Depth camera used to render depth data into an image buffer. More...

#include <rendering/ogre/OgreDepthCamera.hh>

Public Member Functions
virtual	~OgreDepthCamera ()
	Destructor.

virtual Ogre::Camera *	Camera () const override
	Access the Ogre::Camera object.

virtual gz::common::ConnectionPtr	ConnectNewDepthFrame (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber) override
	Connect a to the new depth image signal.

virtual gz::common::ConnectionPtr	ConnectNewRgbPointCloud (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber) override
	Connect a to the new rgb point cloud signal.

virtual void	CreateDepthTexture () override
	Create a texture which will hold the depth data.

virtual const float *	DepthData () const override
	All things needed to get back z buffer for depth data.

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

double	FarClipPlane () const override
	Get the far clip distance.

virtual void	Init () override
	Initialize the camera.

double	NearClipPlane () const override
	Get the near clip distance.

virtual void	PostRender () override
	Render the camera.

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

virtual void	Render () override
	Implementation of the render call.

virtual void	SetFarClipPlane (const double _far) override
	Set the far clip distance.

virtual void	SetNearClipPlane (const double _near) override
	Set the near clip 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.

Public Member Functions inherited from BaseDepthCamera< OgreSensor >
virtual	~BaseDepthCamera ()

virtual gz::common::ConnectionPtr	ConnectNewRGBPointCloud (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)

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

virtual gz::common::ConnectionPtr	ConnectNewRgbPointCloud (std::function< void(const float *_pointCloud, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)> _subscriber)=0
	Connect to the new rgb point cloud signal.

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

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

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

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

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

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	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	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 Member Functions inherited from OgreSensor
virtual	~OgreSensor ()

Public Member Functions inherited from BaseSensor< OgreNode >
virtual	~BaseSensor ()

virtual void	SetVisibilityMask (uint32_t _mask) override
	Set visibility mask.

virtual uint32_t	VisibilityMask () const override
	Get visibility mask.

Public Member Functions inherited from OgreNode
virtual	~OgreNode ()

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

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

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

virtual Ogre::SceneNode *	Node () const

virtual NodePtr	Parent () const override
	Get the parent Node.

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

Public Member Functions inherited from BaseNode< OgreObject >
virtual	~BaseNode ()

virtual void	AddChild (NodePtr _child) override
	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 override
	Get node with given ID. If no child exists with given ID, NULL will be returned.

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

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

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

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

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

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

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

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

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

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

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

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

virtual NodePtr	RemoveChild (NodePtr _child) override
	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) override
	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) override
	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) override
	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 () override
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them.

virtual void	RemoveParent () override
	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) override
	Scale the current scale by the given scalars.

virtual void	Scale (double _scale) override
	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) override
	Scale the current scale by the given scalars.

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

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

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

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

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

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

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

virtual void	SetLocalScale (double _scale) override
	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) override
	Set the local scale.

virtual void	SetOrigin (const math::Vector3d &_origin) override
	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) override
	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) override
	Store any custom data associated with this node.

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

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

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

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

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

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

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

virtual void	SetWorldScale (double _scale) override
	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) override
	Set the world scale.

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

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

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

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

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

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

Public Member Functions inherited from OgreObject
virtual	~OgreObject ()

virtual ScenePtr	Scene () const

Public Member Functions inherited from BaseObject
virtual	~BaseObject ()

virtual unsigned int	Id () const override

virtual std::string	Name () const override

Public Member Functions inherited from OgreObjectInterface
virtual	~OgreObjectInterface ()

virtual Ogre::MovableObject *	OgreMovableObject (const char *_typename) const
	Access to an Ogre::MovableObject.

Protected Member Functions
	OgreDepthCamera ()
	Constructor.

void	CreateCamera ()
	Create the camera.

void	DestroyDepthTexture ()
	Destroy render texture created by CreateDepthTexture() Note: It's not virtual.

void	DestroyPointCloudTexture ()
	Destroy render texture created by CreatePointCloudTexture() Note: It's not virtual.

virtual RenderTargetPtr	RenderTarget () const override
	Get a pointer to the render target.

void	UpdateRenderTarget (OgreRenderTexturePtr _target, Ogre::Material *_material, const std::string &_matName)
	Update a render target.

Protected Member Functions inherited from BaseDepthCamera< OgreSensor >
	BaseDepthCamera ()

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

virtual void *	CreateImageBuffer () const

virtual void	Load () override

virtual void	Reset ()

Protected Member Functions inherited from OgreSensor
	OgreSensor ()

Protected Member Functions inherited from BaseSensor< OgreNode >
	BaseSensor ()

Protected Member Functions inherited from OgreNode
	OgreNode ()

virtual bool	AttachChild (NodePtr _child) override

virtual NodeStorePtr	Children () const override

virtual bool	DetachChild (NodePtr _child) override

virtual void	Load () override

virtual math::Pose3d	RawLocalPose () const override

virtual math::Vector3d	RawLocalPosition () const

virtual math::Quaterniond	RawLocalRotation () const

virtual void	SetLocalScaleImpl (const math::Vector3d &_scale) override
	Implementation of the SetLocalScale function.

virtual void	SetParent (OgreNodePtr _parent)

virtual void	SetRawLocalPose (const math::Pose3d &_Pose3d) override

virtual void	SetRawLocalPosition (const math::Vector3d &_position)

virtual void	SetRawLocalRotation (const math::Quaterniond &_rotation)

Protected Member Functions inherited from BaseNode< OgreObject >
	BaseNode ()

virtual void	PreRenderChildren ()

Protected Member Functions inherited from OgreObject
	OgreObject ()

Protected Member Functions inherited from BaseObject
	BaseObject ()

Static Protected Member Functions
static double	LimitFOV (const double _fov)
	Limit field of view taking care of using a valid value for an OGRE camera.

Protected Attributes
bool	captureData = false

OgreRenderTexturePtr	depthTexture
	Pointer to the depth texture.

Ogre::Viewport *	depthViewport = nullptr
	Pointer to the depth viewport.

bool	newData = false
	Communicates that a frams was rendered.

Ogre::Camera *	ogreCamera
	Pointer to the ogre camera.

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.

Protected Attributes inherited from BaseSensor< OgreNode >
uint32_t	visibilityMask
	Camera's visibility mask.

Protected Attributes inherited from OgreNode
OgreNodeStorePtr	children

Ogre::SceneNode *	ogreNode = nullptr

OgreNodePtr	parent

Protected Attributes inherited from BaseNode< OgreObject >
gz::math::Pose3d	initialLocalPose
	Initial local pose for this node.

bool	initialLocalPoseSet
	Flag to indicate whether initial local pose is set for this node.

math::Vector3d	origin

std::map< std::string, Variant >	userData
	A map of custom key value data.

Protected Attributes inherited from OgreObject
OgreScenePtr	scene

Protected Attributes inherited from BaseObject
unsigned int	id

std::string	name

Additional Inherited Members
Public Types inherited from DepthCamera
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.

Detailed Description

Depth camera used to render depth data into an image buffer.

Constructor & Destructor Documentation

◆ OgreDepthCamera()

OgreDepthCamera ( )

protected

Constructor.

◆ ~OgreDepthCamera()

virtual ~OgreDepthCamera ( )

virtual

Destructor.

Member Function Documentation

◆ Camera()

virtual Ogre::Camera * Camera ( ) const

overridevirtual

Access the Ogre::Camera object.

Returns: A pointer to an Ogre::Camera. Has default nullptr.

Implements OgreObjectInterface.

◆ ConnectNewDepthFrame()

virtual gz::common::ConnectionPtr ConnectNewDepthFrame ( std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber )

overridevirtual

Connect a to the new depth image signal.

Parameters

[in] _subscriber Subscriber callback function

Returns: Pointer to the new Connection. This must be kept in scope

Reimplemented from BaseDepthCamera< OgreSensor >.

◆ ConnectNewRgbPointCloud()

virtual gz::common::ConnectionPtr ConnectNewRgbPointCloud ( std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber )

overridevirtual

Connect a to the new rgb point cloud signal.

Parameters

[in] _subscriber Subscriber callback function

Returns: Pointer to the new Connection. This must be kept in scope

◆ CreateCamera()

void CreateCamera ( )

protected

Create the camera.

◆ CreateDepthTexture()

virtual void CreateDepthTexture ( )

overridevirtual

Create a texture which will hold the depth data.

Reimplemented from BaseDepthCamera< OgreSensor >.

◆ DepthData()

virtual const float * DepthData ( ) const

overridevirtual

All things needed to get back z buffer for depth data.

Returns: The z-buffer as a float array

Reimplemented from BaseDepthCamera< OgreSensor >.

◆ Destroy()

virtual void Destroy ( )

overridevirtual

Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

Implements Object.

◆ DestroyDepthTexture()

void DestroyDepthTexture ( )

protected

Destroy render texture created by CreateDepthTexture() Note: It's not virtual.

◆ DestroyPointCloudTexture()

void DestroyPointCloudTexture ( )

protected

Destroy render texture created by CreatePointCloudTexture() Note: It's not virtual.

◆ FarClipPlane()

double FarClipPlane ( ) const

overridevirtual

Get the far clip distance.

Returns: Far clip distance. A value of zero is returned if the ogre camera has not been created.

Implements Camera.

◆ Init()

virtual void Init ( )

overridevirtual

Initialize the camera.

Reimplemented from OgreNode.

◆ LimitFOV()

static double LimitFOV ( const double _fov )

staticprotected

Limit field of view taking care of using a valid value for an OGRE camera.

Parameters

[in] _fov expected field of view

Returns: valid field of view

◆ NearClipPlane()

double NearClipPlane ( ) const

overridevirtual

Get the near clip distance.

Returns: Near clip distance. A value of zero is returned if the ogre camera has not been created.

Implements Camera.

◆ PostRender()

virtual void PostRender ( )

overridevirtual

Render the camera.

Implements Camera.

◆ PreRender()

virtual void PreRender ( )

overridevirtual

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.

Implements Object.

◆ ProjectionMatrix()

virtual math::Matrix4d ProjectionMatrix ( ) const

overridevirtual

Get the projection matrix for this camera.

Returns: Camera projection matrix

Implements Camera.

◆ Render()

virtual void Render ( )

overridevirtual

Implementation of the render call.

Implements Camera.

◆ RenderTarget()

virtual RenderTargetPtr RenderTarget ( ) const

overrideprotectedvirtual

Get a pointer to the render target.

Returns: Pointer to the render target

Implements BaseCamera< T >.

◆ SetFarClipPlane()

virtual void SetFarClipPlane ( const double _far )

overridevirtual

Set the far clip distance.

Parameters

[in] _far far clip distance

Implements Camera.

◆ SetNearClipPlane()

virtual void SetNearClipPlane ( const double _near )

overridevirtual

Set the near clip distance.

Parameters

[in] _near Near clip distance

Implements Camera.

◆ SetProjectionMatrix()

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

overridevirtual

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

Parameters

[in] _matrix Camera projection matrix

Implements Camera.

◆ UpdateRenderTarget()

void UpdateRenderTarget	(	OgreRenderTexturePtr	_target,
		Ogre::Material *	_material,
		const std::string &	_matName
	)

protected

Update a render target.

Parameters

[in]	_target	Render target to update
[in]	_material	Material to use
[in]	_matName	Material name

Member Data Documentation

◆ captureData

bool captureData = false

protected

◆ depthTexture

OgreRenderTexturePtr depthTexture

protected

Pointer to the depth texture.

◆ depthViewport

Ogre::Viewport* depthViewport = nullptr

protected

Pointer to the depth viewport.

◆ newData

bool newData = false

protected

Communicates that a frams was rendered.

◆ ogreCamera

Ogre::Camera* ogreCamera

protected

Pointer to the ogre camera.

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

OgreDepthCamera.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OgreDepthCamera()

◆ ~OgreDepthCamera()

Member Function Documentation

◆ Camera()

◆ ConnectNewDepthFrame()

◆ ConnectNewRgbPointCloud()

◆ CreateCamera()

◆ CreateDepthTexture()

◆ DepthData()

◆ Destroy()

◆ DestroyDepthTexture()

◆ DestroyPointCloudTexture()

◆ FarClipPlane()

◆ Init()

◆ LimitFOV()

◆ NearClipPlane()

◆ PostRender()

◆ PreRender()

◆ ProjectionMatrix()

◆ Render()

◆ RenderTarget()

◆ SetFarClipPlane()

◆ SetNearClipPlane()

◆ SetProjectionMatrix()

◆ UpdateRenderTarget()

Member Data Documentation

◆ captureData

◆ depthTexture

◆ depthViewport

◆ newData

◆ ogreCamera