GpuRays.hh

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/*
 * Copyright (C) 2018 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_GPURAYS_HH_
#define GZ_RENDERING_GPURAYS_HH_
 
#include <string>
 
#include <gz/common/Event.hh>
 
#include "gz/rendering/Image.hh"
#include "gz/rendering/Sensor.hh"
#include "gz/rendering/Scene.hh"
#include "gz/rendering/Camera.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    class GZ_RENDERING_VISIBLE GpuRays :
      public virtual Camera
    {
      public: typedef std::function<void(const void*, unsigned int,
          unsigned int, unsigned int, const std::string&)> NewFrameListener;
 
      public: virtual ~GpuRays();
 
      public: virtual const float *Data() const = 0;
 
      public: virtual void Copy(float *_data) = 0;
 
      // false to leave data values as +/-inf when out of camera range
      public: virtual void SetClamp(const bool _clamp) = 0;
 
      // false if data values outside of camera range are returned as +/-inf
      public: virtual bool Clamp() const = 0;
 
      public: virtual common::ConnectionPtr ConnectNewGpuRaysFrame(
                  std::function<void(const float *_frame, unsigned int _width,
                  unsigned int _height, unsigned int _depth,
                  const std::string &)> _subscriber) = 0;
 
      public: virtual void SetIsHorizontal(const bool _horizontal) = 0;
 
      public: virtual bool IsHorizontal() const = 0;
 
      public: virtual math::Angle VFOV() const = 0;
 
      public: virtual double RayCountRatio() const = 0;
 
      public: virtual double RangeCountRatio() const = 0;
 
      public: virtual void SetRayCountRatio(const double _rayCountRatio) = 0;
 
      // \return minimal horizontal angle value
      public: virtual gz::math::Angle AngleMin() const = 0;
 
      public: virtual void SetAngleMin(double _angle) = 0;
 
      // \return maximal horizontal angle value
      public: virtual gz::math::Angle AngleMax() const = 0;
 
      public: virtual void SetAngleMax(double _angle) = 0;
 
      // \return horizontal quantity of rays
      public: virtual int RayCount() const = 0;
 
      public: virtual void SetRayCount(int _samples) = 0;
 
      // \return horizontal range count
      public: virtual int RangeCount() const = 0;
 
      // \return vertical quantity of rays
      public: virtual int VerticalRayCount() const = 0;
 
      public: virtual void SetVerticalRayCount(int _samples) = 0;
 
      // \return Vertical range count
      public: virtual int VerticalRangeCount() const = 0;
 
      // \return minimal vertical angle value
      public: virtual gz::math::Angle VerticalAngleMin() const = 0;
 
      public: virtual void SetVerticalAngleMin(const double _angle) = 0;
 
      // \return maximal vertical angle value
      public: virtual gz::math::Angle VerticalAngleMax() const = 0;
 
      // \return minimal vertical angle value
      public: virtual void SetVerticalAngleMax(const double _angle) = 0;
 
      public: virtual unsigned int Channels() const = 0;
 
      public: virtual void SetHorizontalResolution(double _resolution) = 0;
 
      public: virtual double HorizontalResolution() const = 0;
 
      public: virtual void SetVerticalResolution(double _resolution) = 0;
 
      public: virtual double VerticalResolution() const = 0;
 
      // Disallow use of Camera::Copy by making it private.
      // Use the overloaded Copy(float *) function instead.
      private: using Camera::Copy;
    };
  }
  }
}
#endif