#include <BaseCamera.hh>

Public Member Functions
virtual	~BaseCamera ()

virtual void	AddRenderPass (const RenderPassPtr &_pass) override
	Add a render pass to the camera. More...

virtual unsigned int	AntiAliasing () const override
	Get the level of anti-aliasing used during rendering. More...

virtual double	AspectRatio () const override
	Get the camera's aspect ratio. More...

virtual void	Capture (Image &_image) override
	Renders a new frame and writes the results to the given image. This is a convenience function for single-camera scenes. It wraps the pre-render, render, post-render, and get-image calls into a single function. This should NOT be used in applications with multiple cameras or multiple consumers of a single camera's images. More...

virtual common::ConnectionPtr	ConnectNewImageFrame (Camera::NewFrameListener _listener) override
	Subscribes a new listener to this camera's new frame event. More...

virtual void	Copy (Image &_image) const override
	Writes the last rendered image to the given image buffer. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior. More...

virtual Image	CreateImage () const override
	Created an empty image buffer for capturing images. The resulting image will have sufficient memory allocated for subsequent calls to this camera's Capture function. However, any changes to this cameras properties may invalidate the condition. More...

virtual RenderWindowPtr	CreateRenderWindow () override
	Create a render window. More...

virtual double	FarClipPlane () const override
	Get the camera's far clipping plane distance. More...

virtual math::Vector3d	FollowOffset () const override
	Get the follow offset vector in the frame specified at the time the follow target is set. More...

virtual double	FollowPGain () const override
	Get the camera follow movement P gain. More...

virtual NodePtr	FollowTarget () const override
	Get the target node being followed. More...

virtual math::Angle	HFOV () const override
	Get the camera's horizontal field-of-view. More...

virtual PixelFormat	ImageFormat () const override
	Get the image pixel format. If the image pixel format has not been set with a valid value, PF_UNKNOWN will be returned. More...

virtual unsigned int	ImageHeight () const override
	Get the image height in pixels. More...

virtual unsigned int	ImageMemorySize () const override
	Get the total image memory size in bytes. More...

virtual unsigned int	ImageWidth () const override
	Get the image width in pixels. More...

virtual double	NearClipPlane () const override
	Get the camera's near clipping plane distance. More...

virtual void	PostRender () override
	Preforms any necessary final rendering work. Once rendering is complete the camera will alert any listeners of the new frame event. This function should only be called after a call to Render has successfully been executed. More...

virtual void	PrepareForExternalSampling () override
	Right now this is Vulkan-only. This function needs to be called after rendering, and before handling the texture pointer (i.e. by calling RenderTextureMetalId()) so that external APIs (e.g. Qt) can sample the texture. More...

virtual void	PreRender () override
	Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender. More...

virtual math::Vector2i	Project (const math::Vector3d &_pt) const override
	Project point in 3d world space to 2d screen space. More...

virtual math::Matrix4d	ProjectionMatrix () const override
	Get the projection matrix for this camera. More...

virtual CameraProjectionType	ProjectionType () const override
	Get the projection type for this camera. More...

void	RemoveAllRenderPasses () override
	Remove all render passes from the camera. More...

virtual void	RemoveRenderPass (const RenderPassPtr &_pass) override
	Remove a render pass from the camera. More...

virtual RenderPassPtr	RenderPassByIndex (unsigned int _index) const override
	Get a render passes by index. More...

virtual unsigned int	RenderPassCount () const override
	Get the number of render passes applied to the camera. More...

virtual unsigned int	RenderTextureGLId () const override
	Get the OpenGL texture id associated with the render texture used by this camera. A valid id is returned only if the underlying render engine is OpenGL based. More...

virtual void	RenderTextureMetalId (void *_textureIdPtr) const override
	Get the Metal texture id associated with the render texture used by this camera. A valid Id is obtained only if the underlying render engine is Metal based. The pointer set by this function must be released to an id<MTLTexture> using CFBridgingRelease. More...

virtual bool	SaveFrame (const std::string &_name) override
	Writes the previously rendered frame to a file. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior. More...

virtual void	SetAntiAliasing (const unsigned int _aa) override
	Set the level of anti-aliasing used during rendering. If a value of 0 is given, no anti-aliasing will be performed. Higher values can significantly slow-down rendering times, depending on the underlying render engine. More...

virtual void	SetAspectRatio (const double _ratio) override
	Set the camera's aspect ratio. This value determines the cameras vertical field-of-view. It is often the. More...

virtual void	SetFarClipPlane (const double _far) override
	Set the camera's far clipping plane distance. More...

virtual void	SetFollowOffset (const math::Vector3d &_offset) override
	Set offset of camera from target node being followed. The offset will be in the frame that is specified at the time the follow target is set. More...

virtual void	SetFollowPGain (const double _pGain) override
	Set follow P Gain. Determines how fast the camera moves to follow the target node. Valid range: [0-1]. More...

virtual void	SetFollowTarget (const NodePtr &_target, const math::Vector3d &_Offset, const bool _worldFrame) override
	Set a node for camera to follow. The camera will automatically update its position to keep itself at the specified offset distance from the target being followed. If null is specified, camera follow is disabled. In contrast to SetTrackTarget, the camera does not change its orientation when following is enabled. More...

virtual void	SetHFOV (const math::Angle &_hfov) override
	Set the camera's horizontal field-of-view. More...

virtual void	SetImageFormat (PixelFormat _format, bool _reinterpretable=false) override
	Set the image pixel format. More...

virtual void	SetImageHeight (const unsigned int _height) override
	Set the image height in pixels. More...

virtual void	SetImageWidth (const unsigned int _width) override
	Set the image width in pixels. More...

virtual void	SetMaterial (const MaterialPtr &_material) override
	Set a material that the camera should see on all objects. More...

virtual void	SetNearClipPlane (const double _near) override
	Set the camera's near clipping plane distance. More...

virtual void	SetProjectionMatrix (const math::Matrix4d &_matrix) override
	Set the projection matrix for this camera. This overrides the standard projection matrix computed based on camera parameters. More...

virtual void	SetProjectionType (CameraProjectionType _type) override
	Set the projection type for this camera This changes the projection matrix of the camera based on the camera projection type. A custom projection matrix can be specified via `SetProjectionMatrix` to override the provided one. To disable the custom projection matrix, just call this function again with the desired projection type. More...

virtual void	SetShadowsDirty () override

virtual void	SetTrackOffset (const math::Vector3d &_offset) override
	Set track offset. Camera will track a point that's at an offset from the target node. The offset will be in the frame that is specified at the time the track target is set. More...

virtual void	SetTrackPGain (const double _pGain) override
	Set track P Gain. Determines how fast the camera rotates to look at the target node. Valid range: [0-1]. More...

virtual void	SetTrackTarget (const NodePtr &_target, const math::Vector3d &_offset, const bool _worldFrame) override
	Set a node for camera to track. The camera will automatically change its orientation to face the target being tracked. If null is specified, tracking is disabled. In contrast to SetFollowTarget the camera does not change its position when tracking is enabled. More...

virtual math::Vector3d	TrackOffset () const override
	Get the track offset vector in the frame specified at the time the track target is set. More...

virtual double	TrackPGain () const override
	Get the camera track rotation P gain. More...

virtual NodePtr	TrackTarget () const override
	Get the target node being tracked. More...

virtual void	Update () override
	Renders a new frame. This is a convenience function for single-camera scenes. It wraps the pre-render, render, and post-render into a single function. This should NOT be used in applications with multiple cameras or multiple consumers of a single camera's images. More...

virtual math::Matrix4d	ViewMatrix () const override
	Get the view matrix for this camera. More...

virtual VisualPtr	VisualAt (const gz::math::Vector2i &_mousePos) override
	Get the visual for a given mouse position param[in] _mousePos mouse position. More...

Public Member Functions inherited from Camera
virtual	~Camera ()
	Destructor. More...

virtual void	Render ()=0
	Renders the current scene using this camera. This function assumes PreRender() has already been called on the parent Scene, allowing the camera and the scene itself to prepare for rendering. More...

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	Sensor. More...

virtual void	SetVisibilityMask (uint32_t _mask)=0
	Set visibility mask. More...

virtual uint32_t	VisibilityMask () const =0
	Get visibility mask. More...

Public Member Functions inherited from Node
virtual	~Node ()
	Destructor. More...

virtual void	AddChild (NodePtr _child)=0
	Add the given node to this node. If the given node is already a child, no work will be done. More...

virtual NodePtr	ChildById (unsigned int _id) const =0
	Get node with given ID. If no child exists with given ID, NULL will be returned. More...

virtual NodePtr	ChildByIndex (unsigned int _index) const =0
	Get node at given index. If no child exists at given index, NULL will be returned. More...

virtual NodePtr	ChildByName (const std::string &_name) const =0
	Get node with given name. If no child exists with given name, NULL will be returned. More...

virtual unsigned int	ChildCount () const =0
	Get number of child nodes. More...

virtual bool	HasChild (ConstNodePtr _child) const =0
	Determine if given node is an attached child. More...

virtual bool	HasChildId (unsigned int _id) const =0
	Determine if node with given ID is an attached child. More...

virtual bool	HasChildName (const std::string &_name) const =0
	Determine if node with given name is an attached child. More...

virtual bool	HasParent () const =0
	Determine if this Node is attached to another Node. More...

virtual bool	HasUserData (const std::string &_key) const =0
	Check if node has custom data. More...

virtual bool	InheritScale () const =0
	Determine if this node inherits scale from this parent. More...

virtual math::Pose3d	InitialLocalPose () const =0
	Get the initial local pose. More...

virtual math::Pose3d	LocalPose () const =0
	Get the local pose. More...

virtual math::Vector3d	LocalPosition () const =0
	Get the local position. More...

virtual math::Quaterniond	LocalRotation () const =0
	Get the local rotation. More...

virtual math::Vector3d	LocalScale () const =0
	Get the local scale. More...

virtual math::Vector3d	Origin () const =0
	Get position of origin. More...

virtual NodePtr	Parent () const =0
	Get the parent Node. More...

virtual NodePtr	RemoveChild (NodePtr _child)=0
	Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildById (unsigned int _id)=0
	Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByIndex (unsigned int _index)=0
	Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByName (const std::string &_name)=0
	Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done. More...

virtual void	RemoveChildren ()=0
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them. More...

virtual void	RemoveParent ()=0
	Detach this Node from its parent. If this Node does not have a parent, no work will be done. More...

virtual void	Scale (const math::Vector3d &_scale)=0
	Scale the current scale by the given scalars. More...

virtual void	Scale (double _scale)=0
	Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates. More...

virtual void	Scale (double _x, double _y, double _z)=0
	Scale the current scale by the given scalars. More...

virtual void	SetInheritScale (bool _inherit)=0
	Specify if this node inherits scale from its parent. More...

virtual void	SetLocalPose (const math::Pose3d &_pose)=0
	Set the local pose. More...

virtual void	SetLocalPosition (const math::Vector3d &_position)=0
	Set the local position. More...

virtual void	SetLocalPosition (double _x, double _y, double _z)=0
	Set the local position. More...

virtual void	SetLocalRotation (const math::Quaterniond &_rotation)=0
	Set the local rotation. More...

virtual void	SetLocalRotation (double _r, double _p, double _y)=0
	Set the local rotation. More...

virtual void	SetLocalRotation (double _w, double _x, double _y, double _z)=0
	Set the local rotation. More...

virtual void	SetLocalScale (const math::Vector3d &_scale)=0
	Set the local scale. More...

virtual void	SetLocalScale (double _scale)=0
	Set the local scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetLocalScale (double _x, double _y, double _z)=0
	Set the local scale. More...

virtual void	SetOrigin (const math::Vector3d &_origin)=0
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetOrigin (double _x, double _y, double _z)=0
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetUserData (const std::string &_key, Variant _value)=0
	Store any custom data associated with this node. More...

virtual void	SetWorldPose (const math::Pose3d &_pose)=0
	Set the world pose. More...

virtual void	SetWorldPosition (const math::Vector3d &_position)=0
	Set the world position. More...

virtual void	SetWorldPosition (double _x, double _y, double _z)=0
	Set the world position. More...

virtual void	SetWorldRotation (const math::Quaterniond &_rotation)=0
	Set the world rotation. More...

virtual void	SetWorldRotation (double _r, double _p, double _y)=0
	Set the world rotation. More...

virtual void	SetWorldRotation (double _w, double _x, double _y, double _z)=0
	Set the world rotation. More...

virtual void	SetWorldScale (const math::Vector3d &_scale)=0
	Set the world scale. More...

virtual void	SetWorldScale (double _scale)=0
	Set the world scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetWorldScale (double _x, double _y, double _z)=0
	Set the world scale. More...

virtual Variant	UserData (const std::string &_key) const =0
	Get custom data stored in this node. More...

virtual math::Pose3d	WorldPose () const =0
	Get the world pose. More...

virtual math::Vector3d	WorldPosition () const =0
	Get the world position. More...

virtual math::Quaterniond	WorldRotation () const =0
	Get the world rotation. More...

virtual math::Vector3d	WorldScale () const =0
	Get the world scale. More...

virtual math::Pose3d	WorldToLocal (const math::Pose3d &_pose) const =0
	Convert given world pose to local pose. More...

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor. More...

virtual void	Destroy ()=0
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior. More...

virtual unsigned int	Id () const =0
	Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual std::string	Name () const =0
	Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual ScenePtr	Scene () const =0
	Get the Scene that created this object. More...

Protected Member Functions
	BaseCamera ()

virtual void *	CreateImageBuffer () const

virtual void	Load () override

virtual RenderTargetPtr	RenderTarget () const =0

virtual void	Reset ()

Protected Attributes
unsigned int	antiAliasing = 0u
	Anti-aliasing. More...

double	aspect = 1.3333333
	Aspect ratio. More...

double	farClip = 1000.0
	Far clipping plane distance. More...

NodePtr	followNode
	Target node to follow. More...

math::Vector3d	followOffset
	Offset distance between camera and target node being followed. More...

double	followPGain = 1.0
	P gain for follow mode. Determines how fast the camera moves to follow the target node. Valid range: [0-1]. More...

bool	followWorldFrame = false
	Follow target in world frame. More...

math::Angle	hfov
	Horizontal camera field of view. More...

ImagePtr	imageBuffer

double	nearClip = 0.01
	Near clipping plane distance. More...

common::EventT< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)>	newFrameEvent

math::Matrix4d	projectionMatrix
	Custom projection matrix. More...

CameraProjectionType	projectionType = CPT_PERSPECTIVE
	Camera projection type. More...

NodePtr	trackNode
	Target node to track if camera tracking is on. More...

math::Vector3d	trackOffset
	Set camera to track a point offset in target node's local or world frame depending on trackWorldFrame. More...

double	trackPGain = 1.0
	P gain for tracking. Determines how fast the camera rotates to look at the target node. Valid range: [0-1]. More...

bool	trackWorldFrame = false
	Track point relative to target in world frame. More...

Additional Inherited Members
Public Types inherited from Camera
typedef std::function< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)>	NewFrameListener
	Callback function for new frame render event listeners. More...

Constructor & Destructor Documentation

◆ BaseCamera()

BaseCamera

protected

◆ ~BaseCamera()

~BaseCamera

virtual

Member Function Documentation

◆ AddRenderPass()

void AddRenderPass ( const RenderPassPtr & _pass )

overridevirtual

Add a render pass to the camera.

Parameters

[in] _pass New render pass to add

Implements Camera.

Reimplemented in Ogre2WideAngleCamera, Ogre2DepthCamera, and OgreWideAngleCamera.

References RenderTarget::AddRenderPass().

◆ AntiAliasing()

unsigned int AntiAliasing ( ) const

overridevirtual

Get the level of anti-aliasing used during rendering.

Returns: The level of anti-aliasing used during rendering

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

◆ AspectRatio()

double AspectRatio ( ) const

overridevirtual

Get the camera's aspect ratio.

Remarks: If SetAspectRatio() gets called with an input <= 0 this function returns the Aspect Ratio autocalculated based on the camera's dimensions.

Returns: The camera's aspect ratio. This value is always in range (0; inf) unless the dimensions are invalid (e.g. 0 width or height, NaN resolution, etc)

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

◆ Capture()

void Capture ( Image & _image )

overridevirtual

Renders a new frame and writes the results to the given image. This is a convenience function for single-camera scenes. It wraps the pre-render, render, post-render, and get-image calls into a single function. This should NOT be used in applications with multiple cameras or multiple consumers of a single camera's images.

Parameters

[out] _image Output image buffer

Implements Camera.

◆ ConnectNewImageFrame()

common::ConnectionPtr ConnectNewImageFrame ( Camera::NewFrameListener _listener )

overridevirtual

Subscribes a new listener to this camera's new frame event.

Parameters

[in] _listener New camera listener callback

Implements Camera.

◆ Copy()

void Copy ( Image & _image ) const

overridevirtual

Writes the last rendered image to the given image buffer. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior.

Parameters

[out] _image Output image buffer

Implements Camera.

Reimplemented in Ogre2WideAngleCamera, and OgreWideAngleCamera.

References RenderTarget::Copy().

◆ CreateImage()

Image CreateImage ( ) const

overridevirtual

Created an empty image buffer for capturing images. The resulting image will have sufficient memory allocated for subsequent calls to this camera's Capture function. However, any changes to this cameras properties may invalidate the condition.

Returns: A newly allocated Image for storing this cameras images

Implements Camera.

◆ CreateImageBuffer()

void * CreateImageBuffer

protectedvirtual

◆ CreateRenderWindow()

RenderWindowPtr CreateRenderWindow ( )

overridevirtual

Create a render window.

Returns: A pointer to the render window.

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

References std::endl(), Scene::Engine(), gzerr, and RenderEngine::Name().

◆ FarClipPlane()

double FarClipPlane ( ) const

overridevirtual

Get the camera's far clipping plane distance.

Returns: Far clipping plane distance

Implements Camera.

Reimplemented in Ogre2DepthCamera, and OgreDepthCamera.

◆ FollowOffset()

math::Vector3d FollowOffset ( ) const

overridevirtual

Get the follow offset vector in the frame specified at the time the follow target is set.

Returns: Offset of camera from target.

Implements Camera.

◆ FollowPGain()

double FollowPGain ( ) const

overridevirtual

Get the camera follow movement P gain.

Returns: P gain for camera following

Implements Camera.

◆ FollowTarget()

NodePtr FollowTarget ( ) const

overridevirtual

Get the target node being followed.

Returns: Target node being tracked.

Implements Camera.

◆ HFOV()

math::Angle HFOV ( ) const

overridevirtual

Get the camera's horizontal field-of-view.

Returns: Angle containing the camera's horizontal field-of-view

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

◆ ImageFormat()

PixelFormat ImageFormat ( ) const

overridevirtual

Get the image pixel format. If the image pixel format has not been set with a valid value, PF_UNKNOWN will be returned.

Returns: The image pixel format

Implements Camera.

References RenderTarget::Format().

◆ ImageHeight()

unsigned int ImageHeight ( ) const

overridevirtual

Get the image height in pixels.

Returns: The image height in pixels

Implements Camera.

References RenderTarget::Height().

◆ ImageMemorySize()

unsigned int ImageMemorySize ( ) const

overridevirtual

Get the total image memory size in bytes.

Returns: The image memory size in bytes

Implements Camera.

References PixelUtil::MemorySize().

◆ ImageWidth()

unsigned int ImageWidth ( ) const

overridevirtual

Get the image width in pixels.

Returns: The image width in pixels

Implements Camera.

References RenderTarget::Width().

◆ Load()

void Load

overrideprotectedvirtual

◆ NearClipPlane()

double NearClipPlane ( ) const

overridevirtual

Get the camera's near clipping plane distance.

Returns: Near clipping plane distance

Implements Camera.

Reimplemented in Ogre2DepthCamera, and OgreDepthCamera.

◆ PostRender()

void PostRender ( )

overridevirtual

Preforms any necessary final rendering work. Once rendering is complete the camera will alert any listeners of the new frame event. This function should only be called after a call to Render has successfully been executed.

Implements Camera.

Reimplemented in Ogre2WideAngleCamera, Ogre2ThermalCamera, Ogre2SegmentationCamera, Ogre2GpuRays, Ogre2DepthCamera, Ogre2BoundingBoxCamera, OgreWideAngleCamera, OgreThermalCamera, OgreGpuRays, and OgreDepthCamera.

References Object::PostRender().

◆ PrepareForExternalSampling()

void PrepareForExternalSampling ( )

overridevirtual

Right now this is Vulkan-only. This function needs to be called after rendering, and before handling the texture pointer (i.e. by calling RenderTextureMetalId()) so that external APIs (e.g. Qt) can sample the texture.

Implements Camera.

Reimplemented in Ogre2Camera.

References std::endl(), and gzerr.

◆ PreRender()

void PreRender ( )

overridevirtual

Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender.

Implements Object.

Reimplemented in Ogre2WideAngleCamera, Ogre2ThermalCamera, Ogre2SegmentationCamera, Ogre2GpuRays, Ogre2DepthCamera, Ogre2BoundingBoxCamera, OgreWideAngleCamera, OgreThermalCamera, OgreGpuRays, and OgreDepthCamera.

References gz::math::equal(), Quaternion< class >::Identity, Matrix4< class >::LookAt(), Pose3< class >::Pos(), RenderTarget::PreRender(), Pose3< class >::Rot(), and Quaternion< class >::Slerp().

◆ Project()

math::Vector2i Project ( const math::Vector3d & _pt ) const

overridevirtual

Project point in 3d world space to 2d screen space.

Parameters

[in] _pt Point in 3d world space

Returns: Point in 2d screen space

Implements Camera.

References Vector2< class >::X(), Vector3< class >::X(), Vector2< class >::Y(), Vector3< class >::Y(), and Vector3< class >::Z().

◆ ProjectionMatrix()

math::Matrix4d ProjectionMatrix ( ) const

overridevirtual

Get the projection matrix for this camera.

Returns: Camera projection matrix

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

References std::atan(), gz::rendering::CPT_ORTHOGRAPHIC, gz::rendering::CPT_PERSPECTIVE, std::endl(), gzerr, and std::tan().

◆ ProjectionType()

CameraProjectionType ProjectionType ( ) const

overridevirtual

Get the projection type for this camera.

Returns: Camera projection type

Implements Camera.

◆ RemoveAllRenderPasses()

void RemoveAllRenderPasses ( )

overridevirtual

Remove all render passes from the camera.

Implements Camera.

◆ RemoveRenderPass()

void RemoveRenderPass ( const RenderPassPtr & _pass )

overridevirtual

Remove a render pass from the camera.

Parameters

[in] _pass render pass to remove

Implements Camera.

Reimplemented in Ogre2WideAngleCamera, and OgreWideAngleCamera.

References RenderTarget::RemoveRenderPass().

◆ RenderPassByIndex()

RenderPassPtr RenderPassByIndex ( unsigned int _index ) const

overridevirtual

Get a render passes by index.

Returns: Render pass at the specified index

Implements Camera.

References RenderTarget::RenderPassByIndex().

◆ RenderPassCount()

unsigned int RenderPassCount ( ) const

overridevirtual

Get the number of render passes applied to the camera.

Returns: Number of render passes applied

Implements Camera.

References RenderTarget::RenderPassCount().

◆ RenderTarget()

virtual RenderTargetPtr RenderTarget ( ) const

protectedpure virtual

Implemented in BaseGpuRays< T >, BaseGpuRays< Ogre2Sensor >, BaseGpuRays< OgreSensor >, Ogre2WideAngleCamera, Ogre2ThermalCamera, Ogre2SegmentationCamera, Ogre2GpuRays, Ogre2DepthCamera, Ogre2Camera, Ogre2BoundingBoxCamera, OgreWideAngleCamera, OgreThermalCamera, OgreGpuRays, OgreDepthCamera, and OgreCamera.

◆ RenderTextureGLId()

unsigned int RenderTextureGLId ( ) const

overridevirtual

Get the OpenGL texture id associated with the render texture used by this camera. A valid id is returned only if the underlying render engine is OpenGL based.

Returns: Texture Id of type GLuint.

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

References std::endl(), and gzerr.

◆ RenderTextureMetalId()

void RenderTextureMetalId ( void * _textureIdPtr ) const

overridevirtual

Get the Metal texture id associated with the render texture used by this camera. A valid Id is obtained only if the underlying render engine is Metal based. The pointer set by this function must be released to an id<MTLTexture> using CFBridgingRelease.

Parameters

[out] _textureIdPtr the address of a void* pointer.

Implements Camera.

Reimplemented in Ogre2Camera.

References std::endl(), and gzerr.

◆ Reset()

void Reset

protectedvirtual

References gz::rendering::PF_R8G8B8, and Angle::SetDegree().

◆ SaveFrame()

bool SaveFrame ( const std::string & _name )

overridevirtual

Writes the previously rendered frame to a file. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior.

Parameters

[in] _name Name of the output file

Implements Camera.

◆ SetAntiAliasing()

void SetAntiAliasing ( const unsigned int _aa )

overridevirtual

Set the level of anti-aliasing used during rendering. If a value of 0 is given, no anti-aliasing will be performed. Higher values can significantly slow-down rendering times, depending on the underlying render engine.

Parameters

[in] _aa Level of anti-aliasing used during rendering

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

◆ SetAspectRatio()

void SetAspectRatio ( const double _ratio )

overridevirtual

Set the camera's aspect ratio. This value determines the cameras vertical field-of-view. It is often the.

image_height /

image_width

but this is not necessarily true.

Setting a value <= 0.0 indicates the aspect ratio will be automatically calculated based on width & height.

Parameters

[in] _ratio The camera's aspect ratio

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

◆ SetFarClipPlane()

void SetFarClipPlane ( const double _far )

overridevirtual

Set the camera's far clipping plane distance.

Parameters

[in] _far Far clipping plane distance

Implements Camera.

Reimplemented in Ogre2DepthCamera, Ogre2Camera, OgreDepthCamera, and OgreCamera.

◆ SetFollowOffset()

void SetFollowOffset ( const math::Vector3d & _offset )

overridevirtual

Set offset of camera from target node being followed. The offset will be in the frame that is specified at the time the follow target is set.

Parameters

[in] _offset Offset distance from target node.

Implements Camera.

◆ SetFollowPGain()

void SetFollowPGain ( const double _pGain )

overridevirtual

Set follow P Gain. Determines how fast the camera moves to follow the target node. Valid range: [0-1].

Parameters

[in] _pGain P gain for camera following

Implements Camera.

References gz::math::clamp().

◆ SetFollowTarget()

void SetFollowTarget	(	const NodePtr &	_target,
		const math::Vector3d &	_offset,
		const bool	_worldFrame
	)

overridevirtual

Set a node for camera to follow. The camera will automatically update its position to keep itself at the specified offset distance from the target being followed. If null is specified, camera follow is disabled. In contrast to SetTrackTarget, the camera does not change its orientation when following is enabled.

Parameters

[in]	_target	Target node to follow
[in]	_offset	Tether the camera at an offset distance from the target node.
[in]	_worldFrame	True to follow the target node at a distance that's fixed in world frame. Default is false which means the camera follows at fixed distance in target node's local frame.

Implements Camera.

◆ SetHFOV()

void SetHFOV ( const math::Angle & _hfov )

overridevirtual

Set the camera's horizontal field-of-view.

Parameters

[in] _hfov Desired horizontal field-of-view

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

◆ SetImageFormat()

void SetImageFormat	(	PixelFormat	_format,
		bool	_reinterpretable = `false`
	)

overridevirtual

Set the image pixel format.

Parameters

[in]	_format	New image pixel format
[in]	_reinterpretable	See RenderTarget::SetFormat

Implements Camera.

References RenderTarget::SetFormat().

◆ SetImageHeight()

void SetImageHeight ( const unsigned int _height )

overridevirtual

Set the image height in pixels.

Parameters

[in] _height New image height in pixels

Implements Camera.

References RenderTarget::SetHeight().

◆ SetImageWidth()

void SetImageWidth ( const unsigned int _width )

overridevirtual

Set the image width in pixels.

Parameters

[in] _width New image width in pixels

Implements Camera.

References RenderTarget::SetWidth().

◆ SetMaterial()

void SetMaterial ( const MaterialPtr & _material )

overridevirtual

Set a material that the camera should see on all objects.

Parameters

[in] _material a material instance

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

References std::endl(), and gzerr.

◆ SetNearClipPlane()

void SetNearClipPlane ( const double _near )

overridevirtual

Set the camera's near clipping plane distance.

Parameters

[in] _near Near clipping plane distance

Implements Camera.

Reimplemented in Ogre2DepthCamera, Ogre2Camera, OgreDepthCamera, and OgreCamera.

◆ SetProjectionMatrix()

void SetProjectionMatrix ( const math::Matrix4d & _matrix )

overridevirtual

Set the projection matrix for this camera. This overrides the standard projection matrix computed based on camera parameters.

Parameters

[in] _matrix Camera projection matrix

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

◆ SetProjectionType()

void SetProjectionType ( CameraProjectionType _type )

overridevirtual

Set the projection type for this camera This changes the projection matrix of the camera based on the camera projection type. A custom projection matrix can be specified via SetProjectionMatrix to override the provided one. To disable the custom projection matrix, just call this function again with the desired projection type.

Parameters

[in] _type Camera projection type

See also: SetProjectionMatrix

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

◆ SetShadowsDirty()

void SetShadowsDirty

overridevirtual

Implements Camera.

Reimplemented in Ogre2DepthCamera, and Ogre2Camera.

◆ SetTrackOffset()

void SetTrackOffset ( const math::Vector3d & _offset )

overridevirtual

Set track offset. Camera will track a point that's at an offset from the target node. The offset will be in the frame that is specified at the time the track target is set.

Parameters

[in] _offset Point offset to track

Implements Camera.

◆ SetTrackPGain()

void SetTrackPGain ( const double _pGain )

overridevirtual

Set track P Gain. Determines how fast the camera rotates to look at the target node. Valid range: [0-1].

Parameters

[in] _pGain P gain for camera tracking

Implements Camera.

References gz::math::clamp().

◆ SetTrackTarget()

void SetTrackTarget	(	const NodePtr &	_target,
		const math::Vector3d &	_offset,
		const bool	_worldFrame
	)

overridevirtual

Set a node for camera to track. The camera will automatically change its orientation to face the target being tracked. If null is specified, tracking is disabled. In contrast to SetFollowTarget the camera does not change its position when tracking is enabled.

Parameters

[in]	_target	Target node to track
[in]	_offset	Track a point that is at an offset relative to target.
[in]	_worldFrame	If true, the offset point to track will be treated in world frame and its position relative to the target node remains fixed regardless of the target node's rotation. Default is false, which means the camera tracks the point in target node's local frame.

Implements Camera.

◆ TrackOffset()

math::Vector3d TrackOffset ( ) const

overridevirtual

Get the track offset vector in the frame specified at the time the track target is set.

Returns: Point offset from target.

Implements Camera.

◆ TrackPGain()

double TrackPGain ( ) const

overridevirtual

Get the camera track rotation P gain.

Returns: P gain for camera tracking

Implements Camera.

◆ TrackTarget()

NodePtr TrackTarget ( ) const

overridevirtual

Get the target node being tracked.

Returns: Target node being tracked.

Implements Camera.

◆ Update()

void Update ( )

overridevirtual

Renders a new frame. This is a convenience function for single-camera scenes. It wraps the pre-render, render, and post-render into a single function. This should NOT be used in applications with multiple cameras or multiple consumers of a single camera's images.

Implements Camera.

References Scene::PostRender(), and Scene::PreRender().

◆ ViewMatrix()

math::Matrix4d ViewMatrix ( ) const

overridevirtual

Get the view matrix for this camera.

Returns: Camera view matrix

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

References Matrix4< class >::SetTranslation(), and Matrix3< class >::Transpose().

◆ VisualAt()

VisualPtr VisualAt ( const gz::math::Vector2i & _mousePos )

overridevirtual

Get the visual for a given mouse position param[in] _mousePos mouse position.

Implements Camera.

Reimplemented in Ogre2Camera, and OgreCamera.

References std::endl(), and gzerr.

Member Data Documentation

◆ antiAliasing

unsigned int antiAliasing = 0u

protected

Anti-aliasing.

◆ aspect

double aspect = 1.3333333

protected

Aspect ratio.

◆ farClip

double farClip = 1000.0

protected

Far clipping plane distance.

◆ followNode

NodePtr followNode

protected

Target node to follow.

◆ followOffset

math::Vector3d followOffset

protected

Offset distance between camera and target node being followed.

◆ followPGain

double followPGain = 1.0

protected

P gain for follow mode. Determines how fast the camera moves to follow the target node. Valid range: [0-1].

◆ followWorldFrame

bool followWorldFrame = false

protected

Follow target in world frame.

◆ hfov

math::Angle hfov

protected

Horizontal camera field of view.

◆ imageBuffer

ImagePtr imageBuffer

protected

◆ nearClip

double nearClip = 0.01

protected

Near clipping plane distance.

◆ newFrameEvent

common::EventT<void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)> newFrameEvent

protected

◆ projectionMatrix

math::Matrix4d projectionMatrix

protected

Custom projection matrix.

◆ projectionType

CameraProjectionType projectionType = CPT_PERSPECTIVE

protected

Camera projection type.

◆ trackNode

NodePtr trackNode

protected

Target node to track if camera tracking is on.

◆ trackOffset

math::Vector3d trackOffset

protected

Set camera to track a point offset in target node's local or world frame depending on trackWorldFrame.

◆ trackPGain

double trackPGain = 1.0

protected

P gain for tracking. Determines how fast the camera rotates to look at the target node. Valid range: [0-1].

◆ trackWorldFrame

bool trackWorldFrame = false

protected

Track point relative to target in world frame.

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

BaseCamera.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ BaseCamera()

◆ ~BaseCamera()

Member Function Documentation

◆ AddRenderPass()

◆ AntiAliasing()

◆ AspectRatio()

◆ Capture()

◆ ConnectNewImageFrame()

◆ Copy()

◆ CreateImage()

◆ CreateImageBuffer()

◆ CreateRenderWindow()

◆ FarClipPlane()

◆ FollowOffset()

◆ FollowPGain()

◆ FollowTarget()

◆ HFOV()

◆ ImageFormat()

◆ ImageHeight()

◆ ImageMemorySize()

◆ ImageWidth()

◆ Load()

◆ NearClipPlane()

◆ PostRender()

◆ PrepareForExternalSampling()

◆ PreRender()

◆ Project()

◆ ProjectionMatrix()

◆ ProjectionType()

◆ RemoveAllRenderPasses()

◆ RemoveRenderPass()

◆ RenderPassByIndex()

◆ RenderPassCount()

◆ RenderTarget()

◆ RenderTextureGLId()

◆ RenderTextureMetalId()

◆ Reset()

◆ SaveFrame()

◆ SetAntiAliasing()

◆ SetAspectRatio()

◆ SetFarClipPlane()

◆ SetFollowOffset()

◆ SetFollowPGain()

◆ SetFollowTarget()

◆ SetHFOV()

◆ SetImageFormat()

◆ SetImageHeight()

◆ SetImageWidth()

◆ SetMaterial()

◆ SetNearClipPlane()

◆ SetProjectionMatrix()

◆ SetProjectionType()

◆ SetShadowsDirty()

◆ SetTrackOffset()

◆ SetTrackPGain()

◆ SetTrackTarget()

◆ TrackOffset()

◆ TrackPGain()

◆ TrackTarget()

◆ Update()

◆ ViewMatrix()

◆ VisualAt()

Member Data Documentation

◆ antiAliasing

◆ aspect

◆ farClip

◆ followNode

◆ followOffset

◆ followPGain

◆ followWorldFrame

◆ hfov

◆ imageBuffer

◆ nearClip

◆ newFrameEvent

◆ projectionMatrix