Gazebo Rendering

API Reference

3.7.2
gz/rendering/Camera.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GZ_RENDERING_CAMERA_HH_
18 #define GZ_RENDERING_CAMERA_HH_
19 
20 #include <string>
21 
22 #include <gz/common/Event.hh>
23 #include <gz/math/Matrix4.hh>
24 
25 #include "gz/rendering/config.hh"
26 #include "gz/rendering/Image.hh"
28 #include "gz/rendering/Sensor.hh"
29 #include "gz/rendering/Scene.hh"
30 
31 
32 namespace ignition
33 {
34  namespace rendering
35  {
36  inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
37  //
40  class IGNITION_RENDERING_VISIBLE Camera :
41  public virtual Sensor
42  {
44  public: typedef std::function<void(const void*, unsigned int,
45  unsigned int, unsigned int, const std::string&)> NewFrameListener;
46 
48  public: virtual ~Camera() { }
49 
52  public: virtual unsigned int ImageWidth() const = 0;
53 
56  public: virtual void SetImageWidth(unsigned int _width) = 0;
57 
60  public: virtual unsigned int ImageHeight() const = 0;
61 
64  public: virtual void SetImageHeight(unsigned int _height) = 0;
65 
69  public: virtual PixelFormat ImageFormat() const = 0;
70 
73  public: virtual void SetImageFormat(PixelFormat _format) = 0;
74 
77  public: virtual unsigned int ImageMemorySize() const = 0;
78 
81  public: virtual math::Angle HFOV() const = 0;
82 
85  public: virtual void SetHFOV(const math::Angle &_hfov) = 0;
86 
89  public: virtual double AspectRatio() const = 0;
90 
95  public: virtual void SetAspectRatio(const double _ratio) = 0;
96 
97  // TODO(anyone): add auto-aspect ratio
98 
101  public: virtual unsigned int AntiAliasing() const = 0;
102 
108  public: virtual void SetAntiAliasing(const unsigned int _aa) = 0;
109 
112  public: virtual double FarClipPlane() const = 0;
113 
116  public: virtual void SetFarClipPlane(const double _far) = 0;
117 
120  public: virtual double NearClipPlane() const = 0;
121 
124  public: virtual void SetNearClipPlane(const double _near) = 0;
125 
129  public: virtual void Render() = 0;
130 
135  public: virtual void PostRender() = 0;
136 
139  // \return visual for that position, null if no visual was found
140  public: virtual VisualPtr VisualAt(const gz::math::Vector2i
141  &_mousePos) = 0;
142 
148  public: virtual void Update() = 0;
149 
155  public: virtual Image CreateImage() const = 0;
156 
163  public: virtual void Capture(Image &_image) = 0;
164 
170  public: virtual void Copy(Image &_image) const = 0;
171 
177  public: virtual bool SaveFrame(const std::string &_name) = 0;
178 
181  public: virtual common::ConnectionPtr ConnectNewImageFrame(
182  NewFrameListener _listener) = 0;
183 
186  public: virtual RenderWindowPtr CreateRenderWindow() = 0;
187 
190  public: virtual math::Matrix4d ProjectionMatrix() const = 0;
191 
194  public: virtual math::Matrix4d ViewMatrix() const = 0;
195 
208  public: virtual void SetTrackTarget(const NodePtr &_target,
209  const math::Vector3d &_offset = math::Vector3d::Zero,
210  const bool _worldFrame = false) = 0;
211 
214  public: virtual NodePtr TrackTarget() const = 0;
215 
220  public: virtual void SetTrackOffset(const math::Vector3d &_offset) = 0;
221 
225  public: virtual math::Vector3d TrackOffset() const = 0;
226 
230  public: virtual void SetTrackPGain(const double _pGain) = 0;
231 
234  public: virtual double TrackPGain() const = 0;
235 
247  public: virtual void SetFollowTarget(const NodePtr &_target,
248  const math::Vector3d &_offset = math::Vector3d::Zero,
249  const bool _worldFrame = false) = 0;
250 
253  public: virtual NodePtr FollowTarget() const = 0;
254 
259  public: virtual void SetFollowOffset(const math::Vector3d &_offset) = 0;
260 
264  public: virtual math::Vector3d FollowOffset() const = 0;
265 
269  public: virtual void SetFollowPGain(const double _pGain) = 0;
270 
273  public: virtual double FollowPGain() const = 0;
274 
277  public: virtual void SetMaterial(const MaterialPtr &_material) = 0;
278 
283  public: virtual unsigned int RenderTextureGLId() const = 0;
284 
287  public: virtual void AddRenderPass(const RenderPassPtr &_pass) = 0;
288 
291  public: virtual void RemoveRenderPass(const RenderPassPtr &_pass) = 0;
292 
295  public: virtual unsigned int RenderPassCount() const = 0;
296 
299  public: virtual RenderPassPtr RenderPassByIndex(unsigned int _index)
300  const = 0;
301  };
302  }
303  }
304 }
305 #endif
virtual void Update()=0
Renders a new frame. This is a convenience function for single-camera scenes. It wraps the pre-render...
virtual void Copy(Image &_image) const =0
Writes the last rendered image to the given image buffer. This function can be called multiple times ...
Represents a scene sensor. The most obvious example is a camera, but it can be anything that generate...
Definition: gz/rendering/Sensor.hh:32
STL class.
STL class.
virtual RenderPassPtr RenderPassByIndex(unsigned int _index) const =0
Get a render passes by index.
PixelFormat
Image pixel format types.
Definition: gz/rendering/PixelFormat.hh:32
virtual void PostRender()=0
Preforms any necessary final rendering work. Once rendering is complete the camera will alert any lis...
virtual NodePtr FollowTarget() const =0
Get the target node being followed.
std::function< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)> NewFrameListener
Callback function for new frame render event listeners.
Definition: gz/rendering/Camera.hh:45
virtual void SetTrackPGain(const double _pGain)=0
Set track P Gain. Determines how fast the camera rotates to look at the target node....
virtual double FollowPGain() const =0
Get the camera follow movement P gain.
Encapsulates a raw image buffer and relevant properties.
Definition: gz/rendering/Image.hh:36
virtual double NearClipPlane() const =0
Get the camera's near clipping plane distance.
virtual PixelFormat ImageFormat() const =0
Get the image pixel format. If the image pixel format has not been set with a valid value,...
virtual math::Vector3d FollowOffset() const =0
Get the follow offset vector in the frame specified at the time the follow target is set.
Posable camera used for rendering the scene graph.
Definition: gz/rendering/Camera.hh:40
virtual VisualPtr VisualAt(const gz::math::Vector2i &_mousePos)=0
Get the visual for a given mouse position param[in] _mousePos mouse position.
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 targ...
virtual void AddRenderPass(const RenderPassPtr &_pass)=0
Add a render pass to the camera.
virtual RenderWindowPtr CreateRenderWindow()=0
Create a render window.
virtual double AspectRatio() const =0
Get the camera's aspect ratio.
virtual unsigned int ImageHeight() const =0
Get the image height in pixels.
static const Vector3 Zero
virtual void SetFollowPGain(const double _pGain)=0
Set follow P Gain. Determines how fast the camera moves to follow the target node....
virtual void RemoveRenderPass(const RenderPassPtr &_pass)=0
Remove a render pass from the camera.
virtual ~Camera()
Deconstructor.
Definition: gz/rendering/Camera.hh:48
virtual unsigned int ImageWidth() const =0
Get the image width in pixels.
virtual unsigned int RenderTextureGLId() const =0
Get the OpenGL texture id associated with the render texture used by this camera. A valid id is retur...
virtual void Capture(Image &_image)=0
Renders a new frame and writes the results to the given image. This is a convenience function for sin...
virtual NodePtr TrackTarget() const =0
Get the target node being tracked.
virtual Image CreateImage() const =0
Created an empty image buffer for capturing images. The resulting image will have sufficient memory a...
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 ...
virtual math::Angle HFOV() const =0
Get the camera's horizontal field-of-view.
virtual void SetImageWidth(unsigned int _width)=0
Set the image width in pixels.
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....
virtual void SetAspectRatio(const double _ratio)=0
Set the camera's aspect ratio. This value determines the cameras vertical field-of-view....
virtual unsigned int ImageMemorySize() const =0
Get the total image memory size in bytes.
virtual math::Matrix4d ViewMatrix() const =0
Get the view matrix for this camera.
virtual double FarClipPlane() const =0
Get the camera's far clipping plane distance.
virtual double TrackPGain() const =0
Get the camera track rotation P gain.
virtual math::Vector3d TrackOffset() const =0
Get the track offset vector in the frame specified at the time the track target is set.
virtual void Render()=0
Renders the current scene using this camera. This function assumes PreRender() has already been calle...
virtual void SetImageHeight(unsigned int _height)=0
Set the image height in pixels.
virtual common::ConnectionPtr ConnectNewImageFrame(NewFrameListener _listener)=0
Subscribes a new listener to this camera's new frame event.
virtual unsigned int RenderPassCount() const =0
Get the number of render passes applied to the camera.
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...
virtual math::Matrix4d ProjectionMatrix() const =0
Get the projection matrix for this camera.
virtual void SetMaterial(const MaterialPtr &_material)=0
Set a material that the camera should see on all objects.
virtual void SetImageFormat(PixelFormat _format)=0
Set the image pixel format.
virtual void SetFarClipPlane(const double _far)=0
Set the camera's far clipping plane distance.
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 specifi...
virtual void SetNearClipPlane(const double _near)=0
Set the camera's near clipping plane distance.
virtual unsigned int AntiAliasing() const =0
Get the level of anti-aliasing used during rendering.
virtual bool SaveFrame(const std::string &_name)=0
Writes the previously rendered frame to a file. This function can be called multiple times after Post...
virtual void SetHFOV(const math::Angle &_hfov)=0
Set the camera's horizontal field-of-view.