Gpu Rays used to render range data into an image buffer The ogre2 implementation takes a 2 pass process to generate the final range data. 1st Pass: Creates a cubemap of range data. The cubemap is created from six cameras looking in all directions. Depending on the min/max angles specified, not all cameras need to be created. Internally in the 1st pass shaders, we reconstruct 3d viewspace pos from depth buffer data then convert them into ranges, i.e. length(pos.xyz). 2nd Pass: Samples range data from cubemap using predefined rays. The rays are generated based on the specified vertical and horizontal min/max angles and no. of samples. Each ray is a direction vector that is used to sample/lookup the range data stored in the faces of the cubemap. More...

#include <Ogre2GpuRays.hh>

Public Member Functions
virtual	~Ogre2GpuRays ()
	Destructor. More...

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

virtual void	Copy (float *_data) override
	Copy to the specified memory direction the gpu rays data. More...

virtual void	CreateRenderTexture ()
	Create dummy render texture. Needed to satisfy inheritance. More...

virtual const float *	Data () const override
	All things needed to get back z buffer for gpu rays data. More...

virtual void	Destroy () override
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior. More...

virtual void	Init () override

virtual void	PostRender () override
	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 void	PreRender () override
	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 RenderTargetPtr	RenderTarget () const override

Public Member Functions inherited from BaseGpuRays< Ogre2Sensor >
virtual	~BaseGpuRays ()
	Destructor. More...

virtual gz::math::Angle	AngleMax () const override
	Get maximal horizontal angle value. More...

virtual gz::math::Angle	AngleMin () const override
	Get minimal horizontal angle value. More...

virtual unsigned int	Channels () const override
	Get the number of channels used to store the ray data. More...

virtual bool	Clamp () const override
	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 &_format)> _subscriber) override

virtual const float *	Data () const override
	All things needed to get back z buffer for gpu rays data. More...

virtual bool	IsHorizontal () const override
	Gets if sensor is horizontal. More...

virtual int	RangeCount () const override
	Get hoizontal range count, i.e. ray count * horz resolution. More...

virtual double	RangeCountRatio () const override
	Get the ray count ratio (equivalent to aspect ratio) More...

virtual int	RayCount () const override
	Get horizontal quantity of rays. More...

virtual double	RayCountRatio () const override
	Get the ray count ratio (equivalent to aspect ratio) More...

virtual RenderTargetPtr	RenderTarget () const override=0
	Pointer to the render target. More...

virtual void	SetAngleMax (double _angle) override
	Set maximal horizontal angle value. More...

virtual void	SetAngleMin (double _angle) override
	Set minimal horizontal angle value. More...

virtual void	SetClamp (bool _enable) override
	Configure behaviour for data values outside of camera range. More...

virtual void	SetIsHorizontal (const bool _horizontal) override
	Set sensor horizontal or vertical. More...

virtual void	SetRayCount (int _samples) override
	Set horizontal quantity of rays. More...

virtual void	SetRayCountRatio (const double _rayCountRatio) override
	Sets the ray count ratio (equivalent to aspect ratio) More...

virtual void	SetVerticalAngleMax (const double _angle) override
	Set maximal vertical angle value. More...

virtual void	SetVerticalAngleMin (const double _angle) override
	Set minimal vertical angle value. More...

virtual void	SetVerticalRayCount (int _samples) override
	Set vertical quantity of rays. More...

virtual void	SetVFOV (const math::Angle &_vfov)
	Set the vertical fov. More...

virtual gz::math::Angle	VerticalAngleMax () const override
	Get maximal vertical angle value. More...

virtual gz::math::Angle	VerticalAngleMin () const override
	Get minimal vertical angle value. More...

virtual int	VerticalRangeCount () const override
	Get vertical range count, i.e. ray count * vert resolution. More...

virtual int	VerticalRayCount () const override
	Get vertical quantity of rays. More...

virtual math::Angle	VFOV () const override
	Get the vertical field-of-view. More...

Public Member Functions inherited from GpuRays
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 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 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 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 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 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 math::Matrix4d	ProjectionMatrix () const =0
	Get the projection matrix for this camera. 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 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 math::Matrix4d	ViewMatrix () const =0
	Get the view matrix for this camera. More...

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	Sensor. More...

Public Member Functions inherited from Node
virtual	~Node ()
	Deconstructor. More...

virtual unsigned int	ChildCount () const =0
	Get number of child nodes. 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	Origin () const =0
	Get position of origin. 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...

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor. 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 ScenePtr	Scene () const =0
	Get the Scene that created this object. More...

Public Member Functions inherited from BaseCamera< Ogre2Sensor >
virtual	~BaseCamera ()

virtual void	AddRenderPass (const RenderPassPtr &_pass) override
	Add a render pass to the camera. More...

virtual unsigned int	AntiAliasing () const override
	Get the level of anti-aliasing used during rendering. More...

virtual double	AspectRatio () const override
	Get the camera's aspect ratio. More...

virtual void	Capture (Image &_image) override
	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 (Camera::NewFrameListener _listener) override
	Subscribes a new listener to this camera's new frame event. More...

virtual void	Copy (Image &_image) const override
	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 override
	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 () override
	Create a render window. More...

virtual double	FarClipPlane () const override
	Get the camera's far clipping plane distance. More...

virtual math::Vector3d	FollowOffset () const override
	Get the follow offset vector in the frame specified at the time the follow target is set. More...

virtual double	FollowPGain () const override
	Get the camera follow movement P gain. More...

virtual NodePtr	FollowTarget () const override
	Get the target node being followed. More...

virtual math::Angle	HFOV () const override
	Get the camera's horizontal field-of-view. More...

virtual PixelFormat	ImageFormat () const override
	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 override
	Get the image height in pixels. More...

virtual unsigned int	ImageMemorySize () const override
	Get the total image memory size in bytes. More...

virtual unsigned int	ImageWidth () const override
	Get the image width in pixels. More...

virtual double	NearClipPlane () const override
	Get the camera's near clipping plane distance. More...

virtual math::Matrix4d	ProjectionMatrix () const override
	Get the projection matrix for this camera. More...

virtual void	RemoveRenderPass (const RenderPassPtr &_pass) override
	Remove a render pass from the camera. More...

virtual RenderPassPtr	RenderPassByIndex (unsigned int _index) const override
	Get a render passes by index. More...

virtual unsigned int	RenderPassCount () const override
	Get the number of render passes applied to the camera. More...

virtual unsigned int	RenderTextureGLId () const override
	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) override
	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) override
	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) override
	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) override
	Set the camera's far clipping plane distance. More...

virtual void	SetFollowOffset (const math::Vector3d &_offset) override
	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) override
	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, const bool _worldFrame) override
	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) override
	Set the camera's horizontal field-of-view. More...

virtual void	SetImageFormat (PixelFormat _format) override
	Set the image pixel format. More...

virtual void	SetImageHeight (const unsigned int _height) override
	Set the image height in pixels. More...

virtual void	SetImageWidth (const unsigned int _width) override
	Set the image width in pixels. More...

virtual void	SetMaterial (const MaterialPtr &_material) override
	Set a material that the camera should see on all objects. More...

virtual void	SetNearClipPlane (const double _near) override
	Set the camera's near clipping plane distance. More...

virtual void	SetTrackOffset (const math::Vector3d &_offset) override
	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) override
	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, const bool _worldFrame) override
	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 override
	Get the track offset vector in the frame specified at the time the track target is set. More...

virtual double	TrackPGain () const override
	Get the camera track rotation P gain. More...

virtual NodePtr	TrackTarget () const override
	Get the target node being tracked. More...

virtual void	Update () override
	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 override
	Get the view matrix for this camera. More...

virtual VisualPtr	VisualAt (const gz::math::Vector2i &_mousePos) override
	Get the visual for a given mouse position param[in] _mousePos mouse position. More...

Public Member Functions inherited from Ogre2Sensor
virtual	~Ogre2Sensor ()
	Destructor. More...

Public Member Functions inherited from BaseSensor< Ogre2Node >
virtual	~BaseSensor ()

Public Member Functions inherited from Ogre2Node
virtual	~Ogre2Node ()
	Destructor. More...

virtual bool	HasParent () const override
	Determine if this Node is attached to another Node. More...

virtual bool	InheritScale () const override
	Determine if this visual inherits scale from this parent. More...

virtual math::Vector3d	LocalScale () const override
	Get the local scale. More...

virtual Ogre::SceneNode *	Node () const
	Get a pointer to the underlying scene node. More...

virtual NodePtr	Parent () const override
	Get the parent Node. More...

virtual void	SetInheritScale (bool _inherit) override
	Specify if this visual inherits scale from its parent. More...

Public Member Functions inherited from BaseNode< Ogre2Object >
virtual	~BaseNode ()

virtual void	AddChild (NodePtr _child) override
	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 override
	Get node with given ID. If no child exists with given ID, NULL will be returned. More...

virtual NodePtr	ChildByIndex (unsigned int _index) const override
	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 override
	Get node with given name. If no child exists with given name, NULL will be returned. More...

virtual unsigned int	ChildCount () const override
	Get number of child nodes. More...

virtual bool	HasChild (ConstNodePtr _child) const override
	Determine if given node is an attached child. More...

virtual bool	HasChildId (unsigned int _id) const override
	Determine if node with given ID is an attached child. More...

virtual bool	HasChildName (const std::string &_name) const override
	Determine if node with given name is an attached child. More...

virtual bool	InheritScale () const override=0
	Determine if this visual inherits scale from this parent. More...

virtual math::Pose3d	LocalPose () const override
	Get the local pose. More...

virtual math::Vector3d	LocalPosition () const override
	Get the local position. More...

virtual math::Quaterniond	LocalRotation () const override
	Get the local rotation. More...

virtual math::Vector3d	LocalScale () const override=0
	Get the local scale. More...

virtual math::Vector3d	Origin () const override
	Get position of origin. More...

virtual NodePtr	Parent () const override=0
	Get the parent Node. More...

virtual NodePtr	RemoveChild (NodePtr _child) override
	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) override
	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) override
	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) override
	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 () override
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them. More...

virtual void	RemoveParent () override
	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) override
	Scale the current scale by the given scalars. More...

virtual void	Scale (double _scale) override
	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) override
	Scale the current scale by the given scalars. More...

virtual void	SetLocalPose (const math::Pose3d &_pose) override
	Set the local pose. More...

virtual void	SetLocalPosition (const math::Vector3d &_position) override
	Set the local position. More...

virtual void	SetLocalPosition (double _x, double _y, double _z) override
	Set the local position. More...

virtual void	SetLocalRotation (const math::Quaterniond &_rotation) override
	Set the local rotation. More...

virtual void	SetLocalRotation (double _r, double _p, double _y) override
	Set the local rotation. More...

virtual void	SetLocalRotation (double _w, double _x, double _y, double _z) override
	Set the local rotation. More...

virtual void	SetLocalScale (const math::Vector3d &_scale) override
	Set the local scale. More...

virtual void	SetLocalScale (double _scale) override
	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) override
	Set the local scale. More...

virtual void	SetOrigin (const math::Vector3d &_origin) override
	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) override
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetWorldPose (const math::Pose3d &_pose) override
	Set the world pose. More...

virtual void	SetWorldPosition (const math::Vector3d &_position) override
	Set the world position. More...

virtual void	SetWorldPosition (double _x, double _y, double _z) override
	Set the world position. More...

virtual void	SetWorldRotation (const math::Quaterniond &_rotation) override
	Set the world rotation. More...

virtual void	SetWorldRotation (double _r, double _p, double _y) override
	Set the world rotation. More...

virtual void	SetWorldRotation (double _w, double _x, double _y, double _z) override
	Set the world rotation. More...

virtual void	SetWorldScale (const math::Vector3d &_scale) override
	Set the world scale. More...

virtual void	SetWorldScale (double _scale) override
	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) override
	Set the world scale. More...

virtual math::Pose3d	WorldPose () const override
	Get the world pose. More...

virtual math::Vector3d	WorldPosition () const override
	Get the world position. More...

virtual math::Quaterniond	WorldRotation () const override
	Get the world rotation. More...

virtual math::Vector3d	WorldScale () const override
	Get the world scale. More...

virtual math::Pose3d	WorldToLocal (const math::Pose3d &_pose) const override
	Convert given world pose to local pose. More...

Public Member Functions inherited from Ogre2Object
virtual	~Ogre2Object ()
	Destructor. More...

virtual ScenePtr	Scene () const override

Public Member Functions inherited from BaseObject
virtual	~BaseObject ()

virtual unsigned int	Id () const override

virtual std::string	Name () const override

Protected Member Functions
	Ogre2GpuRays ()
	Constructor. More...

Protected Member Functions inherited from BaseGpuRays< Ogre2Sensor >
	BaseGpuRays ()
	Constructor. More...

Protected Member Functions inherited from BaseCamera< Ogre2Sensor >
	BaseCamera ()

virtual void *	CreateImageBuffer () const

virtual void	Load () override

virtual void	Reset ()

Protected Member Functions inherited from Ogre2Sensor
	Ogre2Sensor ()
	Constructor. More...

Protected Member Functions inherited from BaseSensor< Ogre2Node >
	BaseSensor ()

Protected Member Functions inherited from Ogre2Node
	Ogre2Node ()
	Constructor. More...

virtual bool	AttachChild (NodePtr _child) override

virtual NodeStorePtr	Children () const override

virtual bool	DetachChild (NodePtr _child) override

virtual math::Pose3d	RawLocalPose () const override

virtual math::Vector3d	RawLocalPosition () const
	Get the raw local position of the node. More...

virtual math::Quaterniond	RawLocalRotation () const
	Get the raw local rotation of the node. More...

virtual void	SetLocalScaleImpl (const math::Vector3d &_scale) override
	Implementation of the SetLocalScale function. More...

virtual void	SetParent (Ogre2NodePtr _parent)
	Set the parent node. More...

virtual void	SetRawLocalPose (const math::Pose3d &_Pose3d) override

virtual void	SetRawLocalPosition (const math::Vector3d &_position)
	Set the raw local position of the node. More...

virtual void	SetRawLocalRotation (const math::Quaterniond &_rotation)
	Set the raw local rotation of the node. More...

Protected Member Functions inherited from BaseNode< Ogre2Object >
	BaseNode ()

virtual NodeStorePtr	Children () const=0

virtual void	PreRenderChildren ()

virtual math::Pose3d	RawLocalPose () const=0

Protected Member Functions inherited from Ogre2Object
	Ogre2Object ()
	Constructor. More...

Protected Member Functions inherited from BaseObject
	BaseObject ()

Additional Inherited Members
Public Types inherited from GpuRays
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 Attributes inherited from BaseGpuRays< Ogre2Sensor >
bool	clamping
	True if data values are clamped to camera clip distances,. More...

float	dataMaxVal
	maximum value used for data outside sensor range More...

float	dataMinVal
	minimum value used for data outside sensor range More...

Protected Attributes inherited from BaseGpuRays< Ogre2Sensor >
unsigned int	channels
	Number of channels used to store the data. More...

int	hResolution
	Resolution of horizontal rays. More...

int	hSamples
	Quantity of horizontal rays. More...

bool	isHorizontal
	True if the sensor is horizontal only. More...

double	maxAngle
	Horizontal maximal angle. More...

double	minAngle
	Horizontal minimal angle. More...

double	rangeCountRatio
	Range count ratio. More...

double	rayCountRatio
	Ray count ratio. More...

math::Angle	vfov
	Vertical field-of-view. More...

double	vMaxAngle
	Vertical maximal angle. More...

double	vMinAngle
	Vertical minimal angle. More...

int	vResolution
	Resolution of vertical rays. More...

int	vSamples
	Quantity of verical rays. More...

Protected Attributes inherited from BaseCamera< Ogre2Sensor >
unsigned int	antiAliasing
	Anti-aliasing. More...

double	aspect
	Aspect ratio. More...

double	farClip
	Far clipping plane distance. More...

NodePtr	followNode
	Target node to follow. More...

math::Vector3d	followOffset
	Offset distance between camera and target node being followed. More...

double	followPGain
	P gain for follow mode. Determines how fast the camera moves to follow the target node. Valid range: [0-1]. More...

bool	followWorldFrame
	Follow target in world frame. More...

math::Angle	hfov
	Horizontal camera field of view. More...

ImagePtr	imageBuffer

double	nearClip
	Near clipping plane distance. More...

common::EventT< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)>	newFrameEvent

NodePtr	trackNode
	Target node to track if camera tracking is on. More...

math::Vector3d	trackOffset
	Set camera to track a point offset in target node's local or world frame depending on trackWorldFrame. More...

double	trackPGain
	P gain for tracking. Determines how fast the camera rotates to look at the target node. Valid range: [0-1]. More...

bool	trackWorldFrame
	Track point relative to target in world frame. More...

Protected Attributes inherited from Ogre2Node
Ogre2NodeStorePtr	children
	A list of child nodes. More...

Ogre::SceneNode *	ogreNode = nullptr
	The underlying ogre scene node. More...

Ogre2NodePtr	parent
	Pointer to the parent ogre node. More...

Protected Attributes inherited from BaseNode< Ogre2Object >
math::Vector3d	origin

Protected Attributes inherited from Ogre2Object
Ogre2ScenePtr	scene
	Pointer to the ogre scene. More...

Protected Attributes inherited from BaseObject
unsigned int	id

std::string	name

Detailed Description

Gpu Rays used to render range data into an image buffer The ogre2 implementation takes a 2 pass process to generate the final range data. 1st Pass: Creates a cubemap of range data. The cubemap is created from six cameras looking in all directions. Depending on the min/max angles specified, not all cameras need to be created. Internally in the 1st pass shaders, we reconstruct 3d viewspace pos from depth buffer data then convert them into ranges, i.e. length(pos.xyz). 2nd Pass: Samples range data from cubemap using predefined rays. The rays are generated based on the specified vertical and horizontal min/max angles and no. of samples. Each ray is a direction vector that is used to sample/lookup the range data stored in the faces of the cubemap.

Constructor & Destructor Documentation

◆ Ogre2GpuRays()

Ogre2GpuRays ( )

protected

Constructor.

◆ ~Ogre2GpuRays()

virtual ~Ogre2GpuRays ( )

virtual

Destructor.

Member Function Documentation

◆ ConnectNewGpuRaysFrame()

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

overridevirtual

◆ Copy()

virtual void Copy ( float * _data )

overridevirtual

Copy to the specified memory direction the gpu rays data.

Reimplemented from BaseGpuRays< Ogre2Sensor >.

◆ CreateRenderTexture()

virtual void CreateRenderTexture ( )

virtual

Create dummy render texture. Needed to satisfy inheritance.

◆ Data()

virtual const float* Data ( ) const

overridevirtual

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

Returns: Array of gpu rays data.

Implements GpuRays.

◆ Destroy()

virtual void Destroy ( )

overridevirtual

Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

Reimplemented from Ogre2Node.

◆ Init()

virtual void Init ( )

overridevirtual

Reimplemented from Ogre2Node.

◆ PostRender()

virtual void PostRender ( )

overridevirtual

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.

Reimplemented from BaseCamera< Ogre2Sensor >.

◆ PreRender()

virtual void PreRender ( )

overridevirtual

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.

Reimplemented from BaseCamera< Ogre2Sensor >.

◆ RenderTarget()

virtual RenderTargetPtr RenderTarget ( ) const

overridevirtual

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

gz/rendering/ogre2/Ogre2GpuRays.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Ogre2GpuRays()

◆ ~Ogre2GpuRays()

Member Function Documentation

◆ ConnectNewGpuRaysFrame()

◆ Copy()

◆ CreateRenderTexture()

◆ Data()

◆ Destroy()

◆ Init()

◆ PostRender()

◆ PreRender()

◆ RenderTarget()