DepthCamera.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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.
 *
*/
/* Desc: A persepective OGRE Camera with Depth Sensor
 * Author: Nate Koenig
 * Date: 15 July 2003
 */

#ifndef RENDERING_DEPTHCAMERA_HH
#define RENDERING_DEPTHCAMERA_HH


#include "rendering/Camera.hh"

#include "common/Event.hh"
#include "common/Time.hh"

#include "math/Angle.hh"
#include "math/Pose.hh"
#include "math/Vector2i.hh"

#include "sdf/sdf.h"

namespace Ogre
{
  class Material;
}

namespace gazebo
{

  namespace rendering
  {
    class MouseEvent;
    class ViewController;
    class Scene;


    class DepthCamera : public Camera
    {
      public: DepthCamera(const std::string &_namePrefix, Scene *_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: virtual void PostRender();

      // All things needed to get back z buffer for depth data
      public: virtual const float* GetDepthData();

      public: template<typename T>
              event::ConnectionPtr ConnectNewDepthFrame( T subscriber )
              { return newDepthFrame.Connect(subscriber); }
  
      public: void DisconnectNewDepthFrame( event::ConnectionPtr &c )
              { newDepthFrame.Disconnect(c); }

      private: virtual void RenderImpl();

      private: float *depthBuffer;
      private: Ogre::Material *depthMaterial;

      private: event::EventT<void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> newDepthFrame;

      protected: Ogre::Texture *depthTexture;
      protected: Ogre::RenderTarget *depthTarget;
      public: virtual void SetDepthTarget( Ogre::RenderTarget *target );
      protected: Ogre::Viewport *depthViewport;
    };
    
  }
}
#endif