Camera.hh

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/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GZ_RENDERING_CAMERA_HH_
#define GZ_RENDERING_CAMERA_HH_
 
#include <string>
 
#include <gz/common/Event.hh>
#include <gz/math/Matrix4.hh>
 
#include "gz/rendering/config.hh"
#include "gz/rendering/Image.hh"
#include "gz/rendering/PixelBuffer.hh"
#include "gz/rendering/PixelFormat.hh"
#include "gz/rendering/Sensor.hh"
#include "gz/rendering/Scene.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    enum GZ_RENDERING_VISIBLE CameraProjectionType
    {
      CPT_PERSPECTIVE,
      CPT_ORTHOGRAPHIC
    };
 
    class GZ_RENDERING_VISIBLE Camera :
      public virtual Sensor
    {
      public: typedef std::function<void(const void*, unsigned int,
          unsigned int, unsigned int, const std::string&)> NewFrameListener;
 
      public: virtual ~Camera();
 
      public: virtual unsigned int ImageWidth() const = 0;
 
      public: virtual void SetImageWidth(unsigned int _width) = 0;
 
      public: virtual unsigned int ImageHeight() const = 0;
 
      public: virtual void SetImageHeight(unsigned int _height) = 0;
 
      public: virtual PixelFormat ImageFormat() const = 0;
 
      public: virtual void SetImageFormat(PixelFormat _format,
                                          bool _reinterpretable = false) = 0;
 
      public: virtual unsigned int ImageMemorySize() const = 0;
 
      public: virtual math::Angle HFOV() const = 0;
 
      public: virtual void SetHFOV(const math::Angle &_hfov) = 0;
 
      public: virtual double AspectRatio() const = 0;
 
      public: virtual void SetAspectRatio(const double _ratio) = 0;
 
      // TODO(anyone): add auto-aspect ratio
 
      public: virtual unsigned int AntiAliasing() const = 0;
 
      public: virtual void SetAntiAliasing(const unsigned int _aa) = 0;
 
      public: virtual double FarClipPlane() const = 0;
 
      public: virtual void SetFarClipPlane(const double _far) = 0;
 
      public: virtual double NearClipPlane() const = 0;
 
      public: virtual void SetNearClipPlane(const double _near) = 0;
 
      public: virtual void Render() = 0;
 
      public: virtual void PostRender() = 0;
 
      //  \return visual for that position, null if no visual was found
      public: virtual VisualPtr VisualAt(const gz::math::Vector2i
                  &_mousePos) = 0;
 
      public: virtual void Update() = 0;
 
      public: virtual Image CreateImage() const = 0;
 
      public: virtual void Capture(Image &_image) = 0;
 
      public: virtual void Copy(Image &_image) const = 0;
 
      public: bool CopyTo(const PixelBuffer &_buffer) const;
 
      public: virtual bool SaveFrame(const std::string &_name) = 0;
 
      public: virtual common::ConnectionPtr ConnectNewImageFrame(
                  NewFrameListener _listener) = 0;
 
      public: virtual RenderWindowPtr CreateRenderWindow() = 0;
 
      public: virtual math::Matrix4d ProjectionMatrix() const = 0;
 
      public: virtual math::Matrix4d ViewMatrix() const = 0;
 
      public: virtual void SetProjectionMatrix(const math::Matrix4d &_matrix)
          = 0;
 
      public: virtual CameraProjectionType ProjectionType() const = 0;
 
      public: virtual void SetProjectionType(CameraProjectionType _type) = 0;
 
      public: virtual math::Vector2i Project(const math::Vector3d &_pt) const
           = 0;
 
      public: virtual void SetTrackTarget(const NodePtr &_target,
                  const math::Vector3d &_offset = math::Vector3d::Zero,
                  const bool _worldFrame = false) = 0;
 
      public: virtual NodePtr TrackTarget() const = 0;
 
      public: virtual void SetTrackOffset(const math::Vector3d &_offset) = 0;
 
      public: virtual math::Vector3d TrackOffset() const = 0;
 
      public: virtual void SetTrackPGain(const double _pGain) = 0;
 
      public: virtual double TrackPGain() const = 0;
 
      public: virtual void SetFollowTarget(const NodePtr &_target,
                  const math::Vector3d &_offset = math::Vector3d::Zero,
                  const bool _worldFrame = false) = 0;
 
      public: virtual NodePtr FollowTarget() const = 0;
 
      public: virtual void SetFollowOffset(const math::Vector3d &_offset) = 0;
 
      public: virtual math::Vector3d FollowOffset() const = 0;
 
      public: virtual void SetFollowPGain(const double _pGain) = 0;
 
      public: virtual double FollowPGain() const = 0;
 
      public: virtual void SetMaterial(const MaterialPtr &_material) = 0;
 
      public: virtual unsigned int RenderTextureGLId() const = 0;
 
      public: virtual void RenderTextureMetalId(void *_textureIdPtr) const = 0;
 
      public: virtual void PrepareForExternalSampling() = 0;
 
      public: virtual void AddRenderPass(const RenderPassPtr &_pass) = 0;
 
      public: virtual void RemoveRenderPass(const RenderPassPtr &_pass) = 0;
 
      public: virtual void RemoveAllRenderPasses() = 0;
 
      public: virtual unsigned int RenderPassCount() const = 0;
 
      public: virtual RenderPassPtr RenderPassByIndex(unsigned int _index)
          const = 0;
 
      public: virtual void SetShadowsDirty() = 0;
    };
    }
  }
}
 
#endif