DepthCamera.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
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16*/
17
18#ifndef _GAZEBO_RENDERING_DEPTHCAMERA_HH_
19#define _GAZEBO_RENDERING_DEPTHCAMERA_HH_
20
21#include <memory>
22#include <string>
23
24#include <sdf/sdf.hh>
25
27
29#include "gazebo/util/system.hh"
30
31namespace Ogre
32{
33 class Material;
34 class RenderTarget;
35 class Texture;
36 class Viewport;
37}
38
39namespace gazebo
40{
41 namespace rendering
42 {
43 // Forward declare private data.
44 class DepthCameraPrivate;
45
48
51 class GZ_RENDERING_VISIBLE DepthCamera : public Camera
52 {
57 public: DepthCamera(const std::string &_namePrefix,
58 ScenePtr _scene, bool _autoRender = true);
59
61 public: virtual ~DepthCamera();
62
65 public: void Load(sdf::ElementPtr _sdf);
66
68 public: void Load();
69
71 public: void Init();
72
74 public: void Fini();
75
78 public: void CreateDepthTexture(const std::string &_textureName);
79
81 public: virtual void PostRender();
82
85 public: virtual const float *DepthData() const;
86
89 public: virtual void SetDepthTarget(Ogre::RenderTarget *_target);
90
95 std::function<void (const float *, unsigned int, unsigned int,
96 unsigned int, const std::string &)> _subscriber);
97
102 std::function<void (const float *, unsigned int, unsigned int,
103 unsigned int, const std::string &)> _subscriber);
104
106 private: virtual void RenderImpl();
107
112 private: void UpdateRenderTarget(Ogre::RenderTarget *_target,
113 Ogre::Material *_material,
114 const std::string &_matName);
115
117 protected: Ogre::Texture *depthTexture;
118
120 protected: Ogre::RenderTarget *depthTarget;
121
123 protected: Ogre::Viewport *depthViewport;
124
127 private: std::unique_ptr<DepthCameraPrivate> dataPtr;
128 };
130 }
131}
132#endif
rendering
Definition RenderEngine.hh:31
Basic camera sensor.
Definition Camera.hh:86
Depth camera used to render depth data into an image buffer.
Definition DepthCamera.hh:52
void Fini()
Finalize the camera.
DepthCamera(const std::string &_namePrefix, ScenePtr _scene, bool _autoRender=true)
Constructor.
event::ConnectionPtr ConnectNewRGBPointCloud(std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
Connect a to the new rgb point cloud signal.
virtual ~DepthCamera()
Destructor.
event::ConnectionPtr ConnectNewDepthFrame(std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
Connect a to the new depth image signal.
void Init()
Initialize the camera.
void CreateDepthTexture(const std::string &_textureName)
Create a texture which will hold the depth data.
Ogre::RenderTarget * depthTarget
Pointer to the depth target.
Definition DepthCamera.hh:120
virtual const float * DepthData() const
All things needed to get back z buffer for depth data.
Ogre::Viewport * depthViewport
Pointer to the depth viewport.
Definition DepthCamera.hh:123
virtual void SetDepthTarget(Ogre::RenderTarget *_target)
Set the render target, which renders the depth data.
void Load(sdf::ElementPtr _sdf)
Load the camera with a set of parmeters.
void Load()
Load the camera with default parmeters.
virtual void PostRender()
Render the camera.
Ogre::Texture * depthTexture
Pointer to the depth texture.
Definition DepthCamera.hh:117
Definition JointMaker.hh:40
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< Scene > ScenePtr
Definition RenderTypes.hh:82
Forward declarations for the common classes.
Definition Animation.hh:27