Thermal camera that produces temperature data. An object's temperature can be set through the Visual class using SetUserData with the key "temperature". Ambient temperature is returned for object that do not have this property set. Note that temperature variations for the environment and objects can be set using the Set*Range functions in this class. For simplicity, the variations are modeled as a function of depth (which is not how a real thermal sensor works). Ideally we support heatmaps for visuals in order to produce more realistic temperature output. More...

#include <ThermalCamera.hh>

Public Member Functions
virtual	~ThermalCamera ()
	Destructor.

virtual float	AmbientTemperature () const =0
	Get the ambient temperature of the environment.

virtual float	AmbientTemperatureRange () const =0
	Get the range of ambient temperature.

virtual gz::common::ConnectionPtr	ConnectNewThermalFrame (std::function< void(const uint16_t *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)=0
	Connect to the new thermal image event.

virtual float	HeatSourceTemperatureRange () const =0
	Get the range of temperature variation for all heat sources.

virtual float	LinearResolution () const =0
	Get the temperature linear resolution.

virtual float	MaxTemperature () const =0
	Get the maximum temperature the sensor can detect.

virtual float	MinTemperature () const =0
	Get the minimum temperature the sensor can detect.

virtual void	SetAmbientTemperature (float _ambient)=0
	Set the ambient temperature of the environment.

virtual void	SetAmbientTemperatureRange (float _range)=0
	Set the range of ambient temperature.

virtual void	SetHeatSourceTemperatureRange (float _range)=0
	Set the range of temperature variation for all heat sources. If set, the temperature reading of heat sources will vary within a temperature of +/- range/2 instead of returning a fixed uniform temperature for the entire heat source.

virtual void	SetLinearResolution (float _resolution)=0
	Set the temperature linear resolution. The thermal image data returned will be temperature in kelvin / resolution. Typical values are 0.01 (10mK), 0.1 (100mK), or 0.04 to simulate 14 bit format.

virtual void	SetMaxTemperature (float _max)=0
	Set the maximum temperature the sensor can detect.

virtual void	SetMinTemperature (float _min)=0
	Set the minimum temperature the sensor can detect.

Public Member Functions inherited from Camera
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.

Additional Inherited Members
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

Thermal camera that produces temperature data. An object's temperature can be set through the Visual class using SetUserData with the key "temperature". Ambient temperature is returned for object that do not have this property set. Note that temperature variations for the environment and objects can be set using the Set*Range functions in this class. For simplicity, the variations are modeled as a function of depth (which is not how a real thermal sensor works). Ideally we support heatmaps for visuals in order to produce more realistic temperature output.

Constructor & Destructor Documentation

◆ ~ThermalCamera()

virtual ~ThermalCamera ( )

virtual

Destructor.

Member Function Documentation

◆ AmbientTemperature()

virtual float AmbientTemperature ( ) const

pure virtual

Get the ambient temperature of the environment.

Returns: Ambient temperature in kelvin

See also: SetAmbientTemperature

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

◆ AmbientTemperatureRange()

virtual float AmbientTemperatureRange ( ) const

pure virtual

Get the range of ambient temperature.

Returns: The ambient temperature range. Ambient temperature ranges from (ambient - range/2) to (ambient - range/2)

See also: SetAmbientTemperatureRange

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

◆ ConnectNewThermalFrame()

virtual gz::common::ConnectionPtr ConnectNewThermalFrame ( std::function< void(const uint16_t *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber )

pure virtual

Connect to the new thermal image event.

Parameters

[in] _subscriber Subscriber callback function. The callback function arguments are: <thermal data, width, height, depth, format>

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

Implemented in BaseThermalCamera< T >, BaseThermalCamera< Ogre2Sensor >, BaseThermalCamera< OgreSensor >, OgreThermalCamera, and Ogre2ThermalCamera.

◆ HeatSourceTemperatureRange()

virtual float HeatSourceTemperatureRange ( ) const

pure virtual

Get the range of temperature variation for all heat sources.

Returns: Temperature variation range

See also: SetHeatSourceTemperatureRange

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

◆ LinearResolution()

virtual float LinearResolution ( ) const

pure virtual

Get the temperature linear resolution.

Returns: Temperature linear resolution

See also: SetLinearResolution

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

◆ MaxTemperature()

virtual float MaxTemperature ( ) const

pure virtual

Get the maximum temperature the sensor can detect.

Returns: Max temperature in kelvin

See also: SetMaxTemperature

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

◆ MinTemperature()

virtual float MinTemperature ( ) const

pure virtual

Get the minimum temperature the sensor can detect.

Returns: Min temperature in kelvin

See also: SetMinTemperature

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

◆ SetAmbientTemperature()

virtual void SetAmbientTemperature ( float _ambient )

pure virtual

Set the ambient temperature of the environment.

Parameters

[in] _ambient Ambient temperature in kelvin

See also: AmbientTemperature

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

◆ SetAmbientTemperatureRange()

virtual void SetAmbientTemperatureRange ( float _range )

pure virtual

Set the range of ambient temperature.

Parameters

[in] _range The ambient temperature ranges from (ambient - range/2) to (ambient + range/2).

See also: AmbientTemperatureRange

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

◆ SetHeatSourceTemperatureRange()

virtual void SetHeatSourceTemperatureRange ( float _range )

pure virtual

Set the range of temperature variation for all heat sources. If set, the temperature reading of heat sources will vary within a temperature of +/- range/2 instead of returning a fixed uniform temperature for the entire heat source.

Parameters

[in] _range Temperature variation range

See also: HeatSourceTemperatureRange

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

◆ SetLinearResolution()

virtual void SetLinearResolution ( float _resolution )

pure virtual

Set the temperature linear resolution. The thermal image data returned will be temperature in kelvin / resolution. Typical values are 0.01 (10mK), 0.1 (100mK), or 0.04 to simulate 14 bit format.

Parameters

[in] _resolution Temperature linear resolution