Gazebo Rendering

API Reference

3.7.2
gz/rendering/ogre2/Ogre2GpuRays.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GZ_RENDERING_OGRE2_OGRE2GPURAYS_HH_
19 #define GZ_RENDERING_OGRE2_OGRE2GPURAYS_HH_
20 
21 #include <string>
22 #include <memory>
23 
26 #include "gz/rendering/ogre2/Export.hh"
32 
33 #include "gz/common/Event.hh"
34 #include "gz/common/Console.hh"
35 
36 namespace Ogre
37 {
38  class Material;
39  class RenderTarget;
40  class Texture;
41  class Viewport;
42 }
43 
44 namespace ignition
45 {
46  namespace rendering
47  {
48  inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
49  //
50  // Forward declaration
51  class Ogre2GpuRaysPrivate;
52 
66  class IGNITION_RENDERING_OGRE2_VISIBLE Ogre2GpuRays :
67  public BaseGpuRays<Ogre2Sensor>
68  {
70  protected: Ogre2GpuRays();
71 
73  public: virtual ~Ogre2GpuRays();
74 
75  // Documentation inherited
76  public: virtual void Init() override;
77 
78  // Documentation inherited
79  public: virtual void Destroy() override;
80 
82  public: virtual void CreateRenderTexture();
83 
84  // Documentation inherited
85  public: virtual void PreRender() override;
86 
87  // Documentation inherited
88  public: virtual void PostRender() override;
89 
90  // Documentation inherited
91  public: virtual const float *Data() const override;
92 
93  // Documentation inherited.
94  public: virtual void Copy(float *_data) override;
95 
96  // Documentation inherited.
97  public: virtual common::ConnectionPtr ConnectNewGpuRaysFrame(
98  std::function<void(const float *_frame, unsigned int _width,
99  unsigned int _height, unsigned int _channels,
100  const std::string &_format)> _subscriber) override;
101 
102  // Documentation inherited.
103  public: virtual RenderTargetPtr RenderTarget() const override;
104 
109  private: virtual void Set1stTextureSize(const unsigned int _w,
110  const unsigned int _h = 1);
111 
116  private: virtual void SetRangeCount(const unsigned int _w,
117  const unsigned int _h = 1);
118 
119  // Documentation inherited.
120  private: virtual void Render() override;
121 
123  private: void ConfigureCamera();
124 
126  private: void CreateCamera();
127 
129  private: virtual void CreateGpuRaysTextures();
130 
132  private: void UpdateRenderTarget1stPass();
133 
135  private: void UpdateRenderTarget2ndPass();
136 
139  private: void CreateSampleTexture();
140 
142  private: void Setup1stPass();
143 
145  private: void Setup2ndPass();
146 
152  private: math::Vector2d SampleCubemap(const math::Vector3d &_v,
153  unsigned int &_faceIndex);
154 
157  private: std::unique_ptr<Ogre2GpuRaysPrivate> dataPtr;
158 
160  private: friend class Ogre2Scene;
161  };
162  }
163  }
164 }
165 #endif
Gpu Rays used to render range data into an image buffer The ogre2 implementation takes a 2 pass proce...
Definition: gz/rendering/ogre2/Ogre2GpuRays.hh:66
Definition: gz/rendering/ogre/OgreCamera.hh:27
STL class.
STL class.
Definition: gz/rendering/base/BaseGpuRays.hh:42
Ogre2.x implementation of the scene class.
Definition: gz/rendering/ogre2/Ogre2Scene.hh:41
Represents a render-target to which cameras can render images.
Definition: gz/rendering/RenderTarget.hh:37