DepthCamera.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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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 
31 namespace Ogre
32 {
33  class Material;
34  class RenderTarget;
35  class Texture;
36  class Viewport;
37 }
38 
39 namespace 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 
94  public: event::ConnectionPtr ConnectNewDepthFrame(
95  std::function<void (const float *, unsigned int, unsigned int,
96  unsigned int, const std::string &)> _subscriber);
97 
101  public: event::ConnectionPtr ConnectNewRGBPointCloud(
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
Basic camera sensor.
Definition: Camera.hh:80
Forward declarations for the common classes.
Definition: Animation.hh:33
Ogre::Texture * depthTexture
Pointer to the depth texture.
Definition: DepthCamera.hh:117
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:81
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
Definition: JointMaker.hh:39
Ogre::RenderTarget * depthTarget
Pointer to the depth target.
Definition: DepthCamera.hh:120
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Ogre::Viewport * depthViewport
Pointer to the depth viewport.
Definition: DepthCamera.hh:123
Depth camera used to render depth data into an image buffer.
Definition: DepthCamera.hh:51