WideAngleCamera Class Reference

Camera with variable mapping function. More...

#include <rendering/rendering.hh>

Inherits Camera, and Listener.

Public Member Functions

 WideAngleCamera (const std::string &_namePrefix, ScenePtr _scene, const bool _autoRender=true, const int _textureSize=256)
 Constructor. More...
 
virtual ~WideAngleCamera ()
 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...
 
ignition::math::Vector3d Direction () const
 Get the camera's direction vector. More...
 
void EnableSaveFrame (const bool _enable)
 Enable or disable saving. More...
 
int EnvTextureSize () const
 Gets the environment texture size. More...
 
double FarClip () const
 Get the far clip distance. More...
 
virtual void Fini () override
 Finalize the camera. More...
 
ScenePtr GetScene () const
 Get the scene this camera is in. 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 () override
 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 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...
 
CameraLensLens () const
 Gets camera's lens description. 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...
 
void Load () override
 Load the camera with default parmeters. 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...
 
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...
 
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...
 
bool SetBackgroundColor (const common::Color &_color) override
 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 SetClipDist () override
 Set the clip distance based on stored SDF values. More...
 
void SetEnvTextureSize (const int _size)
 Sets environment texture size. 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 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...
 
void SetRenderTarget (Ogre::RenderTarget *_target) override
 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 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 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 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 ()
 
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 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 (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...
 
void CreateEnvCameras ()
 Creates a set of 6 cameras pointing in different directions. More...
 
void CreateEnvRenderTexture (const std::string &_textureName)
 Set the camera's render target. More...
 
std::string FrameFilename ()
 Get the next frame filename based on SDF parameters. More...
 
void notifyMaterialRender (Ogre::uint32 _pass_id, Ogre::MaterialPtr &_material) override
 Callback that is used to set mapping material uniform values, implements Ogre::CompositorInstance::Listener interface More...
 
void ReadPixelBuffer ()
 Read image data from pixel buffer. More...
 
void RenderImpl () override
 Implementation of the render call. 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...
 
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...
 
void UpdateFOV () override
 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::ConnectionPtrconnections
 The camera's event connections. More...
 
int imageFormat
 Format for saving images. More...
 
int imageHeight
 Save image height. More...
 
int imageWidth
 Save image width. More...
 
bool initialized
 True if initialized. More...
 
common::Time lastRenderWallTime
 Time the last frame was rendered. More...
 
std::string name
 Name of the camera. More...
 
bool newData
 True if new data is available. More...
 
event::EventT< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> newImageFrame
 Event triggered when a new frame is generated. More...
 
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

Camera with variable mapping function.

Constructor & Destructor Documentation

WideAngleCamera ( const std::string &  _namePrefix,
ScenePtr  _scene,
const bool  _autoRender = true,
const int  _textureSize = 256 
)

Constructor.

Parameters
[in]_namePrefixUnique prefix name for the camera.
[in]_sceneScene that will contain the camera
[in]_autoRenderAlmost everyone should leave this as true.
[in]_textureSizeSize of cube map texture used for rendering, may be overriten in sdf
virtual ~WideAngleCamera ( )
virtual

Destructor.

Member Function Documentation

virtual void AnimationComplete ( )
protectedvirtualinherited

Internal function used to indicate that an animation has completed.

Reimplemented in UserCamera.

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]_visualNameName of the visual to attach the camera to
[in]_inheritOrientationTrue means camera acquires the visual's orientation
[in]_minDistMinimum distance the camera is allowed to get to the visual
[in]_maxDistMaximum 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]_idID of the visual to attach the camera to
[in]_inheritOrientationTrue means camera acquires the visual's orientation
[in]_minDistMinimum distance the camera is allowed to get to the visual
[in]_maxDistMaximum distance the camera is allowd to get from the visual
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]_visualNameName of the visual to attach the camera to
[in]_inheritOrientationTrue means camera acquires the visual's orientation
[in]_minDistMinimum distance the camera is allowed to get to the visual
[in]_maxDistMaximum 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]_idID of the visual to attach the camera to
[in]_inheritOrientationTrue means camera acquires the visual's orientation
[in]_minDistMinimum distance the camera is allowed to get to the visual
[in]_maxDistMaximum distance the camera is allowd to get from the visual
Returns
True on success
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]_visualThe visual to attach the camera to
[in]_inheritOrientationTrue means camera acquires the visual's orientation
[in]_minDistMinimum distance the camera is allowed to get to the visual
[in]_maxDistMaximum distance the camera is allowd to get from the visual
Returns
True on success

Reimplemented in UserCamera, and OculusCamera.

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
virtualinherited

Get a world space ray as cast from the camera through the viewport.

Parameters
[in]_screenxX coordinate in the camera's viewport, in pixels.
[in]_screenyY coordinate in the camera's viewport, in pixels.
[out]_originOrigin in the world coordinate frame of the resulting ray
[out]_dirDirection of the resulting ray

Reimplemented in UserCamera.

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]_subscriberCallback that is called when a new image is generated
Returns
A pointer to the connection. This must be kept in scope.
void CreateEnvCameras ( )
protected

Creates a set of 6 cameras pointing in different directions.

void CreateEnvRenderTexture ( const std::string &  _textureName)
protected

Set the camera's render target.

Parameters
[in]_textureNameName used as a base for environment texture
void CreateRenderTexture ( const std::string &  _textureName)
inherited

Set the render target.

Parameters
[in]_textureNameName of the new render texture
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]_enableSet to True to enable saving of frames
int EnvTextureSize ( ) const

Gets the environment texture size.

Returns
Texture size
double FarClip ( ) const
inherited

Get the far clip distance.

Returns
Far clip distance
virtual void Fini ( )
overridevirtual

Finalize the camera.

This function is called before the camera is destructed

Reimplemented from Camera.

std::string FrameFilename ( )
protectedinherited

Get the next frame filename based on SDF parameters.

Returns
The frame's filename
ScenePtr GetScene ( ) const
inherited

Get the scene this camera is in.

Returns
Pointer to scene containing this camera
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]_widthWidth of an image
[in]_heightHeight of an image
[in]_formatImage 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]_iIndex 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 ( )
overridevirtual

Initialize the camera.

Reimplemented from Camera.

bool Initialized ( ) const
inherited

Return true if the camera has been initialized.

Returns
True if initialized was successful
bool IsAnimating ( ) const
inherited

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

bool IsVisible ( VisualPtr  _visual)
inherited

Return true if the visual is within the camera's view frustum.

Parameters
[in]_visualThe 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]_visualNameName 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
CameraLens* Lens ( ) const

Gets camera's lens description.

Returns
Camera's lens description
DistortionPtr LensDistortion ( ) const
inherited

Get the distortion model of this camera.

Returns
Distortion model.
virtual void Load ( sdf::ElementPtr  _sdf)
virtualinherited

Load the camera with a set of parmeters.

Parameters
[in]_sdfThe SDF camera info

Reimplemented in GpuLaser, DepthCamera, UserCamera, and OculusCamera.

void Load ( )
overridevirtual

Load the camera with default parmeters.

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]_poseEnd position of the camera
[in]_timeDuration 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]_ptsVector of poses to move to
[in]_timeDuration of the entire move
[in]_onCompleteCallback that is called when the move is complete
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
void notifyMaterialRender ( Ogre::uint32  _pass_id,
Ogre::MaterialPtr &  _material 
)
overrideprotected

Callback that is used to set mapping material uniform values, implements Ogre::CompositorInstance::Listener interface

Parameters
[in]_pass_idPass identifier
[in]_materialMaterial whose parameters should be set
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]_anglePitch amount
[in]_relativeToCoordinate frame to rotate in. Valid values are RF_LOCAL, RF_PARENT, and RF_WORLD. Default is RF_LOCAL
virtual void PostRender ( )
virtualinherited

Post render.

Called afer the render signal.

Reimplemented in UserCamera, GpuLaser, DepthCamera, and OculusCamera.

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

Project 3D world coordinates to 2D screen coordinates.

Parameters
[in]_pt3D world coodinates
Returns
_pt 2D screen coordinates

Reimplemented in UserCamera.

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)
virtualinherited

Render the camera.

Called after the pre-render signal. This function will generate camera images.

Parameters
[in]_forceForce camera to render. Ignore camera update rate.

Reimplemented in UserCamera.

void RenderImpl ( )
overrideprotectedvirtual

Implementation of the render call.

Reimplemented from Camera.

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.
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]_angleRotation amount
[in]_relativeToCoordinate 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]_filenameFile 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]_imageThe raw image buffer
[in]_widthWidth of the image
[in]_heightHeight of the image
[in]_depthDepth of the image data
[in]_formatFormat the image data is in
[in]_filenameName 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]_filenameFile 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]_ratioThe aspect ratio (width / height) in pixels
bool SetBackgroundColor ( const common::Color _color)
overridevirtual

Set background color for viewport (if viewport is not null)

Parameters
[in]_colorBackground color.
Returns
True if successful. False if viewport is null

Reimplemented from Camera.

void SetCaptureData ( const bool  _value)
inherited

Set whether to capture data.

Parameters
[in]_valueSet 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 
)
virtualinherited

Set the clip distances.

Parameters
[in]_nearNear clip distance in meters
[in]_farFar clip distance in meters

Reimplemented in UserCamera.

void SetClipDist ( )
overridevirtual

Set the clip distance based on stored SDF values.

Reimplemented from Camera.

void SetEnvTextureSize ( const int  _size)

Sets environment texture size.

Parameters
[in]_sizeTexture size
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]_useFixedIf 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]_fixedAxisThe axis to use if the first parameter is true.
void SetHFOV ( const ignition::math::Angle &  _angle)
inherited

Set the camera FOV (horizontal)

Parameters
[in]_angleHorizontal field of view
void SetImageHeight ( const unsigned int  _h)
inherited

Set the image height.

Parameters
[in]_hImage height
void SetImageSize ( const unsigned int  _w,
const unsigned int  _h 
)
inherited

Set the image size.

Parameters
[in]_wImage width
[in]_hImage height
void SetImageWidth ( const unsigned int  _w)
inherited

Set the image height.

Parameters
[in]_wImage width
void SetName ( const std::string &  _name)
inherited

Set the camera's name.

Parameters
[in]_nameNew name for the camera
virtual bool SetProjectionType ( const std::string &  _type)
virtualinherited

Set the type of projection used by the camera.

Parameters
[in]_typeThe type of projection: "perspective" or "orthographic".
Returns
True if successful.
See also
GetProjectionType()

Reimplemented in UserCamera.

void SetRenderRate ( const double  _hz)
inherited

Set the render Hz rate.

Parameters
[in]_hzThe Hz rate
void SetRenderTarget ( Ogre::RenderTarget *  _target)
overridevirtual

Set the camera's render target.

Parameters
[in]_targetPointer to the render target

Reimplemented from Camera.

void SetSaveFramePathname ( const std::string &  _pathname)
inherited

Set the save frame pathname.

Parameters
[in]_pathnameDirectory in which to store saved image frames
void SetScene ( ScenePtr  _scene)
inherited

Set the scene this camera is viewing.

Parameters
[in]_scenePointer to the scene
void SetSceneNode ( Ogre::SceneNode *  _node)
inherited

Set the camera's scene node.

Parameters
[in]_nodeThe 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]_inheritYawTrue 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]_isStaticTrue 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]_distMaximum 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]_distMinimum 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]_posPosition 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]_useModelFrameTrue means camera's position is relative to tracked models.
See also
TrackUseModelFrame()
void SetWindowId ( unsigned int  _windowId)
inherited
virtual void SetWorldPose ( const ignition::math::Pose3d &  _pose)
virtualinherited

Set the global pose of the camera.

Parameters
[in]_poseThe new ignition::math::Pose3d of the camera

Reimplemented in UserCamera.

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

Set the world position.

Parameters
[in]_posThe new position of the camera
void SetWorldRotation ( const ignition::math::Quaterniond &  _quat)
inherited

Set the world orientation.

Parameters
[in]_quatThe new orientation of the camera
void ShowWireframe ( const bool  _s)
inherited

Set whether to view the world in wireframe.

Parameters
[in]_sSet to True to render objects as wireframe
bool StartVideo ( const std::string &  _format,
const std::string &  _filename = "" 
)
inherited

Turn on video recording.

Parameters
[in]_formatString that represents the video type. Supported types include: "avi", "ogv", mp4", "v4l2". If using "v4l2", you must also specify a _filename.
[in]_filenameName 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 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]_visualNameName of the visual to track
bool TrackVisualImpl ( const std::string &  _visualName)
protectedinherited

Implementation of the Camera::TrackVisual call.

Parameters
[in]_visualNameName of the visual to track
Returns
True if able to track the visual
virtual bool TrackVisualImpl ( VisualPtr  _visual)
protectedvirtualinherited

Set the camera to track a scene node.

Parameters
[in]_visualThe visual to track
Returns
True if able to track the visual

Reimplemented in UserCamera, and OculusCamera.

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

Translate the camera.

Parameters
[in]_directionThe 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 ( )
virtualinherited

Reimplemented in UserCamera, and OculusCamera.

void UpdateFOV ( )
overrideprotectedvirtual

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
Deprecated:
See function that returns an ignition::math object.
See also
VFOV
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
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]_xX coordinate in camera's viewport, in pixels
[in]_yY coordinate in camera's viewport, in pixels
[in]_planePlane on which to find the intersecting point
[out]_resultPoint 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]_angleRotation amount
[in]_relativeToCoordinate 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]_xImage coordinate; (0, 0) specifies the top-left corner.
[in]_yImage 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: