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StereoCameraSensor.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: Stereo Camera Sensor
 * Author: Nate Koenig
 * Date: 25 March 2008
 * SVN: $Id:$
 */

#ifndef STEREOCAMERASENSOR_HH
#define STEREOCAMERASENSOR_HH

#include <OgrePrerequisites.h>
#include <OgreTexture.h>
#include <OgreMaterial.h>

#include "CameraSensor.hh"

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

namespace gazebo
{
// \{


class StereoCameraSensor : public CameraSensor
{

  enum Sides {LEFT, RIGHT, D_LEFT, D_RIGHT};

  public: StereoCameraSensor(Body *body);

  public: virtual ~StereoCameraSensor();

  protected: virtual void LoadChild( XMLConfigNode *node );

  protected: virtual void InitChild();

  protected: virtual void UpdateChild(UpdateParams &params);

  protected: virtual void FiniChild();

  public: virtual std::string GetMaterialName() const;

  public: virtual const unsigned char *GetImageData(unsigned int i=0);

  public: const float *GetDisparityData(unsigned int i=0);

  public: double GetBaseline() const;

  // Save the camera frame
  protected: virtual void SaveFrame();

  private: void FillBuffers();

  private: Ogre::TexturePtr CreateRTT( const std::string &name, bool depth);

  //private: void UpdateAllDependentRenderTargets();

  private: Ogre::TexturePtr renderTexture[4];
  private: Ogre::RenderTarget *renderTarget[4];
  private: Ogre::MaterialPtr depthMaterial;

  private: std::string textureName[4];
  private: std::string materialName[4];

  private: unsigned int depthBufferSize;
  private: unsigned int rgbBufferSize;
  private: float *depthBuffer[2];
  private: unsigned char *rgbBuffer[2];
  private: double baseline;

  private: Ogre::Camera *depthCamera;

  /*private: 
           class StereoCameraListener : public Ogre::RenderTargetListener
           {
             public: StereoCameraListener() : Ogre::RenderTargetListener() {}

             public: void Init(StereoCameraSensor *sensor, Ogre::RenderTarget *target, bool isLeft);
             public: void preViewportUpdate(const Ogre::RenderTargetViewportEvent &evt);
             public: void postViewportUpdate(const Ogre::RenderTargetViewportEvent &evt);

             private: Ogre::Vector3 pos;
             private: StereoCameraSensor *sensor;
             private: Ogre::Camera *camera;
             private: Ogre::RenderTarget *renderTarget;
             private: bool isLeftCamera;
           };


  private: StereoCameraListener leftCameraListener;
  private: StereoCameraListener rightCameraListener;
  */
};

}
#endif

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Last updated Aug 04 2007