Gazebo Rendering

API Reference

3.7.2
GpuRays Class Referenceabstract

Generate depth ray data. More...

#include <ignition/rendering/GpuRays.hh>

Public Types

typedef std::function< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)> NewFrameListener
 Callback function for new frame render event listeners. More...
 
- Public Types inherited from Camera
typedef std::function< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)> NewFrameListener
 Callback function for new frame render event listeners. More...
 

Public Member Functions

virtual ~GpuRays ()
 Destructor. More...
 
virtual gz::math::Angle AngleMax () const =0
 Get maximal horizontal angle value. More...
 
virtual gz::math::Angle AngleMin () const =0
 Get minimal horizontal angle value. More...
 
virtual unsigned int Channels () const =0
 Get the number of channels used to store the ray data. More...
 
virtual bool Clamp () const =0
 Get behaviour for data values outside of camera range. More...
 
virtual common::ConnectionPtr ConnectNewGpuRaysFrame (std::function< void(const float *_frame, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &)> _subscriber)=0
 Connect to a gpu rays frame signal. More...
 
virtual void Copy (float *_data)=0
 Copy to the specified memory direction the gpu rays data. More...
 
virtual const float * Data () const =0
 All things needed to get back z buffer for gpu rays data. More...
 
virtual bool IsHorizontal () const =0
 Gets if sensor is horizontal. More...
 
virtual int RangeCount () const =0
 Get hoizontal range count, i.e. ray count * horz resolution. More...
 
virtual double RangeCountRatio () const =0
 Get the ray count ratio (equivalent to aspect ratio) More...
 
virtual int RayCount () const =0
 Get horizontal quantity of rays. More...
 
virtual double RayCountRatio () const =0
 Get the ray count ratio (equivalent to aspect ratio) More...
 
virtual void SetAngleMax (double _angle)=0
 Set maximal horizontal angle value. More...
 
virtual void SetAngleMin (double _angle)=0
 Set minimal horizontal angle value. More...
 
virtual void SetClamp (const bool _clamp)=0
 Configure behaviour for data values outside of camera range. More...
 
virtual void SetIsHorizontal (const bool _horizontal)=0
 Set sensor horizontal or vertical. More...
 
virtual void SetRayCount (int _samples)=0
 Set horizontal quantity of rays. More...
 
virtual void SetRayCountRatio (const double _rayCountRatio)=0
 Sets the ray count ratio (equivalent to aspect ratio) More...
 
virtual void SetVerticalAngleMax (const double _angle)=0
 Set maximal vertical angle value. More...
 
virtual void SetVerticalAngleMin (const double _angle)=0
 Set minimal vertical angle value. More...
 
virtual void SetVerticalRayCount (int _samples)=0
 Set vertical quantity of rays. More...
 
virtual gz::math::Angle VerticalAngleMax () const =0
 Get maximal vertical angle value. More...
 
virtual gz::math::Angle VerticalAngleMin () const =0
 Get minimal vertical angle value. More...
 
virtual int VerticalRangeCount () const =0
 Get vertical range count, i.e. ray count * vert resolution. More...
 
virtual int VerticalRayCount () const =0
 Get vertical quantity of rays. More...
 
virtual math::Angle VFOV () const =0
 Get the vertical field-of-view. More...
 
- Public Member Functions inherited from Camera
virtual ~Camera ()
 Deconstructor. More...
 
virtual void AddRenderPass (const RenderPassPtr &_pass)=0
 Add a render pass to the camera. More...
 
virtual unsigned int AntiAliasing () const =0
 Get the level of anti-aliasing used during rendering. More...
 
virtual double AspectRatio () const =0
 Get the camera's aspect ratio. More...
 
virtual void Capture (Image &_image)=0
 Renders a new frame and writes the results to the given image. This is a convenience function for single-camera scenes. It wraps the pre-render, render, post-render, and get-image calls into a single function. This should be used in applications with multiple cameras or multiple consumers of a single camera's images. More...
 
virtual common::ConnectionPtr ConnectNewImageFrame (NewFrameListener _listener)=0
 Subscribes a new listener to this camera's new frame event. More...
 
virtual void Copy (Image &_image) const =0
 Writes the last rendered image to the given image buffer. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior. More...
 
virtual Image CreateImage () const =0
 Created an empty image buffer for capturing images. The resulting image will have sufficient memory allocated for subsequent calls to this camera's Capture function. However, any changes to this cameras properties may invalidate the condition. More...
 
virtual RenderWindowPtr CreateRenderWindow ()=0
 Create a render window. More...
 
virtual double FarClipPlane () const =0
 Get the camera's far clipping plane distance. More...
 
virtual math::Vector3d FollowOffset () const =0
 Get the follow offset vector in the frame specified at the time the follow target is set. More...
 
virtual double FollowPGain () const =0
 Get the camera follow movement P gain. More...
 
virtual NodePtr FollowTarget () const =0
 Get the target node being followed. More...
 
virtual math::Angle HFOV () const =0
 Get the camera's horizontal field-of-view. More...
 
virtual PixelFormat ImageFormat () const =0
 Get the image pixel format. If the image pixel format has not been set with a valid value, PF_UNKNOWN will be returned. More...
 
virtual unsigned int ImageHeight () const =0
 Get the image height in pixels. More...
 
virtual unsigned int ImageMemorySize () const =0
 Get the total image memory size in bytes. More...
 
virtual unsigned int ImageWidth () const =0
 Get the image width in pixels. More...
 
virtual double NearClipPlane () const =0
 Get the camera's near clipping plane distance. More...
 
virtual void PostRender ()=0
 Preforms any necessary final rendering work. Once rendering is complete the camera will alert any listeners of the new frame event. This function should only be called after a call to Render has successfully been executed. More...
 
virtual math::Matrix4d ProjectionMatrix () const =0
 Get the projection matrix for this camera. More...
 
virtual void RemoveRenderPass (const RenderPassPtr &_pass)=0
 Remove a render pass from the camera. More...
 
virtual void Render ()=0
 Renders the current scene using this camera. This function assumes PreRender() has already been called on the parent Scene, allowing the camera and the scene itself to prepare for rendering. More...
 
virtual RenderPassPtr RenderPassByIndex (unsigned int _index) const =0
 Get a render passes by index. More...
 
virtual unsigned int RenderPassCount () const =0
 Get the number of render passes applied to the camera. More...
 
virtual unsigned int RenderTextureGLId () const =0
 Get the OpenGL texture id associated with the render texture used by this camera. A valid id is returned only if the underlying render engine is OpenGL based. More...
 
virtual bool SaveFrame (const std::string &_name)=0
 Writes the previously rendered frame to a file. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior. More...
 
virtual void SetAntiAliasing (const unsigned int _aa)=0
 Set the level of anti-aliasing used during rendering. If a value of 0 is given, no anti-aliasing will be performed. Higher values can significantly slow-down rendering times, depending on the underlying render engine. More...
 
virtual void SetAspectRatio (const double _ratio)=0
 Set the camera's aspect ratio. This value determines the cameras vertical field-of-view. It is often the. More...
 
virtual void SetFarClipPlane (const double _far)=0
 Set the camera's far clipping plane distance. More...
 
virtual void SetFollowOffset (const math::Vector3d &_offset)=0
 Set offset of camera from target node being followed. The offset will be in the frame that is specified at the time the follow target is set. More...
 
virtual void SetFollowPGain (const double _pGain)=0
 Set follow P Gain. Determines how fast the camera moves to follow the target node. Valid range: [0-1]. More...
 
virtual void SetFollowTarget (const NodePtr &_target, const math::Vector3d &_offset=math::Vector3d::Zero, const bool _worldFrame=false)=0
 Set a node for camera to follow. The camera will automatically update its position to keep itself at the specified offset distance from the target being followed. If null is specified, camera follow is disabled. In contrast to SetTrackTarget, the camera does not change its orientation when following is enabled. More...
 
virtual void SetHFOV (const math::Angle &_hfov)=0
 Set the camera's horizontal field-of-view. More...
 
virtual void SetImageFormat (PixelFormat _format)=0
 Set the image pixel format. More...
 
virtual void SetImageHeight (unsigned int _height)=0
 Set the image height in pixels. More...
 
virtual void SetImageWidth (unsigned int _width)=0
 Set the image width in pixels. More...
 
virtual void SetMaterial (const MaterialPtr &_material)=0
 Set a material that the camera should see on all objects. More...
 
virtual void SetNearClipPlane (const double _near)=0
 Set the camera's near clipping plane distance. More...
 
virtual void SetTrackOffset (const math::Vector3d &_offset)=0
 Set track offset. Camera will track a point that's at an offset from the target node. The offset will be in the frame that is specified at the time the track target is set. More...
 
virtual void SetTrackPGain (const double _pGain)=0
 Set track P Gain. Determines how fast the camera rotates to look at the target node. Valid range: [0-1]. More...
 
virtual void SetTrackTarget (const NodePtr &_target, const math::Vector3d &_offset=math::Vector3d::Zero, const bool _worldFrame=false)=0
 Set a node for camera to track. The camera will automatically change its orientation to face the target being tracked. If null is specified, tracking is disabled. In contrast to SetFollowTarget the camera does not change its position when tracking is enabled. More...
 
virtual math::Vector3d TrackOffset () const =0
 Get the track offset vector in the frame specified at the time the track target is set. More...
 
virtual double TrackPGain () const =0
 Get the camera track rotation P gain. More...
 
virtual NodePtr TrackTarget () const =0
 Get the target node being tracked. More...
 
virtual void Update ()=0
 Renders a new frame. This is a convenience function for single-camera scenes. It wraps the pre-render, render, and post-render into a single function. This should be used in applications with multiple cameras or multiple consumers of a single camera's images. More...
 
virtual math::Matrix4d ViewMatrix () const =0
 Get the view matrix for this camera. More...
 
virtual VisualPtr VisualAt (const gz::math::Vector2i &_mousePos)=0
 Get the visual for a given mouse position param[in] _mousePos mouse position. More...
 
- Public Member Functions inherited from Sensor
virtual ~Sensor ()
 Sensor. More...
 
- Public Member Functions inherited from Node
virtual ~Node ()
 Deconstructor. More...
 
virtual void AddChild (NodePtr _child)=0
 Add the given node to this node. If the given node is already a child, no work will be done. More...
 
virtual NodePtr ChildById (unsigned int _id) const =0
 Get node with given ID. If no child exists with given ID, NULL will be returned. More...
 
virtual NodePtr ChildByIndex (unsigned int _index) const =0
 Get node at given index. If no child exists at given index, NULL will be returned. More...
 
virtual NodePtr ChildByName (const std::string &_name) const =0
 Get node with given name. If no child exists with given name, NULL will be returned. More...
 
virtual unsigned int ChildCount () const =0
 Get number of child nodes. More...
 
virtual bool HasChild (ConstNodePtr _child) const =0
 Determine if given node is an attached child. More...
 
virtual bool HasChildId (unsigned int _id) const =0
 Determine if node with given ID is an attached child. More...
 
virtual bool HasChildName (const std::string &_name) const =0
 Determine if node with given name is an attached child. More...
 
virtual bool HasParent () const =0
 Determine if this Node is attached to another Node. More...
 
virtual bool InheritScale () const =0
 Determine if this visual inherits scale from this parent. More...
 
virtual math::Pose3d LocalPose () const =0
 Get the local pose. More...
 
virtual math::Vector3d LocalPosition () const =0
 Get the local position. More...
 
virtual math::Quaterniond LocalRotation () const =0
 Get the local rotation. More...
 
virtual math::Vector3d LocalScale () const =0
 Get the local scale. More...
 
virtual math::Vector3d Origin () const =0
 Get position of origin. More...
 
virtual NodePtr Parent () const =0
 Get the parent Node. More...
 
virtual NodePtr RemoveChild (NodePtr _child)=0
 Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done. More...
 
virtual NodePtr RemoveChildById (unsigned int _id)=0
 Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done. More...
 
virtual NodePtr RemoveChildByIndex (unsigned int _index)=0
 Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done. More...
 
virtual NodePtr RemoveChildByName (const std::string &_name)=0
 Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done. More...
 
virtual void RemoveChildren ()=0
 Remove all child nodes from this node This detaches all the child nodes but does not destroy them. More...
 
virtual void RemoveParent ()=0
 Detach this Node from its parent. If this Node does not have a parent, no work will be done. More...
 
virtual void Scale (const math::Vector3d &_scale)=0
 Scale the current scale by the given scalars. More...
 
virtual void Scale (double _scale)=0
 Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates. More...
 
virtual void Scale (double _x, double _y, double _z)=0
 Scale the current scale by the given scalars. More...
 
virtual void SetInheritScale (bool _inherit)=0
 Specify if this visual inherits scale from its parent. More...
 
virtual void SetLocalPose (const math::Pose3d &_pose)=0
 Set the local pose. More...
 
virtual void SetLocalPosition (const math::Vector3d &_position)=0
 Set the local position. More...
 
virtual void SetLocalPosition (double _x, double _y, double _z)=0
 Set the local position. More...
 
virtual void SetLocalRotation (const math::Quaterniond &_rotation)=0
 Set the local rotation. More...
 
virtual void SetLocalRotation (double _r, double _p, double _y)=0
 Set the local rotation. More...
 
virtual void SetLocalRotation (double _w, double _x, double _y, double _z)=0
 Set the local rotation. More...
 
virtual void SetLocalScale (const math::Vector3d &_scale)=0
 Set the local scale. More...
 
virtual void SetLocalScale (double _scale)=0
 Set the local scale. The given scale will be assigned to the x, y, and z coordinates. More...
 
virtual void SetLocalScale (double _x, double _y, double _z)=0
 Set the local scale. More...
 
virtual void SetOrigin (const math::Vector3d &_origin)=0
 Set position of origin. The position should be relative to the original origin of the geometry. More...
 
virtual void SetOrigin (double _x, double _y, double _z)=0
 Set position of origin. The position should be relative to the original origin of the geometry. More...
 
virtual void SetWorldPose (const math::Pose3d &_pose)=0
 Set the world pose. More...
 
virtual void SetWorldPosition (const math::Vector3d &_position)=0
 Set the world position. More...
 
virtual void SetWorldPosition (double _x, double _y, double _z)=0
 Set the world position. More...
 
virtual void SetWorldRotation (const math::Quaterniond &_rotation)=0
 Set the world rotation. More...
 
virtual void SetWorldRotation (double _r, double _p, double _y)=0
 Set the world rotation. More...
 
virtual void SetWorldRotation (double _w, double _x, double _y, double _z)=0
 Set the world rotation. More...
 
virtual void SetWorldScale (const math::Vector3d &_scale)=0
 Set the world scale. More...
 
virtual void SetWorldScale (double _scale)=0
 Set the world scale. The given scale will be assigned to the x, y, and z coordinates. More...
 
virtual void SetWorldScale (double _x, double _y, double _z)=0
 Set the world scale. More...
 
virtual math::Pose3d WorldPose () const =0
 Get the world pose. More...
 
virtual math::Vector3d WorldPosition () const =0
 Get the world position. More...
 
virtual math::Quaterniond WorldRotation () const =0
 Get the world rotation. More...
 
virtual math::Vector3d WorldScale () const =0
 Get the world scale. More...
 
virtual math::Pose3d WorldToLocal (const math::Pose3d &_pose) const =0
 Convert given world pose to local pose. More...
 
- Public Member Functions inherited from Object
virtual ~Object ()
 Destructor. More...
 
virtual void Destroy ()=0
 Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior. More...
 
virtual unsigned int Id () const =0
 Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...
 
virtual std::string Name () const =0
 Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...
 
virtual void PreRender ()=0
 Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender. More...
 
virtual ScenePtr Scene () const =0
 Get the Scene that created this object. More...
 

Detailed Description

Generate depth ray data.

Member Typedef Documentation

◆ NewFrameListener

typedef std::function<void(const void*, unsigned int, unsigned int, unsigned int, const std::string&)> NewFrameListener

Callback function for new frame render event listeners.

Constructor & Destructor Documentation

◆ ~GpuRays()

virtual ~GpuRays ( )
inlinevirtual

Destructor.

Member Function Documentation

◆ AngleMax()

virtual gz::math::Angle AngleMax ( ) const
pure virtual

Get maximal horizontal angle value.

Implemented in BaseGpuRays< T >.

◆ AngleMin()

virtual gz::math::Angle AngleMin ( ) const
pure virtual

Get minimal horizontal angle value.

Implemented in BaseGpuRays< T >.

◆ Channels()

virtual unsigned int Channels ( ) const
pure virtual

Get the number of channels used to store the ray data.

Returns
Channel count.

Implemented in BaseGpuRays< T >.

◆ Clamp()

virtual bool Clamp ( ) const
pure virtual

Get behaviour for data values outside of camera range.

Returns
True if data values are clampped to camera clip distances,

Implemented in BaseGpuRays< T >.

◆ ConnectNewGpuRaysFrame()

virtual common::ConnectionPtr ConnectNewGpuRaysFrame ( std::function< void(const float *_frame, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &)>  _subscriber)
pure virtual

Connect to a gpu rays frame signal.

Parameters
[in]_subscriberCallback that is called when a new image is generated. The callback function parameters are: _frame: Image frame is an array of floats. Size is equal to width * height * channels Each gpu rays reading occupies 3 floats Index 0: depth value Index 1: retro value Index 2: 0. Not used _width: Width of image, i.e. number of data in the horizonal scan _height: Height o image, i.e. number of scans in vertical direction _channels: Number of channels, i.e. 3 floats per gpu rays reading _format: Pixel format of the image frame.
Returns
A pointer to the connection. This must be kept in scope.

◆ Copy()

virtual void Copy ( float *  _data)
pure virtual

Copy to the specified memory direction the gpu rays data.

Implemented in Ogre2GpuRays, OgreGpuRays, BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, and BaseGpuRays< OgreSensor >.

◆ Data()

virtual const float* Data ( ) const
pure virtual

All things needed to get back z buffer for gpu rays data.

Returns
Array of gpu rays data.

Implemented in Ogre2GpuRays, OgreGpuRays, and BaseGpuRays< T >.

◆ IsHorizontal()

virtual bool IsHorizontal ( ) const
pure virtual

Gets if sensor is horizontal.

Returns
True if horizontal, false if not

Implemented in BaseGpuRays< T >.

◆ RangeCount()

virtual int RangeCount ( ) const
pure virtual

Get hoizontal range count, i.e. ray count * horz resolution.

Implemented in BaseGpuRays< T >.

◆ RangeCountRatio()

virtual double RangeCountRatio ( ) const
pure virtual

Get the ray count ratio (equivalent to aspect ratio)

Returns
The ray count ratio (equivalent to aspect ratio)

Implemented in BaseGpuRays< T >.

◆ RayCount()

virtual int RayCount ( ) const
pure virtual

Get horizontal quantity of rays.

Implemented in BaseGpuRays< T >.

◆ RayCountRatio()

virtual double RayCountRatio ( ) const
pure virtual

Get the ray count ratio (equivalent to aspect ratio)

Returns
The ray count ratio (equivalent to aspect ratio)

Implemented in BaseGpuRays< T >.

◆ SetAngleMax()

virtual void SetAngleMax ( double  _angle)
pure virtual

Set maximal horizontal angle value.

Implemented in BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, and BaseGpuRays< OgreSensor >.

◆ SetAngleMin()

virtual void SetAngleMin ( double  _angle)
pure virtual

Set minimal horizontal angle value.

Implemented in BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, and BaseGpuRays< OgreSensor >.

◆ SetClamp()

virtual void SetClamp ( const bool  _clamp)
pure virtual

Configure behaviour for data values outside of camera range.

Parameters
[in]_clampTrue to clamp data to camera clip distances,

Implemented in BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, and BaseGpuRays< OgreSensor >.

◆ SetIsHorizontal()

virtual void SetIsHorizontal ( const bool  _horizontal)
pure virtual

Set sensor horizontal or vertical.

Parameters
[in]_horizontalTrue if horizontal, false if not

Implemented in BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, and BaseGpuRays< OgreSensor >.

◆ SetRayCount()

virtual void SetRayCount ( int  _samples)
pure virtual

Set horizontal quantity of rays.

Implemented in BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, and BaseGpuRays< OgreSensor >.

◆ SetRayCountRatio()

virtual void SetRayCountRatio ( const double  _rayCountRatio)
pure virtual

Sets the ray count ratio (equivalent to aspect ratio)

Parameters
[in]_rayCountRatioray count ratio (equivalent to aspect ratio)

Implemented in BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, and BaseGpuRays< OgreSensor >.

◆ SetVerticalAngleMax()

virtual void SetVerticalAngleMax ( const double  _angle)
pure virtual

Set maximal vertical angle value.

Implemented in BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, and BaseGpuRays< OgreSensor >.

◆ SetVerticalAngleMin()

virtual void SetVerticalAngleMin ( const double  _angle)
pure virtual

Set minimal vertical angle value.

Implemented in BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, and BaseGpuRays< OgreSensor >.

◆ SetVerticalRayCount()

virtual void SetVerticalRayCount ( int  _samples)
pure virtual

Set vertical quantity of rays.

Implemented in BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, and BaseGpuRays< OgreSensor >.

◆ VerticalAngleMax()

virtual gz::math::Angle VerticalAngleMax ( ) const
pure virtual

Get maximal vertical angle value.

Implemented in BaseGpuRays< T >.

◆ VerticalAngleMin()

virtual gz::math::Angle VerticalAngleMin ( ) const
pure virtual

Get minimal vertical angle value.

Implemented in BaseGpuRays< T >.

◆ VerticalRangeCount()

virtual int VerticalRangeCount ( ) const
pure virtual

Get vertical range count, i.e. ray count * vert resolution.

Implemented in BaseGpuRays< T >.

◆ VerticalRayCount()

virtual int VerticalRayCount ( ) const
pure virtual

Get vertical quantity of rays.

Implemented in BaseGpuRays< T >.

◆ VFOV()

virtual math::Angle VFOV ( ) const
pure virtual

Get the vertical field-of-view.

Returns
The vertical field of view of the gpu rays.

Implemented in BaseGpuRays< T >.


The documentation for this class was generated from the following file: