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Camera.hh Go to the documentation of this file. /* * Gazebo - Outdoor Multi-Robot Simulator * Copyright (C) 2003 * Nate Koenig & Andrew Howard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* Desc: A persepective X11 OpenGL Camera Sensor * Author: Nate Koenig * Date: 15 July 2003 * CVS: $Id: Camera.hh,v 1.36 2005/05/06 17:14:57 natepak Exp $ */ #ifndef CAMERA_HH #define CAMERA_HH #include "Error.hh" #include "Sensor.hh" #include "Vector.hh" #include "RenderOptions.hh" #include "GLContext.hh" // Forward Declarations class World; class WorldFile; class WorldFileNode; class Body; class ShaderManager; class ShaderObject; class Camera : public Sensor { // Constructor public: Camera( World *world ); // Destructor public: virtual ~Camera(); public: int Init(int width, int height, double hfov, double minDepth, double maxDepth, const char *method, int zBufferDepth); public: void InitContext( GLContext &context ); public: int Fini(); public: void Update(); public: void SetPose(GzPose pose); public: GzPose GetPose(); public: void SetFOV(double fov); public: double GetFOV() const; public: void SetRenderOptions(const RenderOptions *opt); public: void GetRenderOptions(RenderOptions *opt) const; public: void GetImageSize(int *w, int *h); public: const unsigned char *GetImageData() const {return this->rgbImage;} public: double GetZValue(int x, int y); public: GzPose CalcCameraDelta(int mode, GzVector a, GzVector b); // Render the scene from the camera perspective private: void Render(); // Render the models private: void RenderModels( int pass ); // Render a shadow map for each light source private: void RenderShadowMaps(); // Render a set of axes on a body private: void RenderAxes(Body *body); // Draw an axis with the given pose and size private: void DrawAxis(GzPose pose, double size, const char *text); public: void SetSavePath(const char *pathname); public: void EnableSaveFrame(bool enable); // Save the camera frame private: void SaveFrame(); private: GLuint LoadShader(GLenum target, const char *file); private: float *Mult( float *a, float *b); private: void RenderDepthTexture(); // GL rendering context private: GLContext context; // Geom rendering options private: RenderOptions renderOpt; // Camera pose private: GzPose cameraPose; // Lens options private: double hfov; private: double nearClip, farClip; // Image dimensions private: int imageWidth, imageHeight; // RGB image buffer private: uint8_t *rgbImage; // Store projection matrix for GUI calculations private: GLfloat cameraProjectionMatrix[16]; private: GLfloat cameraViewMatrix[16]; // Info for saving images private: bool saveEnable; private: const char *savePathname; private: unsigned int saveCount; // Shadow mapping private: GLContext shadowMapContext; private: GLuint shadowMapTexture; private: int shadowMapSize; private: uint8_t *shadowImage; private: GLfloat lightProjectionMatrix[16]; private: GLfloat lightViewMatrix[16]; private: void SaveShadowFrame(); private: ShaderManager *shaderManager; private: ShaderObject *shaderObject; }; #endif

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Last updated $Date: 2004/12/21 01:49:15 $

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