Ogre2WideAngleCamera.hh

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/*
 * Copyright (C) 2022 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_RENDERING_OGRE2_WIDEANGLECAMERA_HH_
#define GZ_RENDERING_OGRE2_WIDEANGLECAMERA_HH_
 
#include <memory>
#include <string>
 
#include <gz/utils/ImplPtr.hh>
 
#include "gz/rendering/base/BaseWideAngleCamera.hh"
#include "gz/rendering/ogre2/Export.hh"
#include "gz/rendering/ogre2/Ogre2RenderTarget.hh"
#include "gz/rendering/ogre2/Ogre2Sensor.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    class GZ_RENDERING_OGRE2_VISIBLE Ogre2WideAngleCamera :
        public BaseWideAngleCamera<Ogre2Sensor>
    {
      protected: Ogre2WideAngleCamera();
 
      public: virtual ~Ogre2WideAngleCamera() override;
 
      // Documentation inherited
      public: virtual void Init() override;
 
      public: virtual void CreateRenderTexture();
 
      protected: void DestroyRenderTexture();
 
      public: virtual void PostRender() override;
 
      // Documentation inherited
      public: virtual void Destroy() override;
 
      public: void DestroyTextures();
 
      // Documentation inherited
      public: void AddRenderPass(const RenderPassPtr &_pass) override;
 
      // Documentation inherited
      public: void RemoveRenderPass(const RenderPassPtr &_pass) override;
 
      // Documentation inherited
      public: void RemoveAllRenderPasses() override;
 
      public: uint32_t EnvTextureSize() const;
 
      public: void SetEnvTextureSize(uint32_t _size);
 
      public: math::Vector3d Project3d(const math::Vector3d &_pt) const
          override;
 
      public: Ogre::Ray CameraToViewportRay(const math::Vector2d &_screenPos,
                                            uint32_t _faceIdx);
 
      // Documentation inherited.
      public: virtual void PreRender() override;
 
      public: virtual void Render() override;
 
      // Documentation inherited.
      public: void Copy(Image &_image) const override;
 
      private: bool CopyToBuffer(const PixelBuffer &_dst) const;
 
      // Documentation inherited
      public: common::ConnectionPtr ConnectNewWideAngleFrame(
          std::function<void(const unsigned char *, unsigned int, unsigned int,
          unsigned int, const std::string &)>  _subscriber) override;
 
      public: void SetBackgroundMaterial(MaterialPtr _material);
 
      public: MaterialPtr BackgroundMaterial() const;
 
      protected: std::string WorkspaceFinalPassDefinitionName() const;
 
      protected: void CreateStitchWorkspaceDefinition();
 
      protected: void CreateStitchWorkspace();
 
      protected: void DestroyStitchWorkspace();
 
      protected: bool HasTempStitchTexture() const;
 
      protected: bool NeedsTempStitchTexture() const;
 
      protected: uint32_t TempStitchTextureChannel() const;
 
      protected: std::string WorkspaceDefinitionName(uint32_t _faceIdx) const;
 
      protected: void CreateWorkspaceDefinition(bool _withMsaa);
 
      protected: void CreateFacesWorkspaces(bool _withMsaa);
 
      protected: void DestroyFacesWorkspaces();
 
      protected: void UpdateRenderPasses();
 
      protected: void CreateWideAngleTexture() override;
 
      protected: void CreateCamera();
 
      protected: virtual RenderTargetPtr RenderTarget() const override;
 
      protected: void SetupMSAA(Ogre::CompositorManager2 *_ogreCompMgr,
                                uint8_t _msaa);
 
      private: void UpdateBackgroundMaterial();
 
      private: void RetrieveCubePassSceneDefs(
            Ogre::CompositorManager2 *_ogreCompMgr, bool _withMsaa);
 
      private: void PrepareForCubemapFacePass(Ogre::CompositorPass *_pass);
 
      private: void PrepareForFinalPass(Ogre::Pass *_pass);
 
      GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
 
      private: friend class Ogre2Scene;
      private: friend class Ogre2WideAngleCameraWorkspaceListenerPrivate;
    };
    }
  }
}
#endif