OgreWideAngleCamera.hh

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/*
 * Copyright (C) 2021 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_OGRE_WIDEANGLECAMERA_HH_
#define GZ_RENDERING_OGRE_WIDEANGLECAMERA_HH_
 
#include <memory>
#include <string>
#include <vector>
 
#include <gz/utils/ImplPtr.hh>
 
#include "gz/rendering/base/BaseWideAngleCamera.hh"
#include "gz/rendering/ogre/OgreRenderTarget.hh"
#include "gz/rendering/ogre/OgreRenderTypes.hh"
#include "gz/rendering/ogre/OgreScene.hh"
#include "gz/rendering/ogre/OgreSensor.hh"
 
namespace Ogre
{
  class Material;
  class RenderTarget;
  class Viewport;
}
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    class GZ_RENDERING_OGRE_VISIBLE OgreWideAngleCamera :
        public BaseWideAngleCamera<OgreSensor>,
        protected Ogre::CompositorInstance::Listener
    {
      protected: OgreWideAngleCamera();
 
      public: virtual ~OgreWideAngleCamera();
 
      // 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;
 
      // Documentation inherited
      public: void AddRenderPass(const RenderPassPtr &_pass) override;
 
      // Documentation inherited
      public: void RemoveRenderPass(const RenderPassPtr &_pass) override;
 
      // Documentation inherited
      public: void RemoveAllRenderPasses() override;
 
      protected: void UpdateRenderPassChain();
 
      public: unsigned int EnvTextureSize() const;
 
      public: void SetEnvTextureSize(int _size);
 
      public: bool SetBackgroundColor(const math::Color &_color);
 
      public: math::Vector3d Project3d(const math::Vector3d &_pt) const
          override;
 
      public: std::vector<Ogre::Camera *> OgreEnvCameras() const;
 
      public: void SetUniformVariables(Ogre::Pass *_pass,
          float _ratio, float _hfov);
 
      // Documentation inherited.
      public: virtual void PreRender() override;
 
      public: virtual void Render() override;
 
      // Documentation inherited.
      public: void Copy(Image &_image) const override;
 
      // Documentation inherited
      public: common::ConnectionPtr ConnectNewWideAngleFrame(
          std::function<void(const unsigned char *, unsigned int, unsigned int,
          unsigned int, const std::string &)>  _subscriber) override;
 
      // Documentation inherited.
      public: virtual void SetVisibilityMask(uint32_t _mask) override;
 
      protected: void CreateWideAngleTexture() override;
 
      protected: void CreateCamera();
 
      protected: void CreateEnvCameras();
 
      protected: void notifyMaterialRender(Ogre::uint32 _pass_id,
          Ogre::MaterialPtr &_material) override;
 
      protected: virtual RenderTargetPtr RenderTarget() const override;
 
      private: friend class OgreScene;
 
      GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
    };
    }
  }
}
#endif