Gazebo Rendering: Ogre2GpuRays.hh File Reference

#include <string>
#include <memory>
#include "gz/rendering/RenderTypes.hh"
#include "gz/rendering/base/BaseGpuRays.hh"
#include "gz/rendering/ogre2/Export.hh"
#include "gz/rendering/ogre2/Ogre2RenderTarget.hh"
#include "gz/rendering/ogre2/Ogre2RenderTypes.hh"
#include "gz/rendering/ogre2/Ogre2Scene.hh"
#include "gz/rendering/ogre2/Ogre2Sensor.hh"
#include "gz/common/Event.hh"
#include "gz/common/Console.hh"

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Classes
class	Ogre2GpuRays
	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...

Namespaces
	ignition

	ignition::rendering
	Rendering classes and function useful in robot applications.

	Ogre

Classes

Namespaces