Gazebo Rendering

API Reference

8.1.0
Camera.hh
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1/*
2 * Copyright (C) 2015 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16 */
17#ifndef GZ_RENDERING_CAMERA_HH_
18#define GZ_RENDERING_CAMERA_HH_
19
20#include <string>
21
22#include <gz/common/Event.hh>
23#include <gz/math/Matrix4.hh>
24
25#include "gz/rendering/config.hh"
26#include "gz/rendering/Image.hh"
29#include "gz/rendering/Scene.hh"
30
31
32namespace gz
33{
34 namespace rendering
35 {
36 inline namespace GZ_RENDERING_VERSION_NAMESPACE {
37 //
39 enum GZ_RENDERING_VISIBLE CameraProjectionType
40 {
45 };
46
49 class GZ_RENDERING_VISIBLE Camera :
50 public virtual Sensor
51 {
53 public: typedef std::function<void(const void*, unsigned int,
54 unsigned int, unsigned int, const std::string&)> NewFrameListener;
55
57 public: virtual ~Camera();
58
61 public: virtual unsigned int ImageWidth() const = 0;
62
65 public: virtual void SetImageWidth(unsigned int _width) = 0;
66
69 public: virtual unsigned int ImageHeight() const = 0;
70
73 public: virtual void SetImageHeight(unsigned int _height) = 0;
74
78 public: virtual PixelFormat ImageFormat() const = 0;
79
83 public: virtual void SetImageFormat(PixelFormat _format,
84 bool _reinterpretable = false) = 0;
85
88 public: virtual unsigned int ImageMemorySize() const = 0;
89
92 public: virtual math::Angle HFOV() const = 0;
93
96 public: virtual void SetHFOV(const math::Angle &_hfov) = 0;
97
105 public: virtual double AspectRatio() const = 0;
106
115 public: virtual void SetAspectRatio(const double _ratio) = 0;
116
117 // TODO(anyone): add auto-aspect ratio
118
121 public: virtual unsigned int AntiAliasing() const = 0;
122
128 public: virtual void SetAntiAliasing(const unsigned int _aa) = 0;
129
132 public: virtual double FarClipPlane() const = 0;
133
136 public: virtual void SetFarClipPlane(const double _far) = 0;
137
140 public: virtual double NearClipPlane() const = 0;
141
144 public: virtual void SetNearClipPlane(const double _near) = 0;
145
149 public: virtual void Render() = 0;
150
155 public: virtual void PostRender() = 0;
156
159 // \return visual for that position, null if no visual was found
161 &_mousePos) = 0;
162
168 public: virtual void Update() = 0;
169
175 public: virtual Image CreateImage() const = 0;
176
183 public: virtual void Capture(Image &_image) = 0;
184
190 public: virtual void Copy(Image &_image) const = 0;
191
197 public: virtual bool SaveFrame(const std::string &_name) = 0;
198
202 NewFrameListener _listener) = 0;
203
206 public: virtual RenderWindowPtr CreateRenderWindow() = 0;
207
210 public: virtual math::Matrix4d ProjectionMatrix() const = 0;
211
214 public: virtual math::Matrix4d ViewMatrix() const = 0;
215
219 public: virtual void SetProjectionMatrix(const math::Matrix4d &_matrix)
220 = 0;
221
224 public: virtual CameraProjectionType ProjectionType() const = 0;
225
234 public: virtual void SetProjectionType(CameraProjectionType _type) = 0;
235
239 public: virtual math::Vector2i Project(const math::Vector3d &_pt) const
240 = 0;
241
254 public: virtual void SetTrackTarget(const NodePtr &_target,
255 const math::Vector3d &_offset = math::Vector3d::Zero,
256 const bool _worldFrame = false) = 0;
257
260 public: virtual NodePtr TrackTarget() const = 0;
261
266 public: virtual void SetTrackOffset(const math::Vector3d &_offset) = 0;
267
271 public: virtual math::Vector3d TrackOffset() const = 0;
272
276 public: virtual void SetTrackPGain(const double _pGain) = 0;
277
280 public: virtual double TrackPGain() const = 0;
281
293 public: virtual void SetFollowTarget(const NodePtr &_target,
294 const math::Vector3d &_offset = math::Vector3d::Zero,
295 const bool _worldFrame = false) = 0;
296
299 public: virtual NodePtr FollowTarget() const = 0;
300
305 public: virtual void SetFollowOffset(const math::Vector3d &_offset) = 0;
306
310 public: virtual math::Vector3d FollowOffset() const = 0;
311
315 public: virtual void SetFollowPGain(const double _pGain) = 0;
316
319 public: virtual double FollowPGain() const = 0;
320
323 public: virtual void SetMaterial(const MaterialPtr &_material) = 0;
324
329 public: virtual unsigned int RenderTextureGLId() const = 0;
330
337 public: virtual void RenderTextureMetalId(void *_textureIdPtr) const = 0;
338
343 public: virtual void PrepareForExternalSampling() = 0;
344
347 public: virtual void AddRenderPass(const RenderPassPtr &_pass) = 0;
348
351 public: virtual void RemoveRenderPass(const RenderPassPtr &_pass) = 0;
352
354 public: virtual void RemoveAllRenderPasses() = 0;
355
358 public: virtual unsigned int RenderPassCount() const = 0;
359
362 public: virtual RenderPassPtr RenderPassByIndex(unsigned int _index)
363 const = 0;
364
367 public: virtual void SetShadowsDirty() = 0;
368 };
369 }
370 }
371}
372#endif