Gazebo Rendering

API Reference

6.6.3
gz/rendering/ogre/OgreThermalCamera.hh
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1 /*
2  * Copyright (C) 2019 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef GZ_RENDERING_OGRE_OGRETHERMALCAMERA_HH_
19 #define GZ_RENDERING_OGRE_OGRETHERMALCAMERA_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 #include "gz/rendering/ogre/Export.hh"
39 
40 #include "gz/common/Event.hh"
41 #include "gz/common/Console.hh"
42 
43 
44 namespace Ogre
45 {
46  class Material;
47  class Camera;
48 }
49 
50 namespace ignition
51 {
52  namespace rendering
53  {
54  inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
55  //
56  // forward declaration
57  class OgreThermalCameraPrivate;
58 
62  class IGNITION_RENDERING_OGRE_VISIBLE OgreThermalCamera :
64  public BaseThermalCamera<OgreSensor>
65  {
67  protected: OgreThermalCamera();
68 
70  public: virtual ~OgreThermalCamera();
71 
73  public: virtual void Init() override;
74 
76  public: virtual void CreateRenderTexture();
77 
80  protected: void DestroyRenderTexture();
81 
83  public: virtual void PostRender() override;
84 
88  public: virtual gz::common::ConnectionPtr ConnectNewThermalFrame(
89  std::function<void(const uint16_t *, unsigned int, unsigned int,
90  unsigned int, const std::string &)> _subscriber) override;
91 
92  // Documentation inherited.
93  public: virtual void PreRender() override;
94 
96  public: virtual void Render() override;
97 
98  // Documentation inherited
99  public: virtual void Destroy() override;
100 
103  protected: virtual RenderTargetPtr RenderTarget() const override;
104 
106  protected: void CreateCamera();
107 
109  private: void CreateThermalTexture();
110 
112  protected: Ogre::Camera *ogreCamera = nullptr;
113 
117 
118  private: friend class OgreScene;
119  };
120  }
121  }
122 }
123 #endif
Definition: gz/rendering/ogre/OgreCamera.hh:27
STL class.
Definition: gz/rendering/ogre/OgreScene.hh:39
shared_ptr< RenderTarget > RenderTargetPtr
Shared pointer to RenderTarget.
Definition: gz/rendering/RenderTypes.hh:235