Posable camera used for rendering the scene graph. More...

#include <gz/rendering/Camera.hh>

Public Types
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 Member Functions
virtual	~Camera ()
	Destructor.

virtual void	AddRenderPass (const RenderPassPtr &_pass)=0
	Add a render pass to the camera.

virtual unsigned int	AntiAliasing () const =0
	Get the level of anti-aliasing used during rendering.

virtual double	AspectRatio () const =0
	Get the camera's aspect ratio.

virtual void	Capture (Image &_image)=0
	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 (NewFrameListener _listener)=0
	Subscribes a new listener to this camera's new frame event.

virtual void	Copy (Image &_image) const =0
	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 =0
	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 ()=0
	Create a render window.

virtual double	FarClipPlane () const =0
	Get the camera's far clipping plane distance.

virtual math::Vector3d	FollowOffset () const =0
	Get the follow offset vector in the frame specified at the time the follow target is set.

virtual double	FollowPGain () const =0
	Get the camera follow movement P gain.

virtual NodePtr	FollowTarget () const =0
	Get the target node being followed.

virtual math::Angle	HFOV () const =0
	Get the camera's horizontal field-of-view.

virtual PixelFormat	ImageFormat () const =0
	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 =0
	Get the image height in pixels.

virtual unsigned int	ImageMemorySize () const =0
	Get the total image memory size in bytes.

virtual unsigned int	ImageWidth () const =0
	Get the image width in pixels.

virtual double	NearClipPlane () const =0
	Get the camera's near clipping plane distance.

virtual void	PostRender ()=0
	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 ()=0
	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 math::Vector2i	Project (const math::Vector3d &_pt) const =0
	Project point in 3d world space to 2d screen space.

virtual math::Matrix4d	ProjectionMatrix () const =0
	Get the projection matrix for this camera.

virtual CameraProjectionType	ProjectionType () const =0
	Get the projection type for this camera.

virtual void	RemoveAllRenderPasses ()=0
	Remove all render passes from the camera.

virtual void	RemoveRenderPass (const RenderPassPtr &_pass)=0
	Remove a render pass from the camera.

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.

virtual RenderPassPtr	RenderPassByIndex (unsigned int _index) const =0
	Get a render passes by index.

virtual unsigned int	RenderPassCount () const =0
	Get the number of render passes applied to the camera.

virtual unsigned int	RenderTextureGLId () const =0
	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 =0
	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)=0
	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)=0
	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)=0
	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)=0
	Set the camera's far clipping plane distance.

virtual void	SetFollowOffset (const math::Vector3d &_offset)=0
	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)=0
	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=math::Vector3d::Zero, const bool _worldFrame=false)=0
	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)=0
	Set the camera's horizontal field-of-view.

virtual void	SetImageFormat (PixelFormat _format, bool _reinterpretable=false)=0
	Set the image pixel format.

virtual void	SetImageHeight (unsigned int _height)=0
	Set the image height in pixels.

virtual void	SetImageWidth (unsigned int _width)=0
	Set the image width in pixels.

virtual void	SetMaterial (const MaterialPtr &_material)=0
	Set a material that the camera should see on all objects.

virtual void	SetNearClipPlane (const double _near)=0
	Set the camera's near clipping plane distance.

virtual void	SetProjectionMatrix (const math::Matrix4d &_matrix)=0
	Set the projection matrix for this camera. This overrides the standard projection matrix computed based on camera parameters.

virtual void	SetProjectionType (CameraProjectionType _type)=0
	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 ()=0

virtual void	SetTrackOffset (const math::Vector3d &_offset)=0
	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)=0
	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=math::Vector3d::Zero, const bool _worldFrame=false)=0
	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 =0
	Get the track offset vector in the frame specified at the time the track target is set.

virtual double	TrackPGain () const =0
	Get the camera track rotation P gain.

virtual NodePtr	TrackTarget () const =0
	Get the target node being tracked.

virtual void	Update ()=0
	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 =0
	Get the view matrix for this camera.

virtual VisualPtr	VisualAt (const gz::math::Vector2i &_mousePos)=0
	Get the visual for a given mouse position param[in] _mousePos mouse position.

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

Detailed Description

Posable camera used for rendering the scene graph.

Poseable depth camera used for rendering the scene graph. This camera is designed to produced depth data, instead of a 2D image.

Member Typedef Documentation

◆ NewFrameListener

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

◆ ~Camera()

virtual ~Camera ( )

virtual

Destructor.

Member Function Documentation

◆ AddRenderPass()

virtual void AddRenderPass ( const RenderPassPtr & _pass )

pure virtual

Add a render pass to the camera.

Parameters

[in] _pass New render pass to add

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreWideAngleCamera, Ogre2DepthCamera, and Ogre2WideAngleCamera.

◆ AntiAliasing()

virtual unsigned int AntiAliasing ( ) const

pure virtual

Get the level of anti-aliasing used during rendering.

Returns: The level of anti-aliasing used during rendering

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ AspectRatio()

virtual double AspectRatio ( ) const

pure virtual

Get the camera's aspect ratio.

Remarks: If SetAspectRatio() gets called with an input <= 0 this function returns the Aspect Ratio autocalculated based on the camera's dimensions.

Returns: The camera's aspect ratio. This value is always in range (0; inf) unless the dimensions are invalid (e.g. 0 width or height, NaN resolution, etc)

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ Capture()

virtual void Capture ( Image & _image )

pure virtual

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.

Parameters

[out] _image Output image buffer

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ ConnectNewImageFrame()

virtual common::ConnectionPtr ConnectNewImageFrame ( NewFrameListener _listener )

pure virtual

Subscribes a new listener to this camera's new frame event.

Parameters

[in] _listener New camera listener callback

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ Copy()

virtual void Copy ( Image & _image ) const

pure virtual

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.

Parameters

[out] _image Output image buffer

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreWideAngleCamera, and Ogre2WideAngleCamera.

◆ CreateImage()

virtual Image CreateImage ( ) const

pure virtual

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.

Returns: A newly allocated Image for storing this cameras images

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ CreateRenderWindow()

virtual RenderWindowPtr CreateRenderWindow ( )

pure virtual

Create a render window.

Returns: A pointer to the render window.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ FarClipPlane()

virtual double FarClipPlane ( ) const

pure virtual

Get the camera's far clipping plane distance.

Returns: Far clipping plane distance

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreDepthCamera, and Ogre2DepthCamera.

◆ FollowOffset()

virtual math::Vector3d FollowOffset ( ) const

pure virtual

Get the follow offset vector in the frame specified at the time the follow target is set.

Returns: Offset of camera from target.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ FollowPGain()

virtual double FollowPGain ( ) const

pure virtual

Get the camera follow movement P gain.

Returns: P gain for camera following

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ FollowTarget()

virtual NodePtr FollowTarget ( ) const

pure virtual

Get the target node being followed.

Returns: Target node being tracked.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ HFOV()

virtual math::Angle HFOV ( ) const

pure virtual

Get the camera's horizontal field-of-view.

Returns: Angle containing the camera's horizontal field-of-view

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ ImageFormat()

virtual PixelFormat ImageFormat ( ) const

pure virtual

Get the image pixel format. If the image pixel format has not been set with a valid value, PF_UNKNOWN will be returned.

Returns: The image pixel format

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ ImageHeight()

virtual unsigned int ImageHeight ( ) const

pure virtual

Get the image height in pixels.

Returns: The image height in pixels

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ ImageMemorySize()

virtual unsigned int ImageMemorySize ( ) const

pure virtual

Get the total image memory size in bytes.

Returns: The image memory size in bytes

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ ImageWidth()

virtual unsigned int ImageWidth ( ) const

pure virtual

Get the image width in pixels.

Returns: The image width in pixels

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ NearClipPlane()

virtual double NearClipPlane ( ) const

pure virtual

Get the camera's near clipping plane distance.

Returns: Near clipping plane distance

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreDepthCamera, and Ogre2DepthCamera.

◆ PostRender()

virtual void PostRender ( )

pure virtual

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.

Implements Object.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreDepthCamera, OgreGpuRays, OgreThermalCamera, OgreWideAngleCamera, Ogre2BoundingBoxCamera, Ogre2DepthCamera, Ogre2GpuRays, Ogre2SegmentationCamera, Ogre2ThermalCamera, and Ogre2WideAngleCamera.

◆ PrepareForExternalSampling()

virtual void PrepareForExternalSampling ( )

pure virtual

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.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, and Ogre2Camera.

◆ Project()

virtual math::Vector2i Project ( const math::Vector3d & _pt ) const

pure virtual

Project point in 3d world space to 2d screen space.

Parameters

[in] _pt Point in 3d world space

Returns: Point in 2d screen space

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ ProjectionMatrix()

virtual math::Matrix4d ProjectionMatrix ( ) const

pure virtual

Get the projection matrix for this camera.

Returns: Camera projection matrix

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, OgreDepthCamera, Ogre2BoundingBoxCamera, Ogre2Camera, Ogre2DepthCamera, Ogre2SegmentationCamera, and Ogre2ThermalCamera.

◆ ProjectionType()

virtual CameraProjectionType ProjectionType ( ) const

pure virtual

Get the projection type for this camera.

Returns: Camera projection type

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ RemoveAllRenderPasses()

virtual void RemoveAllRenderPasses ( )

pure virtual

Remove all render passes from the camera.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreWideAngleCamera, and Ogre2WideAngleCamera.

◆ RemoveRenderPass()

virtual void RemoveRenderPass ( const RenderPassPtr & _pass )

pure virtual

Remove a render pass from the camera.

Parameters

[in] _pass render pass to remove

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreWideAngleCamera, and Ogre2WideAngleCamera.

◆ Render()

virtual void Render ( )

pure virtual

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.

Implemented in OgreCamera, OgreDepthCamera, OgreThermalCamera, OgreWideAngleCamera, Ogre2BoundingBoxCamera, Ogre2Camera, Ogre2DepthCamera, Ogre2SegmentationCamera, Ogre2ThermalCamera, and Ogre2WideAngleCamera.

◆ RenderPassByIndex()

virtual RenderPassPtr RenderPassByIndex ( unsigned int _index ) const

pure virtual

Get a render passes by index.

Returns: Render pass at the specified index

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ RenderPassCount()

virtual unsigned int RenderPassCount ( ) const

pure virtual

Get the number of render passes applied to the camera.

Returns: Number of render passes applied

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ RenderTextureGLId()

virtual unsigned int RenderTextureGLId ( ) const

pure virtual

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.

Returns: Texture Id of type GLuint.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ RenderTextureMetalId()

virtual void RenderTextureMetalId ( void * _textureIdPtr ) const

pure virtual

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.

Parameters

[out] _textureIdPtr the address of a void* pointer.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, and Ogre2Camera.

◆ SaveFrame()

virtual bool SaveFrame ( const std::string & _name )

pure virtual

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.

Parameters

[in] _name Name of the output file

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ SetAntiAliasing()

virtual void SetAntiAliasing ( const unsigned int _aa )

pure virtual

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.

Parameters

[in] _aa Level of anti-aliasing used during rendering

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ SetAspectRatio()

virtual void SetAspectRatio ( const double _ratio )

pure virtual

Set the camera's aspect ratio. This value determines the cameras vertical field-of-view. It is often the.

image_height /

image_width

but this is not necessarily true.

Setting a value <= 0.0 indicates the aspect ratio will be automatically calculated based on width & height.

Parameters

[in] _ratio The camera's aspect ratio

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ SetFarClipPlane()

virtual void SetFarClipPlane ( const double _far )

pure virtual

Set the camera's far clipping plane distance.

Parameters

[in] _far Far clipping plane distance

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, OgreDepthCamera, Ogre2Camera, and Ogre2DepthCamera.

◆ SetFollowOffset()

virtual void SetFollowOffset ( const math::Vector3d & _offset )

pure virtual

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.

Parameters

[in] _offset Offset distance from target node.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ SetFollowPGain()

virtual void SetFollowPGain ( const double _pGain )

pure virtual

Set follow P Gain. Determines how fast the camera moves to follow the target node. Valid range: [0-1].

Parameters

[in] _pGain P gain for camera following

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ SetFollowTarget()

virtual void SetFollowTarget	(	const NodePtr &	_target,
		const math::Vector3d &	_offset = `math::Vector3d::Zero`,
		const bool	_worldFrame = `false`
	)

pure virtual

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.

Parameters

[in]	_target	Target node to follow
[in]	_offset	Tether the camera at an offset distance from the target node.
[in]	_worldFrame	True to follow the target node at a distance that's fixed in world frame. Default is false which means the camera follows at fixed distance in target node's local frame.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ SetHFOV()

virtual void SetHFOV ( const math::Angle & _hfov )

pure virtual

Set the camera's horizontal field-of-view.

Parameters

[in] _hfov Desired horizontal field-of-view

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ SetImageFormat()

virtual void SetImageFormat	(	PixelFormat	_format,
		bool	_reinterpretable = `false`
	)

pure virtual

Set the image pixel format.

Parameters

[in]	_format	New image pixel format
[in]	_reinterpretable	See RenderTarget::SetFormat

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ SetImageHeight()

virtual void SetImageHeight ( unsigned int _height )

pure virtual

Set the image height in pixels.

Parameters

[in] _height New image height in pixels

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ SetImageWidth()

virtual void SetImageWidth ( unsigned int _width )

pure virtual

Set the image width in pixels.

Parameters

[in] _width New image width in pixels

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ SetMaterial()

virtual void SetMaterial ( const MaterialPtr & _material )

pure virtual

Set a material that the camera should see on all objects.

Parameters

[in] _material a material instance

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ SetNearClipPlane()

virtual void SetNearClipPlane ( const double _near )

pure virtual

Set the camera's near clipping plane distance.

Parameters

[in] _near Near clipping plane distance

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, OgreDepthCamera, Ogre2Camera, and Ogre2DepthCamera.

◆ SetProjectionMatrix()

virtual void SetProjectionMatrix ( const math::Matrix4d & _matrix )

pure virtual

Set the projection matrix for this camera. This overrides the standard projection matrix computed based on camera parameters.

Parameters

[in] _matrix Camera projection matrix

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, OgreDepthCamera, Ogre2BoundingBoxCamera, Ogre2Camera, Ogre2DepthCamera, Ogre2SegmentationCamera, and Ogre2ThermalCamera.

◆ SetProjectionType()

virtual void SetProjectionType ( CameraProjectionType _type )

pure virtual

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.

Parameters

[in] _type Camera projection type

See also: SetProjectionMatrix

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ SetShadowsDirty()

virtual void SetShadowsDirty ( )

pure virtual

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, Ogre2Camera, and Ogre2DepthCamera.

◆ SetTrackOffset()

virtual void SetTrackOffset ( const math::Vector3d & _offset )

pure virtual

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.

Parameters

[in] _offset Point offset to track

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ SetTrackPGain()

virtual void SetTrackPGain ( const double _pGain )

pure virtual

Set track P Gain. Determines how fast the camera rotates to look at the target node. Valid range: [0-1].

Parameters

[in] _pGain P gain for camera tracking

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ SetTrackTarget()

virtual void SetTrackTarget	(	const NodePtr &	_target,
		const math::Vector3d &	_offset = `math::Vector3d::Zero`,
		const bool	_worldFrame = `false`
	)

pure virtual

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.

Parameters

[in]	_target	Target node to track
[in]	_offset	Track a point that is at an offset relative to target.
[in]	_worldFrame	If true, the offset point to track will be treated in world frame and its position relative to the target node remains fixed regardless of the target node's rotation. Default is false, which means the camera tracks the point in target node's local frame.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ TrackOffset()

virtual math::Vector3d TrackOffset ( ) const

pure virtual

Get the track offset vector in the frame specified at the time the track target is set.

Returns: Point offset from target.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ TrackPGain()

virtual double TrackPGain ( ) const

pure virtual

Get the camera track rotation P gain.

Returns: P gain for camera tracking

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ TrackTarget()

virtual NodePtr TrackTarget ( ) const

pure virtual

Get the target node being tracked.

Returns: Target node being tracked.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ Update()

virtual void Update ( )

pure virtual

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.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, and BaseCamera< OgreSensor >.

◆ ViewMatrix()

virtual math::Matrix4d ViewMatrix ( ) const

pure virtual

Get the view matrix for this camera.

Returns: Camera view matrix

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

◆ VisualAt()

virtual VisualPtr VisualAt ( const gz::math::Vector2i & _mousePos )

pure virtual

Get the visual for a given mouse position param[in] _mousePos mouse position.

Implemented in BaseCamera< T >, BaseCamera< Ogre2Sensor >, BaseCamera< OgreSensor >, OgreCamera, and Ogre2Camera.

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

Camera.hh

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ NewFrameListener

Constructor & Destructor Documentation

◆ ~Camera()

Member Function Documentation

◆ AddRenderPass()

◆ AntiAliasing()

◆ AspectRatio()

◆ Capture()

◆ ConnectNewImageFrame()

◆ Copy()

◆ CreateImage()

◆ CreateRenderWindow()

◆ FarClipPlane()

◆ FollowOffset()

◆ FollowPGain()

◆ FollowTarget()

◆ HFOV()

◆ ImageFormat()

◆ ImageHeight()

◆ ImageMemorySize()

◆ ImageWidth()

◆ NearClipPlane()

◆ PostRender()

◆ PrepareForExternalSampling()

◆ Project()

◆ ProjectionMatrix()

◆ ProjectionType()

◆ RemoveAllRenderPasses()

◆ RemoveRenderPass()

◆ Render()

◆ RenderPassByIndex()

◆ RenderPassCount()

◆ RenderTextureGLId()

◆ RenderTextureMetalId()

◆ SaveFrame()

◆ SetAntiAliasing()

◆ SetAspectRatio()

◆ SetFarClipPlane()

◆ SetFollowOffset()

◆ SetFollowPGain()

◆ SetFollowTarget()

◆ SetHFOV()

◆ SetImageFormat()

◆ SetImageHeight()

◆ SetImageWidth()

◆ SetMaterial()

◆ SetNearClipPlane()

◆ SetProjectionMatrix()

◆ SetProjectionType()

◆ SetShadowsDirty()

◆ SetTrackOffset()

◆ SetTrackPGain()

◆ SetTrackTarget()

◆ TrackOffset()

◆ TrackPGain()

◆ TrackTarget()

◆ Update()

◆ ViewMatrix()

◆ VisualAt()