DepthCamera.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef _GAZEBO_RENDERING_DEPTHCAMERA_HH_
#define _GAZEBO_RENDERING_DEPTHCAMERA_HH_
 
#include <memory>
#include <string>
 
#include <sdf/sdf.hh>
 
#include "gazebo/common/CommonTypes.hh"
 
#include "gazebo/rendering/Camera.hh"
#include "gazebo/util/system.hh"
 
namespace Ogre
{
  class Material;
  class RenderTarget;
  class Texture;
  class Viewport;
}
 
namespace gazebo
{
  namespace rendering
  {
    // Forward declare private data.
    class DepthCameraPrivate;
 
 
    class GZ_RENDERING_VISIBLE DepthCamera : public Camera
    {
      public: DepthCamera(const std::string &_namePrefix,
                          ScenePtr _scene, bool _autoRender = true);
 
      public: virtual ~DepthCamera();
 
      public: void Load(sdf::ElementPtr _sdf);
 
      public: void Load();
 
      public: void Init();
 
      public: void Fini();
 
      public: void CreateDepthTexture(const std::string &_textureName);
 
      public: void CreateReflectanceTexture(const std::string &_textureName);
 
      public: void CreateNormalsTexture(const std::string &_normalsName);
 
      public: virtual void PostRender();
 
      public: virtual const float *DepthData() const;
 
      public: virtual void SetDepthTarget(Ogre::RenderTarget *_target);
 
      public: event::ConnectionPtr ConnectNewDepthFrame(
          std::function<void (const float *, unsigned int, unsigned int,
          unsigned int, const std::string &)>  _subscriber);
 
      public: event::ConnectionPtr ConnectNewRGBPointCloud(
          std::function<void (const float *, unsigned int, unsigned int,
          unsigned int, const std::string &)>  _subscriber);
 
      public: event::ConnectionPtr ConnectNewReflectanceFrame(
        std::function<void (const float *, unsigned int, unsigned int,
        unsigned int, const std::string &)>  _subscriber);
 
      public: event::ConnectionPtr ConnectNewNormalsPointCloud(
          std::function<void (const float *, unsigned int, unsigned int,
          unsigned int, const std::string &)>  _subscriber);
 
      private: virtual void RenderImpl();
 
      private: void UpdateRenderTarget(Ogre::RenderTarget *_target,
                                       Ogre::Material *_material,
                                       const std::string &_matName);
 
      protected: Ogre::Texture *depthTexture;
 
      protected: Ogre::RenderTarget *depthTarget = nullptr;
 
      protected: Ogre::Viewport *depthViewport;
 
      private: std::unique_ptr<DepthCameraPrivate> dataPtr;
    };
  }
}
#endif