Camera Class Reference

Basic camera sensor. More...

#include <Camera.hh>

Inheritance diagram for Camera:

List of all members.

Public Member Functions
	Camera (const std::string &namePrefix, Scene *scene, bool _autoRender=true)
	Constructor.
virtual	~Camera ()
	Destructor.
void	Load (sdf::ElementPtr &_sdf)
	Load the camera with a set of parmeters.
void	Load ()
	Load the camera with default parmeters.
void	Init ()
	Initialize the camera.
void	SetRenderRate (double _hz)
	Set the render Hz rate.
void	Render ()
	Render the camera.
virtual void	PostRender ()
	Post render.
virtual void	Update ()
	Update the sensor information.
void	Fini ()
	Finalize the camera.
void	SetWindowId (unsigned int windowId)
	Set the ID of the window this camera is rendering into.
unsigned int	GetWindowId () const
	Get the ID of the window this camera is rendering into.
void	SetScene (Scene *scene)
	Set the scene this camera is viewing.
math::Pose	GetWorldPose ()
	Get the global pose of the camera.
math::Vector3	GetWorldPosition () const
	Get the camera position in the world.
math::Quaternion	GetWorldRotation () const
	Get the camera's orientation in the world.
void	SetWorldPose (const math::Pose &_pose)
	Set the global pose of the camera.
void	SetWorldPosition (const math::Vector3 &_pos)
	Set the world position.
void	SetWorldRotation (const math::Quaternion &_quant)
	Set the world orientation.
void	Translate (const math::Vector3 &direction)
	Translate the camera.
void	RotateYaw (float angle)
	Rotate the camera around the yaw axis.
void	RotatePitch (float angle)
	Rotate the camera around the pitch axis.
void	SetClipDist (float near, float far)
	Set the clip distances.
void	SetClipDist ()
void	SetHFOV (float radians)
	Set the camera FOV (horizontal)
math::Angle	GetHFOV () const
	Get the camera FOV (horizontal)
math::Angle	GetVFOV () const
	Get the camera FOV (vertical)
void	SetImageSize (unsigned int _w, unsigned int _h)
	Set the image size.
void	SetImageWidth (unsigned int _w)
	Set the image height.
void	SetImageHeight (unsigned int _h)
	Set the image height.
unsigned int	GetImageWidth () const
	Get the width of the image.
unsigned int	GetTextureWidth () const
	Get the width of the texture.
unsigned int	GetImageHeight () const
	Get the height of the image.
unsigned int	GetImageDepth () const
	Get the height of the image.
std::string	GetImageFormat () const
	Get the height of the image.
unsigned int	GetTextureHeight () const
	Get the height of the texture.
size_t	GetImageByteSize () const
	Get the image size in bytes.
double	GetZValue (int x, int y)
	Get the Z-buffer value at the given image coordinate.
double	GetNearClip ()
	Get the near clip distance.
double	GetFarClip ()
	Get the far clip distance.
void	EnableSaveFrame (bool enable)
	Enable or disable saving.
void	SetSaveFramePathname (const std::string &pathname)
	Set the save frame pathname.
Ogre::Camera *	GetOgreCamera () const
	Get a pointer to the ogre camera.
Ogre::Viewport *	GetViewport () const
unsigned int	GetViewportWidth () const
	Get the viewport width in pixels.
unsigned int	GetViewportHeight () const
	Get the viewport height in pixels.
math::Vector3	GetUp ()
	Get the viewport up vector.
math::Vector3	GetRight ()
	Get the viewport right vector.
virtual float	GetAvgFPS ()
	Get the average FPS.
virtual unsigned int	GetTriangleCount ()
	Get the triangle count.
void	SetAspectRatio (float ratio)
	Set the aspect ratio.
float	GetAspectRatio () const
	Get the apect ratio.
void	SetSceneNode (Ogre::SceneNode *node)
	Set the camera's scene node.
Ogre::SceneNode *	GetSceneNode () const
	Get the camera's scene node.
virtual const unsigned char *	GetImageData (unsigned int i=0)
	Get a pointer to the image data.
std::string	GetName () const
	Get the camera's name.
void	SetName (const std::string &name)
	Set the camera's name.
void	ToggleShowWireframe ()
	Toggle whether to view the world in wireframe.
void	ShowWireframe (bool s)
	Set whether to view the world in wireframe.
void	GetCameraToViewportRay (int screenx, int screeny, math::Vector3 &origin, math::Vector3 &dir)
	Get a world space ray as cast from the camera through the viewport.
void	SetCaptureData (bool value)
	Set whether to capture data.
void	CreateRenderTexture (const std::string &textureName)
	Set the render target.
Scene *	GetScene () const
	Get the scene this camera is in.
bool	GetWorldPointOnPlane (int _x, int _y, const math::Vector3 &_planeNorm, double _d, math::Vector3 &_result)
	Get point on a plane.
virtual void	SetRenderTarget (Ogre::RenderTarget *target)
void	AttachToVisual (const std::string &_visualName, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
	Attach the camera to a scene node.
void	TrackVisual (const std::string &_visualName)
	Set the camera to track a scene node.
Ogre::Texture *	GetRenderTexture () const
	Get the render texture.
math::Vector3	GetDirection () const
	Get the camera's direction vector.
template<typename T >
event::ConnectionPtr	ConnectNewImageFrame (T subscriber)
	Connect a to the add entity signal.
void	DisconnectNewImageFrame (event::ConnectionPtr &c)
common::Time	GetLastRenderWallTime ()
	Get the last time the camera was rendered.
bool	IsVisible (VisualPtr _visual)
	Return true if the visual is within the camera's view frustum.
bool	IsVisible (const std::string &_visualName)
	Return true if the visual is within the camera's view frustum.
bool	GetInitialized () const
	Returns true if initialized.
Static Public Member Functions
static size_t	GetImageByteSize (unsigned int _width, unsigned int _height, const std::string &_format)
static void	SaveFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, int _depth, const std::string &_format, const std::string &_filename)
Public Attributes
bool	initialized
Protected Member Functions
virtual void	RenderImpl ()
bool	TrackVisualImpl (const std::string &_visualName)
virtual bool	TrackVisualImpl (VisualPtr _visual)
	Set the camera to track a scene node.
virtual bool	AttachToVisualImpl (const std::string &_name, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
	Attach the camera to a visual.
virtual bool	AttachToVisualImpl (VisualPtr _visual, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
	Attach the camera to a visual.
virtual void	SaveFrame ()
Protected Attributes
sdf::ElementPtr	sdf
unsigned int	windowId
unsigned int	textureWidth
unsigned int	textureHeight
Ogre::Camera *	camera
Ogre::Viewport *	viewport
Ogre::SceneNode *	origParentNode
Ogre::SceneNode *	sceneNode
Ogre::SceneNode *	pitchNode
unsigned char *	saveFrameBuffer
unsigned char *	bayerFrameBuffer
unsigned int	saveCount
int	imageFormat
int	imageWidth
int	imageHeight
Ogre::RenderTarget *	renderTarget
Ogre::Texture *	renderTexture
bool	captureData
bool	newData
common::Time	lastRenderWallTime
Scene *	scene
event::EventT< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)	newImageFrame )
std::vector< event::ConnectionPtr >	connections
std::list< msgs::Request >	requests

---

Detailed Description

Basic camera sensor.

This is the base class for all cameras.

---

Member Function Documentation

bool GetWorldPointOnPlane	(	int	_x,
		int	_y,
		const math::Vector3 &	_planeNorm,
		double	_d,
		math::Vector3 &	_result
	)

Get point on a plane.

Returns:

True if a valid point was found

double GetZValue	(	int	x,
		int	y
	)

Get the Z-buffer value at the given image coordinate.

Parameters:

x,y	Image coordinate; (0, 0) specifies the top-left corner.

Returns:

Image z value; note that this is abitrarily scaled and is not the same as the depth value.

void Load

(

sdf::ElementPtr &

_sdf

)

Load the camera with a set of parmeters.

Parameters:

_sdf	The SDF camera info

Reimplemented in DepthCamera.

---

The documentation for this class was generated from the following file:

• Camera.hh