Gazebo Rendering

API Reference

6.6.3
gz/rendering/ogre2/Ogre2DepthCamera.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_OGRE2DEPTHCAMERA_HH_
19 #define GZ_RENDERING_OGRE2_OGRE2DEPTHCAMERA_HH_
20 
21 #ifdef _WIN32
22  // Ensure that Winsock2.h is included before Windows.h, which can get
23  // pulled in by anybody (e.g., Boost).
24  #include <Winsock2.h>
25 #endif
26 
27 #include <memory>
28 #include <string>
29 
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 Ogre2DepthCameraPrivate;
52 
54  class IGNITION_RENDERING_OGRE2_VISIBLE Ogre2DepthCamera :
55  public BaseDepthCamera<Ogre2Sensor>
56  {
58  protected: Ogre2DepthCamera();
59 
61  public: virtual ~Ogre2DepthCamera();
62 
64  public: virtual void Init() override;
65 
66  // Documentation inherited
67  public: virtual void Destroy() override;
68 
70  public: virtual void CreateRenderTexture();
71 
74  public: virtual void CreateDepthTexture() override;
75 
78  private: void CreateWorkspaceInstance();
79 
80  // Documentation inherited
81  public: virtual void PreRender() override;
82 
84  public: virtual void PostRender() override;
85 
88  public: virtual const float *DepthData() const override;
89 
93  public: virtual gz::common::ConnectionPtr ConnectNewDepthFrame(
94  std::function<void(const float *, unsigned int, unsigned int,
95  unsigned int, const std::string &)> _subscriber) override;
96 
100  public: virtual gz::common::ConnectionPtr ConnectNewRgbPointCloud(
101  std::function<void(const float *, unsigned int, unsigned int,
102  unsigned int, const std::string &)> _subscriber) override;
103 
105  public: virtual void Render() override;
106 
109  public: virtual void SetFarClipPlane(const double _far) override;
110 
113  public: virtual void SetNearClipPlane(const double _near) override;
114 
118  public: double NearClipPlane() const override;
119 
123  public: double FarClipPlane() const override;
124 
125  // Documentation inherited.
126  public: void SetShadowsDirty() override;
127 
128  // Documentation inherited.
129  public: void AddRenderPass(const RenderPassPtr &_pass) override;
130 
133  protected: virtual RenderTargetPtr RenderTarget() const override;
134 
139  protected: static double LimitFOV(const double _fov);
140 
142  protected: void CreateCamera();
143 
149  private: void SetShadowsNodeDefDirty();
150 
152  protected: Ogre::Camera *ogreCamera;
153 
157 
158  private: friend class Ogre2Scene;
159  };
160  }
161  }
162 }
163 #endif
Definition: gz/rendering/base/BaseCamera.hh:41
Definition: gz/rendering/ogre/OgreCamera.hh:27
STL class.
STL class.
Ogre2.x implementation of the scene class.
Definition: gz/rendering/ogre2/Ogre2Scene.hh:57
Represents a render-target to which cameras can render images.
Definition: gz/rendering/RenderTarget.hh:37
Ogre::Camera * ogreCamera
Pointer to the ogre camera.
Definition: gz/rendering/ogre2/Ogre2DepthCamera.hh:152
Depth camera used to render depth data into an image buffer.
Definition: gz/rendering/ogre2/Ogre2DepthCamera.hh:54