Utils.hh

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/*
 * Copyright (C) 2019 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_UTILS_HH_
#define GZ_RENDERING_UTILS_HH_
 
#include <vector>
#include <memory>
 
#include <gz/math/Helpers.hh>
#include <gz/math/AxisAlignedBox.hh>
#include <gz/math/Vector2.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/Pose3.hh>
 
#include "gz/rendering/Camera.hh"
#include "gz/rendering/config.hh"
#include "gz/rendering/Export.hh"
#include "gz/rendering/GraphicsAPI.hh"
#include "gz/rendering/RayQuery.hh"
#include "gz/rendering/Image.hh"
 
 
namespace gz
{
  namespace rendering
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    GZ_RENDERING_VISIBLE
    math::Vector3d screenToScene(
        const math::Vector2i &_screenPos,
        const CameraPtr &_camera,
        const RayQueryPtr &_rayQuery,
        float _maxDistance = 10.0);
 
    GZ_RENDERING_VISIBLE
    math::Vector3d screenToScene(
        const math::Vector2i &_screenPos,
        const CameraPtr &_camera,
        const RayQueryPtr &_rayQuery,
        RayQueryResult &_rayResult,
        float _maxDistance = 10.0);
 
    GZ_RENDERING_VISIBLE
    math::Vector3d screenToPlane(
      const math::Vector2i &_screenPos,
      const CameraPtr &_camera,
      const RayQueryPtr &_rayQuery,
      const float _offset = 0.0);
 
    GZ_RENDERING_VISIBLE
    float screenScalingFactor();
 
    GZ_RENDERING_VISIBLE
    gz::math::AxisAlignedBox transformAxisAlignedBox(
        const gz::math::AxisAlignedBox &_box,
        const gz::math::Pose3d &_pose);
 
    GZ_RENDERING_VISIBLE
    gz::math::Matrix3d projectionToCameraIntrinsic(
        const gz::math::Matrix4d &_projectionMatrix,
        double _width, double _height);
 
    GZ_RENDERING_VISIBLE
    Image convertRGBToBayer(const Image &_image, PixelFormat _bayerFormat);
 
    GZ_RENDERING_VISIBLE
    GraphicsAPI defaultGraphicsAPI();
    }
  }
}
#endif