GpuLaser.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef _GAZEBO_RENDERING_GPULASER_HH_
18 #define _GAZEBO_RENDERING_GPULASER_HH_
19 
20 #include <memory>
21 #include <string>
22 
23 #include <sdf/sdf.hh>
24 
29 #include "gazebo/util/system.hh"
30 
31 namespace Ogre
32 {
33  class Material;
34  class Renderable;
35  class Pass;
36  class AutoParamDataSource;
37  class Matrix4;
38  class MovableObject;
39 }
40 
41 namespace gazebo
42 {
43  namespace common
44  {
45  class Mesh;
46  }
47 
48  namespace rendering
49  {
50  // Forward declare private data.
51  class GpuLaserPrivate;
52 
55 
58  class GZ_RENDERING_VISIBLE GpuLaser
59  : public Camera, public Ogre::RenderObjectListener
60  {
65  public: GpuLaser(const std::string &_namePrefix,
66  ScenePtr _scene, const bool _autoRender = true);
67 
69  public: virtual ~GpuLaser();
70 
71  // Documentation inherited
72  public: virtual void Load(sdf::ElementPtr _sdf);
73 
74  // Documentation inherited
75  public: virtual void Load();
76 
77  // Documentation inherited
78  public: virtual void Init();
79 
80  // Documentation inherited
81  public: virtual void Fini();
82 
85  public: void CreateLaserTexture(const std::string &_textureName);
86 
87  // Documentation inherited
88  public: virtual void PostRender();
89 
93  public: const float *LaserData() const GAZEBO_DEPRECATED(9.0);
94 
97 
99  public: DataIter LaserDataBegin() const;
100 
102  public: DataIter LaserDataEnd() const;
103 
108  public: event::ConnectionPtr ConnectNewLaserFrame(
109  std::function<void (const float *_frame, unsigned int _width,
110  unsigned int _height, unsigned int _depth,
111  const std::string &_format)> _subscriber);
112 
117  public: void SetRangeCount(const unsigned int _w,
118  const unsigned int _h = 1);
119 
122  public: virtual void notifyRenderSingleObject(Ogre::Renderable *_rend,
123  const Ogre::Pass *_p, const Ogre::AutoParamDataSource *_s,
124  const Ogre::LightList *_ll, bool _supp);
125 
128  public: double HorzHalfAngle() const;
129 
132  public: double VertHalfAngle() const;
133 
136  public: void SetHorzHalfAngle(const double _angle);
137 
140  public: void SetVertHalfAngle(const double _angle);
141 
144  public: void SetIsHorizontal(const bool _horizontal);
145 
148  public: bool IsHorizontal() const;
149 
152  public: double HorzFOV() const;
153 
156  public: double CosHorzFOV() const;
157 
160  public: void SetCosHorzFOV(const double _chfov);
161 
164  public: double VertFOV() const;
165 
168  public: double CosVertFOV() const;
169 
172  public: void SetCosVertFOV(const double _cvfov);
173 
176  public: double NearClip() const;
177 
180  public: double FarClip() const;
181 
184  public: void SetNearClip(const double _near);
185 
188  public: void SetFarClip(const double _far);
189 
192  public: void SetHorzFOV(const double _hfov);
193 
196  public: void SetVertFOV(const double _vfov);
197 
200  public: unsigned int CameraCount() const;
201 
205  public: void SetCameraCount(const unsigned int _cameraCount);
206 
209  public: double RayCountRatio() const;
210 
213  public: void SetRayCountRatio(const double _rayCountRatio);
214 
215  // Documentation inherited.
216  private: virtual void RenderImpl();
217 
223  private: void UpdateRenderTarget(Ogre::RenderTarget *_target,
224  Ogre::Material *_material,
225  Ogre::Camera *_cam,
226  const bool _updateTex = false);
227 
229  private: void CreateOrthoCam();
230 
232  private: void CreateMesh();
233 
235  private: void CreateCanvas();
236 
245  private: Ogre::Matrix4 BuildScaledOrthoMatrix(const float _left,
246  const float _right, const float _bottom, const float _top,
247  const float _near, const float _far);
248 
252  private: virtual void Set1stPassTarget(Ogre::RenderTarget *_target,
253  const unsigned int _index);
254 
257  private: virtual void Set2ndPassTarget(Ogre::RenderTarget *_target);
258 
260  protected: double horzHalfAngle;
261 
263  protected: double vertHalfAngle;
264 
266  protected: double rayCountRatio;
267 
269  protected: double hfov;
270 
272  protected: double vfov;
273 
275  protected: double chfov;
276 
278  protected: double cvfov;
279 
281  protected: double nearClip;
282 
284  protected: double farClip;
285 
287  protected: bool isHorizontal;
288 
290  protected: unsigned int cameraCount;
291 
294  private: std::unique_ptr<GpuLaserPrivate> dataPtr;
295  };
297  }
298 }
299 #endif
Basic camera sensor.
Definition: Camera.hh:81
double farClip
Far clip plane.
Definition: GpuLaser.hh:284
GPU based laser distance sensor.
Definition: GpuLaser.hh:58
Forward declarations for the common classes.
Definition: Animation.hh:26
double vertHalfAngle
Vertical half angle.
Definition: GpuLaser.hh:263
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
double nearClip
Near clip plane.
Definition: GpuLaser.hh:281
GpuLaserDataIterator< GpuLaser > DataIter
Constant iterator to access laser data.
Definition: GpuLaser.hh:96
bool isHorizontal
True if the sensor is horizontal only.
Definition: GpuLaser.hh:287
double hfov
Horizontal field-of-view.
Definition: GpuLaser.hh:269
double vfov
Vertical field-of-view.
Definition: GpuLaser.hh:272
const Bidirectional iterator for laser data
Definition: GpuLaserDataIterator.hh:53
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
double chfov
Cos horizontal field-of-view.
Definition: GpuLaser.hh:275
Definition: JointMaker.hh:39
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:328
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
double rayCountRatio
Ray count ratio.
Definition: GpuLaser.hh:266
double horzHalfAngle
Horizontal half angle.
Definition: GpuLaser.hh:260
double cvfov
Cos vertical field-of-view.
Definition: GpuLaser.hh:278
unsigned int cameraCount
Number of cameras needed to generate the rays.
Definition: GpuLaser.hh:290