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] _subscriber Callback 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] _clamp True 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] _horizontal True 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] _rayCountRatio ray 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:

gz/rendering/GpuRays.hh

Gazebo Rendering

API Reference

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ NewFrameListener

Constructor & Destructor Documentation

◆ ~GpuRays()

Member Function Documentation

◆ AngleMax()

◆ AngleMin()

◆ Channels()

◆ Clamp()

◆ ConnectNewGpuRaysFrame()

◆ Copy()

◆ Data()

◆ IsHorizontal()

◆ RangeCount()

◆ RangeCountRatio()

◆ RayCount()

◆ RayCountRatio()

◆ SetAngleMax()

◆ SetAngleMin()

◆ SetClamp()

◆ SetIsHorizontal()

◆ SetRayCount()

◆ SetRayCountRatio()

◆ SetVerticalAngleMax()

◆ SetVerticalAngleMin()

◆ SetVerticalRayCount()

◆ VerticalAngleMax()

◆ VerticalAngleMin()

◆ VerticalRangeCount()

◆ VerticalRayCount()

◆ VFOV()