#include <BaseGpuRays.hh>

Public Member Functions
virtual	~BaseGpuRays ()
	Destructor.

virtual gz::math::Angle	AngleMax () const override
	Get maximal horizontal angle value.

virtual gz::math::Angle	AngleMin () const override
	Get minimal horizontal angle value.

virtual unsigned int	Channels () const override
	Get the number of channels used to store the ray data.

virtual bool	Clamp () const override
	Get behaviour for data values outside of camera range.

virtual common::ConnectionPtr	ConnectNewGpuRaysFrame (std::function< void(const float *_frame, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)> _subscriber) override

virtual void	Copy (float *_data) override
	Copy to the specified memory direction the gpu rays data.

virtual const float *	Data () const override
	All things needed to get back z buffer for gpu rays data.

virtual double	HorizontalResolution () const override
	Get the horizontal resolution. This number is multiplied by RayCount to calculate RangeCount, which is the the number range data points.

virtual bool	IsHorizontal () const override
	Gets if sensor is horizontal.

virtual int	RangeCount () const override
	Get hoizontal range count, i.e. ray count * horz resolution.

virtual double	RangeCountRatio () const override
	Get the ray count ratio (equivalent to aspect ratio)

virtual int	RayCount () const override
	Get horizontal quantity of rays.

virtual double	RayCountRatio () const override
	Get the ray count ratio (equivalent to aspect ratio)

virtual RenderTargetPtr	RenderTarget () const override=0
	Pointer to the render target.

virtual void	SetAngleMax (double _angle) override
	Set maximal horizontal angle value.

virtual void	SetAngleMin (double _angle) override
	Set minimal horizontal angle value.

virtual void	SetClamp (bool _enable) override
	Configure behaviour for data values outside of camera range.

virtual void	SetHorizontalResolution (double _resolution) override
	Set the horizontal resolution. This number is multiplied by RayCount to calculate RangeCount, which is the the number range data points.

virtual void	SetIsHorizontal (const bool _horizontal) override
	Set sensor horizontal or vertical.

virtual void	SetRayCount (int _samples) override
	Set horizontal quantity of rays.

virtual void	SetRayCountRatio (const double _rayCountRatio) override
	Sets the ray count ratio (equivalent to aspect ratio)

virtual void	SetVerticalAngleMax (const double _angle) override
	Set maximal vertical angle value.

virtual void	SetVerticalAngleMin (const double _angle) override
	Set minimal vertical angle value.

virtual void	SetVerticalRayCount (int _samples) override
	Set vertical quantity of rays.

virtual void	SetVerticalResolution (double resolution) override
	Set the vertical resolution. This number is multiplied by VerticalRayCount to calculate VerticalRangeCount, which is the the number vertical range data points.

virtual void	SetVFOV (const math::Angle &_vfov)
	Set the vertical fov.

virtual gz::math::Angle	VerticalAngleMax () const override
	Get maximal vertical angle value.

virtual gz::math::Angle	VerticalAngleMin () const override
	Get minimal vertical angle value.

virtual int	VerticalRangeCount () const override
	Get vertical range count, i.e. ray count * vert resolution.

virtual int	VerticalRayCount () const override
	Get vertical quantity of rays.

virtual double	VerticalResolution () const override
	Get the vertical resolution. This number is multiplied by VerticalRayCount to calculate VerticalRangeCount, which is the the number vertical range data points.

virtual math::Angle	VFOV () const override
	Get the vertical field-of-view.

Public Member Functions inherited from GpuRays
virtual	~GpuRays ()
	Destructor.

virtual common::ConnectionPtr	ConnectNewGpuRaysFrame (std::function< void(const float *_frame, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &)> _subscriber)=0
	Connect to a gpu rays frame signal.

Public Member Functions inherited from Camera
virtual	~Camera ()
	Destructor.

virtual void	Render ()=0
	Renders the current scene using this camera. This function assumes PreRender() has already been called on the parent Scene, allowing the camera and the scene itself to prepare for rendering.

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	Sensor.

virtual void	SetVisibilityMask (uint32_t _mask)=0
	Set visibility mask.

virtual uint32_t	VisibilityMask () const =0
	Get visibility mask.

Public Member Functions inherited from Node
virtual	~Node ()
	Destructor.

virtual void	AddChild (NodePtr _child)=0
	Add the given node to this node. If the given node is already a child, no work will be done.

virtual NodePtr	ChildById (unsigned int _id) const =0
	Get node with given ID. If no child exists with given ID, NULL will be returned.

virtual NodePtr	ChildByIndex (unsigned int _index) const =0
	Get node at given index. If no child exists at given index, NULL will be returned.

virtual NodePtr	ChildByName (const std::string &_name) const =0
	Get node with given name. If no child exists with given name, NULL will be returned.

virtual unsigned int	ChildCount () const =0
	Get number of child nodes.

virtual bool	HasChild (ConstNodePtr _child) const =0
	Determine if given node is an attached child.

virtual bool	HasChildId (unsigned int _id) const =0
	Determine if node with given ID is an attached child.

virtual bool	HasChildName (const std::string &_name) const =0
	Determine if node with given name is an attached child.

virtual bool	HasParent () const =0
	Determine if this Node is attached to another Node.

virtual bool	HasUserData (const std::string &_key) const =0
	Check if node has custom data.

virtual bool	InheritScale () const =0
	Determine if this node inherits scale from this parent.

virtual math::Pose3d	InitialLocalPose () const =0
	Get the initial local pose.

virtual math::Pose3d	LocalPose () const =0
	Get the local pose.

virtual math::Vector3d	LocalPosition () const =0
	Get the local position.

virtual math::Quaterniond	LocalRotation () const =0
	Get the local rotation.

virtual math::Vector3d	LocalScale () const =0
	Get the local scale.

virtual math::Vector3d	Origin () const =0
	Get position of origin.

virtual NodePtr	Parent () const =0
	Get the parent Node.

virtual NodePtr	RemoveChild (NodePtr _child)=0
	Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done.

virtual NodePtr	RemoveChildById (unsigned int _id)=0
	Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done.

virtual NodePtr	RemoveChildByIndex (unsigned int _index)=0
	Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done.

virtual NodePtr	RemoveChildByName (const std::string &_name)=0
	Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done.

virtual void	RemoveChildren ()=0
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them.

virtual void	RemoveParent ()=0
	Detach this Node from its parent. If this Node does not have a parent, no work will be done.

virtual void	Scale (const math::Vector3d &_scale)=0
	Scale the current scale by the given scalars.

virtual void	Scale (double _scale)=0
	Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates.

virtual void	Scale (double _x, double _y, double _z)=0
	Scale the current scale by the given scalars.

virtual void	SetInheritScale (bool _inherit)=0
	Specify if this node inherits scale from its parent.

virtual void	SetLocalPose (const math::Pose3d &_pose)=0
	Set the local pose.

virtual void	SetLocalPosition (const math::Vector3d &_position)=0
	Set the local position.

virtual void	SetLocalPosition (double _x, double _y, double _z)=0
	Set the local position.

virtual void	SetLocalRotation (const math::Quaterniond &_rotation)=0
	Set the local rotation.

virtual void	SetLocalRotation (double _r, double _p, double _y)=0
	Set the local rotation.

virtual void	SetLocalRotation (double _w, double _x, double _y, double _z)=0
	Set the local rotation.

virtual void	SetLocalScale (const math::Vector3d &_scale)=0
	Set the local scale.

virtual void	SetLocalScale (double _scale)=0
	Set the local scale. The given scale will be assigned to the x, y, and z coordinates.

virtual void	SetLocalScale (double _x, double _y, double _z)=0
	Set the local scale.

virtual void	SetOrigin (const math::Vector3d &_origin)=0
	Set position of origin. The position should be relative to the original origin of the geometry.

virtual void	SetOrigin (double _x, double _y, double _z)=0
	Set position of origin. The position should be relative to the original origin of the geometry.

virtual void	SetUserData (const std::string &_key, Variant _value)=0
	Store any custom data associated with this node.

virtual void	SetWorldPose (const math::Pose3d &_pose)=0
	Set the world pose.

virtual void	SetWorldPosition (const math::Vector3d &_position)=0
	Set the world position.

virtual void	SetWorldPosition (double _x, double _y, double _z)=0
	Set the world position.

virtual void	SetWorldRotation (const math::Quaterniond &_rotation)=0
	Set the world rotation.

virtual void	SetWorldRotation (double _r, double _p, double _y)=0
	Set the world rotation.

virtual void	SetWorldRotation (double _w, double _x, double _y, double _z)=0
	Set the world rotation.

virtual void	SetWorldScale (const math::Vector3d &_scale)=0
	Set the world scale.

virtual void	SetWorldScale (double _scale)=0
	Set the world scale. The given scale will be assigned to the x, y, and z coordinates.

virtual void	SetWorldScale (double _x, double _y, double _z)=0
	Set the world scale.

virtual Variant	UserData (const std::string &_key) const =0
	Get custom data stored in this node.

virtual math::Pose3d	WorldPose () const =0
	Get the world pose.

virtual math::Vector3d	WorldPosition () const =0
	Get the world position.

virtual math::Quaterniond	WorldRotation () const =0
	Get the world rotation.

virtual math::Vector3d	WorldScale () const =0
	Get the world scale.

virtual math::Pose3d	WorldToLocal (const math::Pose3d &_pose) const =0
	Convert given world pose to local pose.

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor.

virtual void	Destroy ()=0
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

virtual unsigned int	Id () const =0
	Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes.

virtual std::string	Name () const =0
	Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes.

virtual ScenePtr	Scene () const =0
	Get the Scene that created this object.

Public Member Functions inherited from BaseCamera< T >
virtual	~BaseCamera ()

virtual void	AddRenderPass (const RenderPassPtr &_pass) override
	Add a render pass to the camera.

virtual unsigned int	AntiAliasing () const override
	Get the level of anti-aliasing used during rendering.

virtual double	AspectRatio () const override
	Get the camera's aspect ratio.

virtual void	Capture (Image &_image) override
	Renders a new frame and writes the results to the given image. This is a convenience function for single-camera scenes. It wraps the pre-render, render, post-render, and get-image calls into a single function. This should NOT be used in applications with multiple cameras or multiple consumers of a single camera's images.

virtual common::ConnectionPtr	ConnectNewImageFrame (Camera::NewFrameListener _listener) override
	Subscribes a new listener to this camera's new frame event.

virtual void	Copy (Image &_image) const override
	Writes the last rendered image to the given image buffer. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior.

virtual Image	CreateImage () const override
	Created an empty image buffer for capturing images. The resulting image will have sufficient memory allocated for subsequent calls to this camera's Capture function. However, any changes to this cameras properties may invalidate the condition.

virtual RenderWindowPtr	CreateRenderWindow () override
	Create a render window.

virtual double	FarClipPlane () const override
	Get the camera's far clipping plane distance.

virtual math::Vector3d	FollowOffset () const override
	Get the follow offset vector in the frame specified at the time the follow target is set.

virtual double	FollowPGain () const override
	Get the camera follow movement P gain.

virtual NodePtr	FollowTarget () const override
	Get the target node being followed.

virtual math::Angle	HFOV () const override
	Get the camera's horizontal field-of-view.

virtual PixelFormat	ImageFormat () const override
	Get the image pixel format. If the image pixel format has not been set with a valid value, PF_UNKNOWN will be returned.

virtual unsigned int	ImageHeight () const override
	Get the image height in pixels.

virtual unsigned int	ImageMemorySize () const override
	Get the total image memory size in bytes.

virtual unsigned int	ImageWidth () const override
	Get the image width in pixels.

virtual double	NearClipPlane () const override
	Get the camera's near clipping plane distance.

virtual void	PostRender () override
	Preforms any necessary final rendering work. Once rendering is complete the camera will alert any listeners of the new frame event. This function should only be called after a call to Render has successfully been executed.

virtual void	PrepareForExternalSampling () override
	Right now this is Vulkan-only. This function needs to be called after rendering, and before handling the texture pointer (i.e. by calling RenderTextureMetalId()) so that external APIs (e.g. Qt) can sample the texture.

virtual void	PreRender () override
	Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender.

virtual math::Vector2i	Project (const math::Vector3d &_pt) const override
	Project point in 3d world space to 2d screen space.

virtual math::Matrix4d	ProjectionMatrix () const override
	Get the projection matrix for this camera.

virtual CameraProjectionType	ProjectionType () const override
	Get the projection type for this camera.

void	RemoveAllRenderPasses () override
	Remove all render passes from the camera.

virtual void	RemoveRenderPass (const RenderPassPtr &_pass) override
	Remove a render pass from the camera.

virtual RenderPassPtr	RenderPassByIndex (unsigned int _index) const override
	Get a render passes by index.

virtual unsigned int	RenderPassCount () const override
	Get the number of render passes applied to the camera.

virtual unsigned int	RenderTextureGLId () const override
	Get the OpenGL texture id associated with the render texture used by this camera. A valid id is returned only if the underlying render engine is OpenGL based.

virtual void	RenderTextureMetalId (void *_textureIdPtr) const override
	Get the Metal texture id associated with the render texture used by this camera. A valid Id is obtained only if the underlying render engine is Metal based. The pointer set by this function must be released to an id<MTLTexture> using CFBridgingRelease.

virtual bool	SaveFrame (const std::string &_name) override
	Writes the previously rendered frame to a file. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior.

virtual void	SetAntiAliasing (const unsigned int _aa) override
	Set the level of anti-aliasing used during rendering. If a value of 0 is given, no anti-aliasing will be performed. Higher values can significantly slow-down rendering times, depending on the underlying render engine.

virtual void	SetAspectRatio (const double _ratio) override
	Set the camera's aspect ratio. This value determines the cameras vertical field-of-view. It is often the.

virtual void	SetFarClipPlane (const double _far) override
	Set the camera's far clipping plane distance.

virtual void	SetFollowOffset (const math::Vector3d &_offset) override
	Set offset of camera from target node being followed. The offset will be in the frame that is specified at the time the follow target is set.

virtual void	SetFollowPGain (const double _pGain) override
	Set follow P Gain. Determines how fast the camera moves to follow the target node. Valid range: [0-1].

virtual void	SetFollowTarget (const NodePtr &_target, const math::Vector3d &_Offset, const bool _worldFrame) override
	Set a node for camera to follow. The camera will automatically update its position to keep itself at the specified offset distance from the target being followed. If null is specified, camera follow is disabled. In contrast to SetTrackTarget, the camera does not change its orientation when following is enabled.

virtual void	SetHFOV (const math::Angle &_hfov) override
	Set the camera's horizontal field-of-view.

virtual void	SetImageFormat (PixelFormat _format, bool _reinterpretable=false) override
	Set the image pixel format.

virtual void	SetImageHeight (const unsigned int _height) override
	Set the image height in pixels.

virtual void	SetImageWidth (const unsigned int _width) override
	Set the image width in pixels.

virtual void	SetMaterial (const MaterialPtr &_material) override
	Set a material that the camera should see on all objects.

virtual void	SetNearClipPlane (const double _near) override
	Set the camera's near clipping plane distance.

virtual void	SetProjectionMatrix (const math::Matrix4d &_matrix) override
	Set the projection matrix for this camera. This overrides the standard projection matrix computed based on camera parameters.

virtual void	SetProjectionType (CameraProjectionType _type) override
	Set the projection type for this camera This changes the projection matrix of the camera based on the camera projection type. A custom projection matrix can be specified via `SetProjectionMatrix` to override the provided one. To disable the custom projection matrix, just call this function again with the desired projection type.

virtual void	SetShadowsDirty () override

virtual void	SetTrackOffset (const math::Vector3d &_offset) override
	Set track offset. Camera will track a point that's at an offset from the target node. The offset will be in the frame that is specified at the time the track target is set.

virtual void	SetTrackPGain (const double _pGain) override
	Set track P Gain. Determines how fast the camera rotates to look at the target node. Valid range: [0-1].

virtual void	SetTrackTarget (const NodePtr &_target, const math::Vector3d &_offset, const bool _worldFrame) override
	Set a node for camera to track. The camera will automatically change its orientation to face the target being tracked. If null is specified, tracking is disabled. In contrast to SetFollowTarget the camera does not change its position when tracking is enabled.

virtual math::Vector3d	TrackOffset () const override
	Get the track offset vector in the frame specified at the time the track target is set.

virtual double	TrackPGain () const override
	Get the camera track rotation P gain.

virtual NodePtr	TrackTarget () const override
	Get the target node being tracked.

virtual void	Update () override
	Renders a new frame. This is a convenience function for single-camera scenes. It wraps the pre-render, render, and post-render into a single function. This should NOT be used in applications with multiple cameras or multiple consumers of a single camera's images.

virtual math::Matrix4d	ViewMatrix () const override
	Get the view matrix for this camera.

virtual VisualPtr	VisualAt (const gz::math::Vector2i &_mousePos) override
	Get the visual for a given mouse position param[in] _mousePos mouse position.

Public Attributes
bool	clamping = false
	True if data values are clamped to camera clip distances,.

float	dataMaxVal = gz::math::INF_D
	maximum value used for data outside sensor range

float	dataMinVal = -gz::math::INF_D
	minimum value used for data outside sensor range

Protected Member Functions
	BaseGpuRays ()
	Constructor.

Protected Member Functions inherited from BaseCamera< T >
	BaseCamera ()

virtual void *	CreateImageBuffer () const

virtual void	Load () override

virtual void	Reset ()

Protected Attributes
unsigned int	channels = 1u
	Number of channels used to store the data.

double	hResolution = 1
	Resolution of horizontal rays.

int	hSamples = 0
	Quantity of horizontal rays.

bool	isHorizontal = true
	True if the sensor is horizontal only.

double	maxAngle = 0
	Horizontal maximal angle.

double	minAngle = 0
	Horizontal minimal angle.

double	rangeCountRatio = 0
	Range count ratio.

double	rayCountRatio = 0
	Ray count ratio.

math::Angle	vfov
	Vertical field-of-view.

double	vMaxAngle = 0
	Vertical maximal angle.

double	vMinAngle = 0
	Vertical minimal angle.

double	vResolution = 1
	Resolution of vertical rays.

int	vSamples = 0
	Quantity of verical rays.

Protected Attributes inherited from BaseCamera< T >
unsigned int	antiAliasing = 0u
	Anti-aliasing.

double	aspect = 1.3333333
	Aspect ratio.

double	farClip = 1000.0
	Far clipping plane distance.

NodePtr	followNode
	Target node to follow.

math::Vector3d	followOffset
	Offset distance between camera and target node being followed.

double	followPGain = 1.0
	P gain for follow mode. Determines how fast the camera moves to follow the target node. Valid range: [0-1].

bool	followWorldFrame = false
	Follow target in world frame.

math::Angle	hfov
	Horizontal camera field of view.

ImagePtr	imageBuffer

double	nearClip = 0.01
	Near clipping plane distance.

common::EventT< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)>	newFrameEvent

math::Matrix4d	projectionMatrix
	Custom projection matrix.

CameraProjectionType	projectionType = CPT_PERSPECTIVE
	Camera projection type.

NodePtr	trackNode
	Target node to track if camera tracking is on.

math::Vector3d	trackOffset
	Set camera to track a point offset in target node's local or world frame depending on trackWorldFrame.

double	trackPGain = 1.0
	P gain for tracking. Determines how fast the camera rotates to look at the target node. Valid range: [0-1].

bool	trackWorldFrame = false
	Track point relative to target in world frame.

Additional Inherited Members
Public Types inherited from GpuRays
typedef std::function< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)>	NewFrameListener
	Callback function for new frame render event listeners.

Public Types inherited from Camera
typedef std::function< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)>	NewFrameListener
	Callback function for new frame render event listeners.

Constructor & Destructor Documentation

◆ BaseGpuRays()

template<class T >

BaseGpuRays ( )

protected

Constructor.

◆ ~BaseGpuRays()

template<class T >

~BaseGpuRays ( )

virtual

Destructor.

Member Function Documentation

◆ AngleMax()

template<class T >

gz::math::Angle AngleMax ( ) const

overridevirtual

Get maximal horizontal angle value.

Implements GpuRays.

◆ AngleMin()

template<class T >

gz::math::Angle AngleMin ( ) const

overridevirtual

Get minimal horizontal angle value.

Implements GpuRays.

◆ Channels()

template<class T >

unsigned int Channels ( ) const

overridevirtual

Get the number of channels used to store the ray data.

Returns: Channel count.

Implements GpuRays.

◆ Clamp()

template<class T >

bool Clamp ( ) const

overridevirtual

Get behaviour for data values outside of camera range.

Returns: True if data values are clampped to camera clip distances,

Implements GpuRays.

◆ ConnectNewGpuRaysFrame()

template<class T >

gz::common::ConnectionPtr ConnectNewGpuRaysFrame ( std::function< void(const float *_frame, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)> _subscriber )

overridevirtual

◆ Copy()

template<class T >

void Copy ( float * _data )

overridevirtual

Copy to the specified memory direction the gpu rays data.

Implements GpuRays.

Reimplemented in OgreGpuRays, and Ogre2GpuRays.

◆ Data()

template<class T >

const float * Data ( ) const

overridevirtual

All things needed to get back z buffer for gpu rays data.

Returns: Array of gpu rays data.

Implements GpuRays.

Reimplemented in OgreGpuRays, and Ogre2GpuRays.

◆ HorizontalResolution()

template<class T >

double HorizontalResolution ( ) const

overridevirtual

Get the horizontal resolution. This number is multiplied by RayCount to calculate RangeCount, which is the the number range data points.

See also: RayCount()

Returns: The horizontal resolution

Implements GpuRays.

◆ IsHorizontal()

template<class T >

bool IsHorizontal ( ) const

overridevirtual

Gets if sensor is horizontal.

Returns: True if horizontal, false if not

Implements GpuRays.

◆ RangeCount()

template<class T >

int RangeCount ( ) const

overridevirtual

Get hoizontal range count, i.e. ray count * horz resolution.

Implements GpuRays.

◆ RangeCountRatio()

template<class T >

double RangeCountRatio ( ) const

overridevirtual

Get the ray count ratio (equivalent to aspect ratio)

Returns: The ray count ratio (equivalent to aspect ratio)

Implements GpuRays.

◆ RayCount()

template<class T >

int RayCount ( ) const

overridevirtual

Get horizontal quantity of rays.

Implements GpuRays.

◆ RayCountRatio()

template<class T >

double RayCountRatio ( ) const

overridevirtual

Get the ray count ratio (equivalent to aspect ratio)

Returns: The ray count ratio (equivalent to aspect ratio)

Implements GpuRays.

◆ RenderTarget()

template<class T >

virtual RenderTargetPtr RenderTarget ( ) const

overridepure virtual

Pointer to the render target.

Implements BaseCamera< T >.

Implemented in OgreGpuRays, and Ogre2GpuRays.

◆ SetAngleMax()

template<class T >

void SetAngleMax ( double _angle )

overridevirtual

Set maximal horizontal angle value.

Implements GpuRays.

◆ SetAngleMin()

template<class T >

void SetAngleMin ( double _angle )

overridevirtual

Set minimal horizontal angle value.

Implements GpuRays.

◆ SetClamp()

template<class T >

void SetClamp ( bool _clamp )

overridevirtual

Configure behaviour for data values outside of camera range.

Parameters

[in] _clamp True to clamp data to camera clip distances,

Implements GpuRays.

References gz::math::INF_D.

◆ SetHorizontalResolution()

template<class T >

void SetHorizontalResolution ( double _resolution )

overridevirtual

Set the horizontal resolution. This number is multiplied by RayCount to calculate RangeCount, which is the the number range data points.

See also: RayCount()

Parameters

[in] _resolution The new horizontal resolution. The absolute value of this parameter is used to prevent a negative resolution value.

Implements GpuRays.

References std::dynamic_pointer_cast().

◆ SetIsHorizontal()

template<class T >

void SetIsHorizontal ( const bool _horizontal )

overridevirtual

Set sensor horizontal or vertical.

Parameters

[in] _horizontal True if horizontal, false if not

Implements GpuRays.

◆ SetRayCount()

template<class T >

void SetRayCount ( int _samples )

overridevirtual

Set horizontal quantity of rays.

Implements GpuRays.

◆ SetRayCountRatio()

template<class T >

void SetRayCountRatio ( const double _rayCountRatio )

overridevirtual

Sets the ray count ratio (equivalent to aspect ratio)

Parameters

[in] _rayCountRatio ray count ratio (equivalent to aspect ratio)

Implements GpuRays.

◆ SetVerticalAngleMax()

template<class T >

void SetVerticalAngleMax ( const double _angle )

overridevirtual

Set maximal vertical angle value.

Implements GpuRays.

◆ SetVerticalAngleMin()

template<class T >

void SetVerticalAngleMin ( const double _angle )

overridevirtual

Set minimal vertical angle value.

Implements GpuRays.

◆ SetVerticalRayCount()

template<class T >

void SetVerticalRayCount ( int _samples )

overridevirtual

Set vertical quantity of rays.

Implements GpuRays.

◆ SetVerticalResolution()

template<class T >

void SetVerticalResolution ( double _resolution )

overridevirtual

Set the vertical resolution. This number is multiplied by VerticalRayCount to calculate VerticalRangeCount, which is the the number vertical range data points.

Parameters

[in] _resolution The new vertical resolution. The absolute value of this parameter is used to prevent a negative resolution value.

See also: VerticalRayCount()

Implements GpuRays.

References std::dynamic_pointer_cast().

◆ SetVFOV()

template<class T >

void SetVFOV ( const math::Angle & _vfov )

virtual

Set the vertical fov.

Parameters

[in] _vfov vertical fov

◆ VerticalAngleMax()

template<class T >

gz::math::Angle VerticalAngleMax ( ) const

overridevirtual

Get maximal vertical angle value.

Implements GpuRays.

◆ VerticalAngleMin()

template<class T >

gz::math::Angle VerticalAngleMin ( ) const

overridevirtual

Get minimal vertical angle value.

Implements GpuRays.

◆ VerticalRangeCount()

template<class T >

int VerticalRangeCount ( ) const

overridevirtual

Get vertical range count, i.e. ray count * vert resolution.

Implements GpuRays.

◆ VerticalRayCount()

template<class T >

int VerticalRayCount ( ) const

overridevirtual

Get vertical quantity of rays.

Implements GpuRays.

◆ VerticalResolution()

template<class T >

double VerticalResolution ( ) const

overridevirtual

Get the vertical resolution. This number is multiplied by VerticalRayCount to calculate VerticalRangeCount, which is the the number vertical range data points.

Returns: The vertical resolution.

See also: VerticalRayCount()

Implements GpuRays.

◆ VFOV()

template<class T >

math::Angle VFOV ( ) const

overridevirtual

Get the vertical field-of-view.

Returns: The vertical field of view of the gpu rays.

Implements GpuRays.

Member Data Documentation

◆ channels

template<class T >

unsigned int channels = 1u

protected

Number of channels used to store the data.

◆ clamping

template<class T >

bool clamping = false

True if data values are clamped to camera clip distances,.

◆ dataMaxVal

template<class T >

float dataMaxVal = gz::math::INF_D

maximum value used for data outside sensor range

◆ dataMinVal

template<class T >

float dataMinVal = -gz::math::INF_D

minimum value used for data outside sensor range

◆ hResolution

template<class T >

double hResolution = 1

protected

Resolution of horizontal rays.

◆ hSamples

template<class T >

int hSamples = 0

protected

Quantity of horizontal rays.

◆ isHorizontal

template<class T >

bool isHorizontal = true

protected

True if the sensor is horizontal only.

◆ maxAngle

template<class T >

double maxAngle = 0

protected

Horizontal maximal angle.

◆ minAngle

template<class T >

double minAngle = 0

protected

Horizontal minimal angle.

◆ rangeCountRatio

template<class T >

double rangeCountRatio = 0

protected

Range count ratio.

◆ rayCountRatio

template<class T >

double rayCountRatio = 0

protected

Ray count ratio.

◆ vfov

template<class T >

math::Angle vfov

protected

Vertical field-of-view.

◆ vMaxAngle

template<class T >

double vMaxAngle = 0

protected

Vertical maximal angle.

◆ vMinAngle

template<class T >

double vMinAngle = 0

protected

Vertical minimal angle.

◆ vResolution

template<class T >

double vResolution = 1

protected

Resolution of vertical rays.

◆ vSamples

template<class T >

int vSamples = 0

protected

Quantity of verical rays.

The documentation for this class was generated from the following file:

BaseGpuRays.hh

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ BaseGpuRays()

◆ ~BaseGpuRays()

Member Function Documentation

◆ AngleMax()

◆ AngleMin()

◆ Channels()

◆ Clamp()

◆ ConnectNewGpuRaysFrame()

◆ Copy()

◆ Data()

◆ HorizontalResolution()

◆ IsHorizontal()

◆ RangeCount()

◆ RangeCountRatio()

◆ RayCount()

◆ RayCountRatio()

◆ RenderTarget()

◆ SetAngleMax()

◆ SetAngleMin()

◆ SetClamp()

◆ SetHorizontalResolution()

◆ SetIsHorizontal()

◆ SetRayCount()

◆ SetRayCountRatio()

◆ SetVerticalAngleMax()

◆ SetVerticalAngleMin()

◆ SetVerticalRayCount()

◆ SetVerticalResolution()

◆ SetVFOV()

◆ VerticalAngleMax()

◆ VerticalAngleMin()

◆ VerticalRangeCount()

◆ VerticalRayCount()

◆ VerticalResolution()

◆ VFOV()

Member Data Documentation

◆ channels

◆ clamping

◆ dataMaxVal

◆ dataMinVal

◆ hResolution

◆ hSamples

◆ isHorizontal

◆ maxAngle

◆ minAngle

◆ rangeCountRatio

◆ rayCountRatio

◆ vfov

◆ vMaxAngle

◆ vMinAngle

◆ vResolution

◆ vSamples