinherited

True to capture frames into an image buffer.

§ captureDataOnce

bool captureDataOnce

protectedinherited

True to capture a frame once and save to disk.

§ chfov

double chfov

protected

Cos horizontal field-of-view.

§ connections

std::vector<event::ConnectionPtr> connections

protectedinherited

The camera's event connections.

§ cvfov

double cvfov

protected

Cos vertical field-of-view.

§ farClip

double farClip

protected

Far clip plane.

§ hfov

double hfov

protected

Horizontal field-of-view.

§ horzHalfAngle

double horzHalfAngle

protected

Horizontal half angle.

§ imageFormat

int imageFormat

protectedinherited

Format for saving images.

§ imageHeight

int imageHeight

protectedinherited

Save image height.

§ imageWidth

int imageWidth

protectedinherited

Save image width.

§ initialized

bool initialized

protectedinherited

True if initialized.

§ isHorizontal

bool isHorizontal

protected

True if the sensor is horizontal only.

§ lastRenderWallTime

common::Time lastRenderWallTime

protectedinherited

Time the last frame was rendered.

§ name

std::string name

protectedinherited

Name of the camera.

§ nearClip

double nearClip

protected

Near clip plane.

§ newData

bool newData

protectedinherited

True if new data is available.

§ newImageFrame

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.

§ onAnimationComplete

std::function<void()> onAnimationComplete

protectedinherited

User callback for when an animation completes.

§ prevAnimTime

common::Time prevAnimTime

protectedinherited

Previous time the camera animation was updated.

§ rayCountRatio

double rayCountRatio

protected

Ray count ratio.

§ renderTarget

Ogre::RenderTarget* renderTarget

protectedinherited

Target that renders frames.

§ renderTexture

Ogre::Texture* renderTexture

protectedinherited

Texture that receives results from rendering.

§ requests

std::list<msgs::Request> requests

protectedinherited

List of requests.

§ saveCount

unsigned int saveCount

protectedinherited

Number of saved frames.

§ saveFrameBuffer

unsigned char* saveFrameBuffer

protectedinherited

Buffer for a single image frame.

§ scene

ScenePtr scene

protectedinherited

Pointer to the scene.

§ sceneNode

Ogre::SceneNode* sceneNode

protectedinherited

Scene node that controls camera position and orientation.

§ scopedName

std::string scopedName

protectedinherited

Scene scoped name of the camera.

§ scopedUniqueName

std::string scopedUniqueName

protectedinherited

Scene scoped name of the camera with a unique ID.

§ screenshotPath

std::string screenshotPath

protectedinherited

Path to saved screenshots.

§ sdf

sdf::ElementPtr sdf

protectedinherited

Camera's SDF values.

§ textureHeight

unsigned int textureHeight

protectedinherited

Height of the render texture.

§ textureWidth

unsigned int textureWidth

protectedinherited

Width of the render texture.

§ vertHalfAngle

double vertHalfAngle

protected

Vertical half angle.

§ vfov

double vfov

protected

Vertical field-of-view.

§ viewport

Ogre::Viewport* viewport

protectedinherited

Viewport the ogre camera uses.

§ windowId

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

§ GpuLaser()

§ ~GpuLaser()

Member Function Documentation

§ AnimationComplete()

§ AspectRatio()

§ AttachToVisual() [1/2]

§ AttachToVisual() [2/2]

§ AttachToVisualImpl() [1/3]

§ AttachToVisualImpl() [2/3]

§ AttachToVisualImpl() [3/3]

§ AvgFPS()

§ CameraCount()

§ CameraToViewportRay()

§ CaptureData()

§ ConnectNewImageFrame()

§ ConnectNewLaserFrame()

§ CosHorzFOV()

§ CosVertFOV()

§ CreateLaserTexture()

§ CreateRenderTexture()

§ Direction()

§ DisconnectNewImageFrame()

§ DisconnectNewLaserFrame()

§ EnableSaveFrame()

§ FarClip()

§ Fini()

§ FrameFilename()

§ GetAspectRatio()

§ GetAvgFPS()

§ GetCameraCount()

§ GetCameraToViewportRay()

§ GetCaptureData()

§ GetCosHorzFOV()

§ GetCosVertFOV()

§ GetDirection()

§ GetDistortion()

§ GetFarClip() [1/2]

§ GetFarClip() [2/2]

§ GetFrameFilename()

§ GetHFOV()

§ GetHorzFOV()

§ GetHorzHalfAngle()

§ GetImageByteSize() [1/2]

§ GetImageByteSize() [2/2]

§ GetImageData()

§ GetImageDepth()

§ GetImageFormat()

§ GetImageHeight()

§ GetImageWidth()

§ GetInitialized()

§ GetLaserData()

§ GetLastRenderWallTime()

§ GetName()

§ GetNearClip() [1/2]

§ GetNearClip() [2/2]

§ GetOgreCamera()

§ GetProjectionType()

§ GetRayCountRatio()

§ GetRenderRate()

§ GetRenderTexture()

§ GetRight()

§ GetScene()

§ GetSceneNode()

§ GetScopedName()

§ GetScreenshotPath()

§ GetTextureHeight()

§ GetTextureWidth()

§ GetTriangleCount()

§ GetUp()

§ GetVertFOV()

§ GetVertHalfAngle()

§ GetVFOV()

§ GetViewport()

§ GetViewportHeight()