OgreDepthCamera.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_OGRE_OGREDEPTHCAMERA_HH_
#define GZ_RENDERING_OGRE_OGREDEPTHCAMERA_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/math/Matrix4.hh>
 
#include "gz/rendering/RenderTypes.hh"
#include "gz/rendering/base/BaseDepthCamera.hh"
#include "gz/rendering/ogre/OgreConversions.hh"
#include "gz/rendering/ogre/OgreIncludes.hh"
#include "gz/rendering/ogre/OgreObjectInterface.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"
#include "gz/rendering/ogre/OgreSelectionBuffer.hh"
 
#include "gz/common/Event.hh"
#include "gz/common/Console.hh"
 
 
namespace Ogre
{
  class Material;
  class RenderTarget;
  class Texture;
  class Viewport;
}
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    // forward declaration
    class OgreDepthCameraPrivate;
 
    class GZ_RENDERING_OGRE_VISIBLE OgreDepthCamera :
      public virtual BaseDepthCamera<OgreSensor>,
      public virtual OgreObjectInterface
    {
      protected: OgreDepthCamera();
 
      public: virtual ~OgreDepthCamera();
 
      public: virtual void Init() override;
 
      public: virtual void CreateDepthTexture() override;
 
      protected: void DestroyDepthTexture();
 
      // Documentation inherited.
      public: virtual math::Matrix4d ProjectionMatrix() const override;
 
      // Documentation inherited.
      public: virtual void SetProjectionMatrix(
          const math::Matrix4d &_matrix) override;
 
      public: virtual void PostRender() override;
 
      public: virtual const float *DepthData() const override;
 
      public: virtual gz::common::ConnectionPtr ConnectNewDepthFrame(
          std::function<void(const float *, unsigned int, unsigned int,
          unsigned int, const std::string &)>  _subscriber) override;
 
      public: virtual gz::common::ConnectionPtr ConnectNewRgbPointCloud(
          std::function<void(const float *, unsigned int, unsigned int,
          unsigned int, const std::string &)>  _subscriber) override;
 
      // Documentation inherited.
      public: virtual void PreRender() override;
 
      public: virtual void Render() override;
 
      public: virtual void SetFarClipPlane(const double _far) override;
 
      public: virtual void SetNearClipPlane(const double _near) override;
 
      public: double NearClipPlane() const override;
 
      public: double FarClipPlane() const override;
 
      // Documentation inherited
      public: virtual void Destroy() override;
 
      // Documentation inherited.
      public: virtual Ogre::Camera *Camera() const override;
 
      protected: void UpdateRenderTarget(OgreRenderTexturePtr _target,
                                       Ogre::Material *_material,
                                       const std::string &_matName);
 
      protected: virtual RenderTargetPtr RenderTarget() const override;
 
      protected: static double LimitFOV(const double _fov);
 
      protected: void CreateCamera();
 
      private: void CreatePointCloudTexture();
 
      protected: void DestroyPointCloudTexture();
 
      protected: bool newData = false;
 
      protected: bool captureData = false;
 
      protected: OgreRenderTexturePtr depthTexture;
 
      protected: Ogre::Viewport *depthViewport = nullptr;
 
      protected: Ogre::Camera *ogreCamera;
 
      private: std::unique_ptr<OgreDepthCameraPrivate> dataPtr;
 
      private: friend class OgreScene;
      private: friend class OgreRayQuery;
    };
    }
  }
}
#endif