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17 #ifndef GAZEBO_RENDERING_CAMERA_HH_
18 #define GAZEBO_RENDERING_CAMERA_HH_
23 #include <boost/enable_shared_from_this.hpp>
30 #include <ignition/math/Angle.hh>
31 #include <ignition/math/Color.hh>
32 #include <ignition/math/Pose3.hh>
33 #include <ignition/math/Quaternion.hh>
34 #include <ignition/math/Vector2.hh>
35 #include <ignition/math/Vector3.hh>
47 #include "gazebo/msgs/MessageTypes.hh"
82 public boost::enable_shared_from_this<Camera>
89 bool _autoRender =
true);
96 public:
virtual void Load(sdf::ElementPtr _sdf);
99 public:
virtual void Load();
102 public:
virtual void Init();
106 public:
void SetRenderRate(
const double _hz);
110 public:
double RenderRate()
const;
117 public:
virtual void Render(
const bool _force =
false);
122 public:
virtual void PostRender();
129 public:
virtual void Update();
134 public:
virtual void Fini();
138 public:
bool Initialized()
const;
143 public:
void SetWindowId(
unsigned int _windowId);
147 public:
unsigned int WindowId()
const;
151 public:
void SetScene(
ScenePtr _scene);
155 public: ignition::math::Vector3d WorldPosition()
const;
159 public: ignition::math::Quaterniond WorldRotation()
const;
163 public:
virtual void SetWorldPose(
const ignition::math::Pose3d &_pose);
167 public: ignition::math::Pose3d WorldPose()
const;
171 public:
void SetWorldPosition(
const ignition::math::Vector3d &_pos);
175 public:
void SetWorldRotation(
const ignition::math::Quaterniond &_quat);
179 public:
void Translate(
const ignition::math::Vector3d &_direction);
185 public:
void Roll(
const ignition::math::Angle &_angle,
192 public:
void Pitch(
const ignition::math::Angle &_angle,
199 public:
void Yaw(
const ignition::math::Angle &_angle,
205 public:
virtual void SetClipDist(
const float _near,
const float _far);
209 public:
void SetHFOV(
const ignition::math::Angle &_angle);
213 public: ignition::math::Angle HFOV()
const;
217 public: ignition::math::Angle VFOV()
const;
222 public:
void SetImageSize(
const unsigned int _w,
const unsigned int _h);
226 public:
void SetImageWidth(
const unsigned int _w);
230 public:
void SetImageHeight(
const unsigned int _h);
234 public:
virtual unsigned int ImageWidth()
const;
238 public:
unsigned int ImageMemorySize()
const;
242 public:
unsigned int TextureWidth()
const;
246 public:
virtual unsigned int ImageHeight()
const;
250 public:
unsigned int ImageDepth()
const;
254 public: std::string ImageFormat()
const;
258 public:
unsigned int TextureHeight()
const;
262 public:
size_t ImageByteSize()
const;
269 public:
static size_t ImageByteSize(
const unsigned int _width,
270 const unsigned int _height,
271 const std::string &_format);
278 public:
double ZValue(
const int _x,
const int _y);
282 public:
double NearClip()
const;
286 public:
double FarClip()
const;
290 public:
void EnableSaveFrame(
const bool _enable);
294 public:
bool CaptureData()
const;
298 public:
void SetSaveFramePathname(
const std::string &_pathname);
303 public:
bool SaveFrame(
const std::string &_filename);
307 public: Ogre::Camera *OgreCamera()
const;
311 public: Ogre::Viewport *OgreViewport()
const;
315 public:
unsigned int ViewportWidth()
const;
319 public:
unsigned int ViewportHeight()
const;
323 public: ignition::math::Vector3d Up()
const;
327 public: ignition::math::Vector3d Right()
const;
331 public:
virtual float AvgFPS()
const;
335 public:
virtual unsigned int TriangleCount()
const;
339 public:
void SetAspectRatio(
float _ratio);
343 public:
float AspectRatio()
const;
347 public:
void SetSceneNode(Ogre::SceneNode *_node);
351 public: Ogre::SceneNode *SceneNode()
const;
358 public:
virtual const unsigned char *ImageData(
const unsigned int i = 0)
363 public: std::string Name()
const;
367 public: std::string ScopedName()
const;
371 public:
void SetName(
const std::string &_name);
374 public:
void ToggleShowWireframe();
378 public:
void ShowWireframe(
const bool _s);
382 public:
void SetCaptureData(
const bool _value);
385 public:
void SetCaptureDataOnce();
400 public:
bool StartVideo(
const std::string &_format,
401 const std::string &_filename =
"");
407 public:
bool StopVideo();
414 public:
bool SaveVideo(
const std::string &_filename);
422 public:
bool ResetVideo();
426 public:
void CreateRenderTexture(
const std::string &_textureName);
438 public:
bool WorldPointOnPlane(
const int _x,
const int _y,
439 const ignition::math::Planed &_plane,
440 ignition::math::Vector3d &_result);
449 public:
virtual void CameraToViewportRay(
const int _screenx,
451 ignition::math::Vector3d &_origin,
452 ignition::math::Vector3d &_dir)
const;
456 public:
virtual void SetRenderTarget(Ogre::RenderTarget *_target);
466 public:
void AttachToVisual(
const std::string &_visualName,
467 const bool _inheritOrientation,
468 const double _minDist = 0.0,
const double _maxDist = 0.0);
478 public:
void AttachToVisual(uint32_t _id,
479 const bool _inheritOrientation,
480 const double _minDist = 0.0,
const double _maxDist = 0.0);
484 public:
void TrackVisual(
const std::string &_visualName);
488 public: Ogre::Texture *RenderTexture()
const;
492 public: ignition::math::Vector3d Direction()
const;
499 std::function<
void (
const unsigned char *,
unsigned int,
unsigned int,
500 unsigned int,
const std::string &)> _subscriber);
510 public:
static bool SaveFrame(
const unsigned char *_image,
511 const unsigned int _width,
const unsigned int _height,
512 const int _depth,
const std::string &_format,
513 const std::string &_filename);
523 public:
bool IsVisible(
VisualPtr _visual);
529 public:
bool IsVisible(
const std::string &_visualName);
532 public:
bool IsAnimating()
const;
538 public:
virtual bool MoveToPosition(
const ignition::math::Pose3d &_pose,
548 public:
bool MoveToPositions(
549 const std::vector<ignition::math::Pose3d> &_pts,
551 std::function<
void()> _onComplete =
NULL);
555 public: std::string ScreenshotPath()
const;
566 public:
virtual bool SetProjectionType(
const std::string &_type);
571 public: std::string ProjectionType()
const;
577 public:
virtual bool SetBackgroundColor(
const common::Color &_color)
583 public:
virtual bool SetBackgroundColor(
584 const ignition::math::Color &_color);
588 public: ignition::math::Matrix4d ProjectionMatrix()
const;
593 public:
virtual ignition::math::Vector2i Project(
594 const ignition::math::Vector3d &_pt)
const;
603 public:
bool TrackIsStatic()
const;
609 public:
void SetTrackIsStatic(
const bool _isStatic);
615 public:
bool TrackUseModelFrame()
const;
622 public:
void SetTrackUseModelFrame(
const bool _useModelFrame);
627 public: ignition::math::Vector3d TrackPosition()
const;
632 public:
void SetTrackPosition(
const ignition::math::Vector3d &_pos);
637 public:
double TrackMinDistance()
const;
642 public:
double TrackMaxDistance()
const;
648 public:
void SetTrackMinDistance(
const double _dist);
654 public:
void SetTrackMaxDistance(
const double _dist);
661 public:
bool TrackInheritYaw()
const;
668 public:
void SetTrackInheritYaw(
const bool _inheritYaw);
671 protected:
virtual void RenderImpl();
674 protected:
void ReadPixelBuffer();
679 protected:
bool TrackVisualImpl(
const std::string &_visualName);
684 protected:
virtual bool TrackVisualImpl(
VisualPtr _visual);
695 protected:
virtual bool AttachToVisualImpl(
const std::string &_name,
696 const bool _inheritOrientation,
697 const double _minDist = 0,
const double _maxDist = 0);
708 protected:
virtual bool AttachToVisualImpl(uint32_t _id,
709 const bool _inheritOrientation,
710 const double _minDist = 0,
const double _maxDist = 0);
721 protected:
virtual bool AttachToVisualImpl(
VisualPtr _visual,
722 const bool _inheritOrientation,
723 const double _minDist = 0,
const double _maxDist = 0);
727 protected: std::string FrameFilename();
731 protected:
virtual void AnimationComplete();
734 protected:
virtual void UpdateFOV();
737 protected:
virtual void SetClipDist();
745 protected:
virtual void SetFixedYawAxis(
const bool _useFixed,
746 const ignition::math::Vector3d &_fixedAxis =
747 ignition::math::Vector3d::UnitY);
756 private:
void ConvertRGBToBAYER(
unsigned char *_dst,
757 const unsigned char *_src,
const std::string &_format,
758 const int _width,
const int _height);
763 private:
static int OgrePixelFormat(
const std::string &_format);
767 private:
void OnCmdMsg(ConstCameraCmdPtr &_msg);
770 private:
void CreateCamera();
782 protected: sdf::ElementPtr
sdf;
846 unsigned int,
unsigned int,
unsigned int,
869 private: std::unique_ptr<CameraPrivate> dataPtr;
bool WorldPointOnPlane(const int _x, const int _y, const ignition::math::Planed &_plane, ignition::math::Vector3d &_result)
Get point on a plane.
virtual ~Camera()
Destructor.
bool TrackUseModelFrame() const
Get whether this camera's position is relative to tracked models.
virtual float AvgFPS() const
Get the average FPS.
unsigned int WindowId() const
Get the ID of the window this camera is rendering into.
bool TrackVisualImpl(const std::string &_visualName)
Implementation of the Camera::TrackVisual call.
float AspectRatio() const
Get the apect ratio.
virtual void CameraToViewportRay(const int _screenx, const int _screeny, ignition::math::Vector3d &_origin, ignition::math::Vector3d &_dir) const
Get a world space ray as cast from the camera through the viewport.
Definition: JointMaker.hh:39
std::string ProjectionType() const
Return the projection type as a string.
std::string scopedUniqueName
Scene scoped name of the camera with a unique ID.
Definition: Camera.hh:779
VisualPtr TrackedVisual() const
Get the visual tracked by this camera.
bool IsVisible(VisualPtr _visual)
Return true if the visual is within the camera's view frustum.
void TrackVisual(const std::string &_visualName)
Set the camera to track a scene node.
Ogre::AnimationState * animState
Animation state, used to animate the camera.
Definition: Camera.hh:859
void ShowWireframe(const bool _s)
Set whether to view the world in wireframe.
virtual void PostRender()
Post render.
void AttachToVisual(const std::string &_visualName, const bool _inheritOrientation, const double _minDist=0.0, const double _maxDist=0.0)
Attach the camera to a scene node.
virtual void Init()
Initialize the camera.
void SetRenderRate(const double _hz)
Set the render Hz rate.
Forward declarations for the common classes.
Definition: Animation.hh:26
bool StopVideo()
Turn off video recording.
ReferenceFrame
Frame of reference.
Definition: RenderTypes.hh:244
void SetWindowId(unsigned int _windowId)
std::vector< event::ConnectionPtr > connections
The camera's event connections.
Definition: Camera.hh:850
A Time class, can be used to hold wall- or sim-time. stored as sec and nano-sec.
Definition: Time.hh:44
bool SaveVideo(const std::string &_filename)
Save the last encoded video to disk.
std::string Name() const
Get the camera's unscoped name.
#define NULL
Definition: CommonTypes.hh:31
void SetHFOV(const ignition::math::Angle &_angle)
Set the camera FOV (horizontal)
bool SaveFrame(const std::string &_filename)
Save the last frame to disk.
boost::shared_ptr< Distortion > DistortionPtr
Definition: RenderTypes.hh:198
World frame.
Definition: RenderTypes.hh:253
void SetWorldRotation(const ignition::math::Quaterniond &_quat)
Set the world orientation.
virtual void UpdateFOV()
Update the camera's field of view.
std::string ScopedName() const
Get the camera's scoped name (scene_name::camera_name)
void EnableSaveFrame(const bool _enable)
Enable or disable saving.
ScenePtr GetScene() const
Get the scene this camera is in.
Ogre::Viewport * viewport
Viewport the ogre camera uses.
Definition: Camera.hh:797
virtual unsigned int ImageWidth() const
Get the width of the image.
Ogre::Texture * renderTexture
Texture that receives results from rendering.
Definition: Camera.hh:827
void Pitch(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL)
Rotate the camera around the y-axis.
void Yaw(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_WORLD)
Rotate the camera around the z-axis.
void SetImageSize(const unsigned int _w, const unsigned int _h)
Set the image size.
ignition::math::Vector3d Direction() const
Get the camera's direction vector.
sdf::ElementPtr sdf
Camera's SDF values.
Definition: Camera.hh:782
void CreateRenderTexture(const std::string &_textureName)
Set the render target.
common::Time LastRenderWallTime() const
Get the last time the camera was rendered.
virtual void RenderImpl()
Implementation of the render call.
void SetTrackPosition(const ignition::math::Vector3d &_pos)
Set the position of the camera when tracking a visual.
bool ResetVideo()
Reset video recording.
virtual void AnimationComplete()
Internal function used to indicate that an animation has completed.
void SetSceneNode(Ogre::SceneNode *_node)
Set the camera's scene node.
virtual bool SetBackgroundColor(const common::Color &_color) GAZEBO_DEPRECATED(9.0)
Set background color for viewport (if viewport is not null)
void SetCaptureDataOnce()
Capture data once and save to disk.
void SetTrackIsStatic(const bool _isStatic)
Set whether this camera is static when tracking a model.
size_t ImageByteSize() const
Get the image size in bytes.
unsigned int TextureWidth() const
Get the width of the off-screen render texture.
Ogre::Camera * camera
The OGRE camera.
Definition: Camera.hh:794
void SetSaveFramePathname(const std::string &_pathname)
Set the save frame pathname.
ignition::math::Matrix4d ProjectionMatrix() const
Return the projection matrix of this camera.
Local frame.
Definition: RenderTypes.hh:247
std::string ImageFormat() const
Get the string representation of the image format.
bool TrackIsStatic() const
Get whether this camera is static when tracking a model.
unsigned char * bayerFrameBuffer
Buffer for a bayer image frame.
Definition: Camera.hh:806
Ogre::RenderTarget * renderTarget
Target that renders frames.
Definition: Camera.hh:824
A class for event processing.
Definition: Event.hh:97
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
bool initialized
True if initialized.
Definition: Camera.hh:856
void Roll(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL)
Rotate the camera around the x-axis.
Ogre::SceneNode * SceneNode() const
Get the camera's scene node.
virtual unsigned int ImageHeight() const
Get the height of the image.
bool captureData
True to capture frames into an image buffer.
Definition: Camera.hh:830
void SetName(const std::string &_name)
Set the camera's name.
bool TrackInheritYaw() const
Get whether this camera inherits the yaw rotation of the tracked model.
void SetImageWidth(const unsigned int _w)
Set the image height.
virtual bool AttachToVisualImpl(const std::string &_name, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
Attach the camera to a scene node.
ignition::math::Vector3d TrackPosition() const
Return the position of the camera when tracking a model.
unsigned int windowId
ID of the window that the camera is attached to.
Definition: Camera.hh:785
Ogre::Viewport * OgreViewport() const
Get a pointer to the Ogre::Viewport.
event::EventT< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> newImageFrame
Event triggered when a new frame is generated.
Definition: Camera.hh:847
void SetTrackInheritYaw(const bool _inheritYaw)
Set whether this camera inherits the yaw rotation of the tracked model.
Ogre::Texture * RenderTexture() const
Get the render texture.
std::string scopedName
Scene scoped name of the camera.
Definition: Camera.hh:776
unsigned int ImageDepth() const
Get the depth of the image in bytes per pixel.
ignition::math::Angle HFOV() const
Get the camera FOV (horizontal)
ScenePtr scene
Pointer to the scene.
Definition: Camera.hh:842
bool MoveToPositions(const std::vector< ignition::math::Pose3d > &_pts, const double _time, std::function< void()> _onComplete=NULL)
Move the camera to a series of poses (this is an animated motion).
unsigned int saveCount
Number of saved frames.
Definition: Camera.hh:809
ignition::math::Vector3d Up() const
Get the viewport up vector.
int imageFormat
Format for saving images.
Definition: Camera.hh:815
unsigned int textureHeight
Height of the render texture.
Definition: Camera.hh:791
Ogre::SceneNode * sceneNode
Scene node that controls camera position and orientation.
Definition: Camera.hh:800
virtual void SetWorldPose(const ignition::math::Pose3d &_pose)
Set the global pose of the camera.
std::string screenshotPath
Path to saved screenshots.
Definition: Camera.hh:812
double FarClip() const
Get the far clip distance.
bool StartVideo(const std::string &_format, const std::string &_filename="")
Turn on video recording.
void SetTrackMaxDistance(const double _dist)
Set the maximum distance between the camera and tracked visual.
virtual unsigned int TriangleCount() const
Get the triangle count.
void Translate(const ignition::math::Vector3d &_direction)
Translate the camera.
double RenderRate() const
Get the render Hz rate.
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
std::function< void()> onAnimationComplete
User callback for when an animation completes.
Definition: Camera.hh:865
virtual const unsigned char * ImageData(const unsigned int i=0) const
Get a pointer to the image data.
double ZValue(const int _x, const int _y)
Get the Z-buffer value at the given image coordinate.
unsigned int TextureHeight() const
Get the height of the off-screen render texture.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual void SetRenderTarget(Ogre::RenderTarget *_target)
Set the camera's render target.
std::string ScreenshotPath() const
Get the path to saved screenshots.
double TrackMaxDistance() const
Return the maximum distance to the tracked visual.
std::list< msgs::Request > requests
List of requests.
Definition: Camera.hh:853
virtual void Render(const bool _force=false)
Render the camera.
bool newData
True if new data is available.
Definition: Camera.hh:836
Defines a color.
Definition: Color.hh:36
void ReadPixelBuffer()
Read image data from pixel buffer.
event::ConnectionPtr ConnectNewImageFrame(std::function< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
Connect to the new image signal.
virtual void SetClipDist()
Set the clip distance based on stored SDF values.
void SetAspectRatio(float _ratio)
Set the aspect ratio.
common::Time prevAnimTime
Previous time the camera animation was updated.
Definition: Camera.hh:862
bool CaptureData() const
Return the value of this->captureData.
void SetWorldPosition(const ignition::math::Vector3d &_pos)
Set the world position.
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:328
ignition::math::Vector3d Right() const
Get the viewport right vector.
ignition::math::Vector3d WorldPosition() const
Get the camera position in the world.
common::Time lastRenderWallTime
Time the last frame was rendered.
Definition: Camera.hh:839
virtual void Load()
Load the camera with default parmeters.
virtual void Fini()
Finalize the camera.
double NearClip() const
Get the near clip distance.
void SetTrackMinDistance(const double _dist)
Set the minimum distance between the camera and tracked visual.
bool Initialized() const
Return true if the camera has been initialized.
bool IsAnimating() const
Return true if the camera is moving due to an animation.
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
std::string name
Name of the camera.
Definition: Camera.hh:773
void SetScene(ScenePtr _scene)
Set the scene this camera is viewing.
unsigned char * saveFrameBuffer
Buffer for a single image frame.
Definition: Camera.hh:803
Ogre::Camera * OgreCamera() const
Get a pointer to the ogre camera.
int imageWidth
Save image width.
Definition: Camera.hh:818
void ToggleShowWireframe()
Toggle whether to view the world in wireframe.
unsigned int ViewportHeight() const
Get the viewport height in pixels.
unsigned int textureWidth
Width of the render texture.
Definition: Camera.hh:788
bool captureDataOnce
True to capture a frame once and save to disk.
Definition: Camera.hh:833
ignition::math::Quaterniond WorldRotation() const
Get the camera's orientation in the world.
Camera(const std::string &_namePrefix, ScenePtr _scene, bool _autoRender=true)
Constructor.
DistortionPtr LensDistortion() const
Get the distortion model of this camera.
Basic camera sensor.
Definition: Camera.hh:81
unsigned int ViewportWidth() const
Get the viewport width in pixels.
virtual bool MoveToPosition(const ignition::math::Pose3d &_pose, const double _time)
Move the camera to a position (this is an animated motion).
virtual void SetFixedYawAxis(const bool _useFixed, const ignition::math::Vector3d &_fixedAxis=ignition::math::Vector3d::UnitY)
Tell the camera whether to yaw around its own local Y axis or a fixed axis of choice.
virtual bool SetProjectionType(const std::string &_type)
Set the type of projection used by the camera.
unsigned int ImageMemorySize() const
Get the memory size of this image.
int imageHeight
Save image height.
Definition: Camera.hh:821
ignition::math::Angle VFOV() const
Get the camera FOV (vertical)
void SetTrackUseModelFrame(const bool _useModelFrame)
Set whether this camera's position is relative to tracked models.
virtual ignition::math::Vector2i Project(const ignition::math::Vector3d &_pt) const
Project 3D world coordinates to 2D screen coordinates.
void SetCaptureData(const bool _value)
Set whether to capture data.
std::string FrameFilename()
Get the next frame filename based on SDF parameters.
void SetImageHeight(const unsigned int _h)
Set the image height.
ignition::math::Pose3d WorldPose() const
Get the world pose.
double TrackMinDistance() const
Return the minimum distance to the tracked visual.