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CameraSensor.hh

/*
 *  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: CameraSensor.hh 152 2007-11-01 23:45:07Z natepak $
 */

#ifndef CAMERASENSOR_HH
#define CAMERASENSOR_HH

#include <Ogre.h>
#include "Pose3d.hh"
#include "Sensor.hh"

// Forward Declarations
namespace Ogre
{
  class TexturePtr;
  class RenderTarget;
  class Camera;
  class Viewport;
}

namespace gazebo
{
// \{


class CameraSensor : public Sensor
{
  public: CameraSensor(Body *body);

  public: virtual ~CameraSensor();

  protected: virtual void LoadChild( XMLConfigNode *node );

  protected: virtual void InitChild();

  protected: virtual void UpdateChild(UpdateParams &params);

  protected: virtual void FiniChild();

  public: Pose3d GetWorldPose() const;

  public: std::string GetMaterialName() const;

  public: void Translate( const Vector3 &direction );

  public: void RotateYaw( float angle );

  public: void RotatePitch( float angle );

  public: void SetFOV(double fov);

  public: double GetFOV() const;

  public: unsigned int GetImageWidth() const;

  public: unsigned int GetTextureWidth() const;

  public: unsigned int GetImageHeight() const;

  public: unsigned int GetTextureHeight() const;

  public: const unsigned char *GetImageData();

  public: size_t GetImageByteSize() const;

  public: double GetZValue(int x, int y);

  public: void EnableSaveFrame(bool enable);

  public: void ToggleSaveFrame();

  public: Ogre::Camera *GetOgreCamera() const;

  // Save the camera frame
  private: void SaveFrame();

  private: double hfov;
  private: double nearClip, farClip;
  private: unsigned int imageWidth, imageHeight;

  private: Ogre::TexturePtr renderTexture;
  private: Ogre::RenderTarget *renderTarget;
  private: Ogre::Viewport *viewport;

  private: Ogre::Camera *camera;
  private: Ogre::SceneNode *translateYawNode;
  private: Ogre::SceneNode *pitchNode;

  private: std::string ogreTextureName;
  private: std::string ogreMaterialName;

  private: Pose3d pose;

  // Info for saving images
  private: unsigned char *saveFrameBuffer;
  private: unsigned int saveCount;
  private: bool saveFrames;
  private: std::string savePathname;
};

}
#endif

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Last updated Aug 04 2007