Ogre2BoundingBoxCamera.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_OGRE2_OGRE2BOUNDINGBOXCAMERA_HH_
#define GZ_RENDERING_OGRE2_OGRE2BOUNDINGBOXCAMERA_HH_
 
#ifdef _WIN32
  // Ensure that Winsock2.h is included before Windows.h, which can get
  // pulled in by anybody (e.g., Boost).
  #include <Winsock2.h>
#endif
 
#include <memory>
#include <vector>
 
#include "gz/rendering/base/BaseBoundingBoxCamera.hh"
#include "gz/rendering/ogre2/Ogre2Includes.hh"
#include "gz/rendering/ogre2/Ogre2Sensor.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    // Forward declaration
    class Ogre2BoundingBoxCameraPrivate;
 
    class GZ_RENDERING_OGRE2_VISIBLE Ogre2BoundingBoxCamera :
      public BaseBoundingBoxCamera<Ogre2Sensor>
    {
      protected: Ogre2BoundingBoxCamera();
 
      public: virtual ~Ogre2BoundingBoxCamera();
 
      public: virtual void Init() override;
 
      public: virtual void Destroy() override;
 
      // Documentation inherited
      public: virtual void PreRender() override;
 
      // Documentation inherited
      public: virtual void Render() override;
 
      // Documentation inherited
      public: virtual void PostRender() override;
 
      // Documentation inherited.
      public: virtual math::Matrix4d ProjectionMatrix() const override;
 
      // Documentation inherited.
      public: virtual void SetProjectionMatrix(
          const math::Matrix4d &_matrix) override;
 
      // Documentation inherited
      public: virtual const std::vector<BoundingBox> &BoundingBoxData() const
              override;
 
      // Documentation inherited
      public: virtual common::ConnectionPtr
        ConnectNewBoundingBoxes(
          std::function<void(const std::vector<BoundingBox> &)>) override;
 
      // Documentation inherited
      public: virtual void SetBoundingBoxType(BoundingBoxType _type) override;
 
      // Documentation inherited
      public: virtual BoundingBoxType Type() const override;
 
      public: void CreateBoundingBoxTexture();
 
      public: void CreateRenderTexture();
 
      public: void FullBoundingBoxes();
 
      public: void VisibleBoundingBoxes();
 
      public: void BoundingBoxes3D();
 
      public: void MeshMinimalBox(
          const Ogre::MeshPtr _mesh,
          const Ogre::Matrix4 &_viewMatrix,
          const Ogre::Matrix4 &_projMatrix,
          Ogre::Vector3 &_minVertex,
          Ogre::Vector3 &_maxVertex,
          const Ogre::Vector3 &_position,
          const Ogre::Quaternion &_orientation,
          const Ogre::Vector3 &_scale
          );
 
      // Documentation inherited
      public: virtual void DrawBoundingBox(unsigned char *_data,
        const math::Color &_color, const BoundingBox &_box) const override;
 
      public: void DrawLine(unsigned char *_data,
        const math::Vector2i &_point1, const math::Vector2i &_point2,
        const math::Color &_color) const;
 
      public: void ConvertToScreenCoord(Ogre::Vector3 &_minVertex,
          Ogre::Vector3 &_maxVertex) const;
 
      public: void MarkVisibleBoxes();
 
      protected: virtual RenderTargetPtr RenderTarget() const override;
 
      private: void CreateCamera();
 
      private: void MergeMultiLinksModels2D();
 
      private: void MergeMultiLinksModels3D();
 
      private: std::unique_ptr<Ogre2BoundingBoxCameraPrivate> dataPtr;
 
      private: friend class Ogre2Scene;
    };
    }
  }
}
#endif