Depth camera used to render depth data into an image buffer. More...

#include <rendering/ogre/OgreDepthCamera.hh>

Public Member Functions
virtual	~OgreDepthCamera ()
	Destructor. More...

virtual Ogre::Camera *	Camera () const override
	Access the Ogre::Camera object. More...

virtual gz::common::ConnectionPtr	ConnectNewDepthFrame (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber) override
	Connect a to the new depth image signal. More...

virtual gz::common::ConnectionPtr	ConnectNewRgbPointCloud (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber) override
	Connect a to the new rgb point cloud signal. More...

virtual void	CreateDepthTexture () override
	Create a texture which will hold the depth data. More...

virtual const float *	DepthData () const override
	All things needed to get back z buffer for depth data. More...

virtual void	Destroy () override

double	FarClipPlane () const override
	Get the far clip distance. More...

virtual void	Init () override
	Initialize the camera. More...

double	NearClipPlane () const override
	Get the near clip distance. More...

virtual void	PostRender () override
	Render the camera. More...

virtual void	PreRender () override

virtual void	Render () override
	Implementation of the render call. More...

virtual void	SetFarClipPlane (const double _far) override
	Set the far clip distance. More...

virtual void	SetNearClipPlane (const double _near) override
	Set the near clip distance. More...

Public Member Functions inherited from BaseDepthCamera< OgreSensor >
virtual	~BaseDepthCamera ()

virtual gz::common::ConnectionPtr	ConnectNewRGBPointCloud (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)

virtual const float *	DepthData () const

Public Member Functions inherited from OgreObjectInterface
virtual	~OgreObjectInterface ()

virtual Ogre::MovableObject *	OgreMovableObject (const char *_typename) const
	Access to an Ogre::MovableObject. More...

Protected Member Functions
	OgreDepthCamera ()
	Constructor. More...

void	CreateCamera ()
	Create the camera. More...

void	DestroyDepthTexture ()
	Destroy render texture created by CreateDepthTexture() Note: It's not virtual. More...

void	DestroyPointCloudTexture ()
	Destroy render texture created by CreatePointCloudTexture() Note: It's not virtual. More...

virtual RenderTargetPtr	RenderTarget () const override
	Get a pointer to the render target. More...

void	UpdateRenderTarget (OgreRenderTexturePtr _target, Ogre::Material *_material, const std::string &_matName)
	Update a render target. More...

Protected Member Functions inherited from BaseDepthCamera< OgreSensor >
	BaseDepthCamera ()

Static Protected Member Functions
static double	LimitFOV (const double _fov)
	Limit field of view taking care of using a valid value for an OGRE camera. More...

Protected Attributes
bool	captureData = false

OgreRenderTexturePtr	depthTexture
	Pointer to the depth texture. More...

Ogre::Viewport *	depthViewport = nullptr
	Pointer to the depth viewport. More...

bool	newData = false
	Communicates that a frams was rendered. More...

Ogre::Camera *	ogreCamera
	Pointer to the ogre camera. More...

Detailed Description

Depth camera used to render depth data into an image buffer.

Constructor & Destructor Documentation

◆ OgreDepthCamera()

OgreDepthCamera ( )

protected

Constructor.

◆ ~OgreDepthCamera()

virtual ~OgreDepthCamera ( )

virtual

Destructor.

Member Function Documentation

◆ Camera()

virtual Ogre::Camera* Camera ( ) const

overridevirtual

Access the Ogre::Camera object.

Returns: A pointer to an Ogre::Camera. Has default nullptr.

Implements OgreObjectInterface.

◆ ConnectNewDepthFrame()

virtual gz::common::ConnectionPtr ConnectNewDepthFrame ( std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber )

overridevirtual

Connect a to the new depth image signal.

Parameters

[in] _subscriber Subscriber callback function

Returns: Pointer to the new Connection. This must be kept in scope

Reimplemented from BaseDepthCamera< OgreSensor >.

◆ ConnectNewRgbPointCloud()

virtual gz::common::ConnectionPtr ConnectNewRgbPointCloud ( std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber )

overridevirtual

Connect a to the new rgb point cloud signal.

Parameters

[in] _subscriber Subscriber callback function

Returns: Pointer to the new Connection. This must be kept in scope

◆ CreateCamera()

void CreateCamera ( )

protected

Create the camera.

◆ CreateDepthTexture()

virtual void CreateDepthTexture ( )

overridevirtual

Create a texture which will hold the depth data.

Reimplemented from BaseDepthCamera< OgreSensor >.

◆ DepthData()

virtual const float* DepthData ( ) const

overridevirtual

All things needed to get back z buffer for depth data.

Returns: The z-buffer as a float array

◆ Destroy()

virtual void Destroy ( )

overridevirtual

◆ DestroyDepthTexture()

void DestroyDepthTexture ( )

protected

Destroy render texture created by CreateDepthTexture() Note: It's not virtual.

◆ DestroyPointCloudTexture()

void DestroyPointCloudTexture ( )

protected

Destroy render texture created by CreatePointCloudTexture() Note: It's not virtual.

◆ FarClipPlane()

double FarClipPlane ( ) const

override

Get the far clip distance.

Returns: Far clip distance. A value of zero is returned if the ogre camera has not been created.

◆ Init()

virtual void Init ( )

overridevirtual

Initialize the camera.

◆ LimitFOV()

static double LimitFOV ( const double _fov )

staticprotected

Limit field of view taking care of using a valid value for an OGRE camera.

Parameters

[in] _fov expected field of view

Returns: valid field of view

◆ NearClipPlane()

double NearClipPlane ( ) const

override

Get the near clip distance.

Returns: Near clip distance. A value of zero is returned if the ogre camera has not been created.

◆ PostRender()

virtual void PostRender ( )

overridevirtual

Render the camera.

◆ PreRender()

virtual void PreRender ( )

overridevirtual

◆ Render()

virtual void Render ( )

overridevirtual

Implementation of the render call.

◆ RenderTarget()

virtual RenderTargetPtr RenderTarget ( ) const

overrideprotectedvirtual

Get a pointer to the render target.

Returns: Pointer to the render target

◆ SetFarClipPlane()

virtual void SetFarClipPlane ( const double _far )

overridevirtual

Set the far clip distance.

Parameters

[in] _far far clip distance

◆ SetNearClipPlane()

virtual void SetNearClipPlane ( const double _near )

overridevirtual

Set the near clip distance.

Parameters

[in] _near Near clip distance

◆ UpdateRenderTarget()

void UpdateRenderTarget	(	OgreRenderTexturePtr	_target,
		Ogre::Material *	_material,
		const std::string &	_matName
	)

protected

Update a render target.

Parameters

[in]	_target	Render target to update
[in]	_material	Material to use
[in]	_matName	Material name

Member Data Documentation

◆ captureData

bool captureData = false

protected

◆ depthTexture

OgreRenderTexturePtr depthTexture

protected

Pointer to the depth texture.

◆ depthViewport

Ogre::Viewport* depthViewport = nullptr

protected

Pointer to the depth viewport.

◆ newData

bool newData = false

protected

Communicates that a frams was rendered.

◆ ogreCamera

Ogre::Camera* ogreCamera

protected

Pointer to the ogre camera.

The documentation for this class was generated from the following file:

gz/rendering/ogre/OgreDepthCamera.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OgreDepthCamera()

◆ ~OgreDepthCamera()

Member Function Documentation

◆ Camera()

◆ ConnectNewDepthFrame()

◆ ConnectNewRgbPointCloud()

◆ CreateCamera()

◆ CreateDepthTexture()

◆ DepthData()

◆ Destroy()

◆ DestroyDepthTexture()

◆ DestroyPointCloudTexture()

◆ FarClipPlane()

◆ Init()

◆ LimitFOV()

◆ NearClipPlane()

◆ PostRender()

◆ PreRender()

◆ Render()

◆ RenderTarget()

◆ SetFarClipPlane()

◆ SetNearClipPlane()

◆ UpdateRenderTarget()

Member Data Documentation

◆ captureData

◆ depthTexture

◆ depthViewport

◆ newData

◆ ogreCamera