Ogre2DepthCamera Class Reference

Depth camera used to render depth data into an image buffer. More...

#include <Ogre2DepthCamera.hh>

Public Member Functions
virtual	~Ogre2DepthCamera ()
	Destructor. More...
void	AddRenderPass (const RenderPassPtr &_pass) override
virtual gz::common::ConnectionPtr	ConnectNewDepthFrame (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber) override
	Connect a to the new depth image signal. More...
virtual gz::common::ConnectionPtr	ConnectNewRgbPointCloud (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber) override
	Connect a to the new rgb point cloud signal. More...
virtual void	CreateDepthTexture () override
	Create a texture which will hold the depth data. More...
virtual void	CreateRenderTexture ()
	Create dummy render texture. Needed to satisfy inheritance. More...
virtual const float *	DepthData () const override
	All things needed to get back z buffer for depth data. More...
virtual void	Destroy () override
double	FarClipPlane () const override
	Get the far clip distance. More...
virtual void	Init () override
	Initialize the camera. More...
double	NearClipPlane () const override
	Get the near clip distance. More...
virtual void	PostRender () override
	Render the camera. More...
virtual void	PreRender () override
virtual void	Render () override
	Implementation of the render call. More...
virtual void	SetFarClipPlane (const double _far) override
	Set the far clip distance. More...
virtual void	SetNearClipPlane (const double _near) override
	Set the near clip distance. More...
Public Member Functions inherited from BaseDepthCamera< Ogre2Sensor >
virtual	~BaseDepthCamera ()
virtual gz::common::ConnectionPtr	ConnectNewRGBPointCloud (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
virtual const float *	DepthData () const

Protected Member Functions
	Ogre2DepthCamera ()
	Constructor. More...
void	CreateCamera ()
	Create the camera. More...
virtual RenderTargetPtr	RenderTarget () const override
	Get a pointer to the render target. More...
Protected Member Functions inherited from BaseDepthCamera< Ogre2Sensor >
	BaseDepthCamera ()

Static Protected Member Functions
static double	LimitFOV (const double _fov)
	Limit field of view taking care of using a valid value for an OGRE camera. More...

Protected Attributes
Ogre::Camera *	ogreCamera
	Pointer to the ogre camera. More...

Detailed Description

Depth camera used to render depth data into an image buffer.

Constructor & Destructor Documentation

Ogre2DepthCamera()

Ogre2DepthCamera ( )

protected

Constructor.

~Ogre2DepthCamera()

virtual ~Ogre2DepthCamera ( )

virtual

Destructor.

Member Function Documentation

AddRenderPass()

void AddRenderPass ( const RenderPassPtr &  _pass )

override

ConnectNewDepthFrame()

virtual gz::common::ConnectionPtr ConnectNewDepthFrame ( std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)>  _subscriber )

overridevirtual

Connect a to the new depth image signal.

Parameters

[in]

_subscriber

Subscriber callback function

Returns

Pointer to the new Connection. This must be kept in scope

Reimplemented from BaseDepthCamera< Ogre2Sensor >.

ConnectNewRgbPointCloud()

virtual gz::common::ConnectionPtr ConnectNewRgbPointCloud ( std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)>  _subscriber )

overridevirtual

Connect a to the new rgb point cloud signal.

Parameters

[in]

_subscriber

Subscriber callback function

Returns

Pointer to the new Connection. This must be kept in scope

CreateCamera()

void CreateCamera ( )

protected

Create the camera.

CreateDepthTexture()

virtual void CreateDepthTexture ( )

overridevirtual

Create a texture which will hold the depth data.

Set up 1st pass material, texture, and compositor

Reimplemented from BaseDepthCamera< Ogre2Sensor >.

CreateRenderTexture()

virtual void CreateRenderTexture ( )

virtual

Create dummy render texture. Needed to satisfy inheritance.

DepthData()

virtual const float* DepthData ( ) const

overridevirtual

All things needed to get back z buffer for depth data.

Returns

The z-buffer as a float array

Destroy()

virtual void Destroy ( )

overridevirtual

FarClipPlane()

double FarClipPlane ( ) const

override

Get the far clip distance.

Returns

Far clip distance. A value of zero is returned if the ogre camera has not been created.

Init()

virtual void Init ( )

overridevirtual

Initialize the camera.

LimitFOV()

static double LimitFOV ( const double  _fov )

staticprotected

Limit field of view taking care of using a valid value for an OGRE camera.

Parameters

[in]

_fov

expected field of view

Returns

valid field of view

NearClipPlane()

double NearClipPlane ( ) const

override

Get the near clip distance.

Returns

Near clip distance. A value of zero is returned if the ogre camera has not been created.

PostRender()

virtual void PostRender ( )

overridevirtual

Render the camera.

PreRender()

virtual void PreRender ( )

overridevirtual

Render()

virtual void Render ( )

overridevirtual

Implementation of the render call.

RenderTarget()

virtual RenderTargetPtr RenderTarget ( ) const

overrideprotectedvirtual

Get a pointer to the render target.

Returns

Pointer to the render target

SetFarClipPlane()

virtual void SetFarClipPlane ( const double  _far )

overridevirtual

Set the far clip distance.

Parameters

[in]

_far

far clip distance

SetNearClipPlane()

virtual void SetNearClipPlane ( const double  _near )

overridevirtual

Set the near clip distance.

Parameters

[in]

_near

Near clip distance

Member Data Documentation

ogreCamera

Ogre::Camera* ogreCamera

protected

Pointer to the ogre camera.

---

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

• gz/rendering/ogre2/Ogre2DepthCamera.hh