Ogre2SegmentationCamera.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_OGRE2SEGMENTATIONCAMERA_HH_
#define GZ_RENDERING_OGRE2_OGRE2SEGMENTATIONCAMERA_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 <string>
 
#include <gz/common/Console.hh>
#include <gz/common/Event.hh>
 
#include "gz/rendering/base/BaseSegmentationCamera.hh"
#include "gz/rendering/ogre2/Ogre2Includes.hh"
#include "gz/rendering/ogre2/Ogre2ObjectInterface.hh"
#include "gz/rendering/ogre2/Ogre2Sensor.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    // Forward declaration
    class Ogre2SegmentationCameraPrivate;
 
    class GZ_RENDERING_OGRE2_VISIBLE Ogre2SegmentationCamera :
      public virtual BaseSegmentationCamera<Ogre2Sensor>,
      public virtual Ogre2ObjectInterface
    {
      protected: Ogre2SegmentationCamera();
 
      public: virtual ~Ogre2SegmentationCamera();
 
      // Documentation inherited
      public: virtual void Init() override;
 
      // Documentation inherited
      public: virtual void Destroy() override;
 
      // Documentation inherited
      public: virtual void PreRender() 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 gz::common::ConnectionPtr
        ConnectNewSegmentationFrame(
        std::function<void(const uint8_t *, unsigned int, unsigned int,
        unsigned int, const std::string &)>  _subscriber) override;
 
      // Documentation inherited
      public: virtual void Render() override;
 
      protected: virtual RenderTargetPtr RenderTarget() const override;
 
      // Documentation inherited
      public: void SetBackgroundLabel(int _label) override;
 
      // Documentation inherited
      public: void LabelMapFromColoredBuffer(
                  uint8_t * _labelBuffer) const override;
 
      // Documentation inherited.
      public: virtual Ogre::Camera *OgreCamera() const override;
 
      protected: void CreateCamera();
 
      protected: virtual void CreateRenderTexture();
 
      // Documentation inherited
      protected: virtual void CreateSegmentationTexture() override;
 
      protected: Ogre::Camera *ogreCamera = nullptr;
 
      private: std::unique_ptr<Ogre2SegmentationCameraPrivate> dataPtr;
 
      private: friend class Ogre2Scene;
    };
    }
  }
}
#endif