##

OculusCamera Class Reference
Rendering

A camera used for user visualization of a scene. More...

`#include <rendering/rendering.hh>`

Inherits Camera.

## Public Member Functions

| OculusCamera (const std::string &_name, ScenePtr _scene)
| Constructor. More...
virtual | ~OculusCamera ()
| Destructor. More...
void | AdjustAspect (double _v)
| Change screen aspect ratio. More...
float | AspectRatio () const
| Get the apect ratio. More...
void | AttachToVisual (const std::string &_visualName, const bool _inheritOrientation, const double _minDist=0.0, const double _maxDist=0.0)
| Attach the camera to a scene node. More...
void | AttachToVisual (uint32_t _id, const bool _inheritOrientation, const double _minDist=0.0, const double _maxDist=0.0)
| Attach the camera to a scene node. More...
virtual float | AvgFPS () const
| Get the average FPS. More...
virtual void | CameraToViewportRay (const int _screenx, const int _screeny, ignition::math::Vector3d &_origin, ignition::math::Vector3d &_dir) const
| Get a world space ray as cast from the camera through the viewport. More...
bool | CaptureData () const
| Return the value of this->captureData. More...
event::ConnectionPtr | ConnectNewImageFrame (std::function< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
| Connect to the new image signal. More...
void | CreateRenderTexture (const std::string &_textureName)
| Set the render target. More...
ignition::math::Vector3d | Direction () const
| Get the camera's direction vector. More...
void | EnableSaveFrame (const bool _enable)
| Enable or disable saving. More...
double | FarClip () const
| Get the far clip distance. More...
void | Fini ()
| Finialize. More...
virtual unsigned int | GetImageHeight () const
virtual unsigned int | GetImageWidth () const
ScenePtr | GetScene () const
| Get the scene this camera is in. More...
ignition::math::Angle | HFOV () const
| Get the camera FOV (horizontal) More...
size_t | ImageByteSize () const
| Get the image size in bytes. More...
virtual const unsigned char * | ImageData (const unsigned int i=0) const
| Get a pointer to the image data. More...
unsigned int | ImageDepth () const
| Get the depth of the image in bytes per pixel. More...
std::string | ImageFormat () const
| Get the string representation of the image format. More...
virtual unsigned int | ImageHeight () const
| Get the height of the image. More...
unsigned int | ImageMemorySize () const
| Get the memory size of this image. More...
virtual unsigned int | ImageWidth () const
| Get the width of the image. More...
void | Init ()
| Initialize. More...
bool | Initialized () const
| Return true if the camera has been initialized. More...
bool | IsAnimating () const
| Return true if the camera is moving due to an animation. More...
bool | IsVisible (const std::string &_visualName)
| Return true if the visual is within the camera's view frustum. More...
bool | IsVisible (VisualPtr _visual)
| Return true if the visual is within the camera's view frustum. More...
common::Time | LastRenderWallTime () const
| Get the last time the camera was rendered. More...
DistortionPtr | LensDistortion () const
| Get the distortion model of this camera. More...
void | Load ()
| Generic load function. More...
void | Load (sdf::ElementPtr _sdf)
| Load the user camera. More...
virtual bool | MoveToPosition (const ignition::math::Pose3d &_pose, const double _time)
| Move the camera to a position (this is an animated motion). More...
bool | MoveToPositions (const std::vector< ignition::math::Pose3d > &_pts, const double _time, std::function< void()> _onComplete=NULL)
| Move the camera to a series of poses (this is an animated motion). More...
void | MoveToVisual (const std::string &_visualName)
| Move the camera to focus on a visual. More...
void | MoveToVisual (VisualPtr _visual)
| Move the camera to focus on a visual. More...
std::string | Name () const
| Get the camera's unscoped name. More...
double | NearClip () const
| Get the near clip distance. More...
Ogre::Camera * | OgreCamera () const
| Get a pointer to the ogre camera. More...
Ogre::Viewport * | OgreViewport () const
| Get a pointer to the Ogre::Viewport. More...
void | Pitch (const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL)
| Rotate the camera around the y-axis. More...
virtual void | PostRender ()
| Post render. More...
virtual ignition::math::Vector2i | Project (const ignition::math::Vector3d &_pt) const
| Project 3D world coordinates to 2D screen coordinates. More...
ignition::math::Matrix4d | ProjectionMatrix () const
| Return the projection matrix of this camera. More...
std::string | ProjectionType () const
| Return the projection type as a string. More...
bool | Ready ()
| Used to check if Oculus is plugged in and can be used. More...
virtual void | Render (const bool _force=false)
| Render the camera. More...
double | RenderRate () const
| Get the render Hz rate. More...
Ogre::Texture * | RenderTexture () const
| Get the render texture. More...
void | ResetSensor ()
| Reset the Oculus Rift sensor orientation. More...
bool | ResetVideo ()
| Reset video recording. More...
void | Resize (unsigned int _w, unsigned int _h)
| Resize the camera. More...
ignition::math::Vector3d | Right () const
| Get the viewport right vector. More...
void | Roll (const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL)
| Rotate the camera around the x-axis. More...
bool | SaveFrame (const std::string &_filename)
| Save the last frame to disk. More...
bool | SaveVideo (const std::string &_filename)
| Save the last encoded video to disk. More...
Ogre::SceneNode * | SceneNode () const
| Get the camera's scene node. More...
std::string | ScopedName () const
| Get the camera's scoped name (scene_name::camera_name) More...
std::string | ScreenshotPath () const
| Get the path to saved screenshots. More...
void | SetAspectRatio (float _ratio)
| Set the aspect ratio. More...
virtual bool | SetBackgroundColor (const common::Color &_color) GAZEBO_DEPRECATED(9.0)
| Set background color for viewport (if viewport is not null) More...
virtual bool | SetBackgroundColor (const ignition::math::Color &_color)
| Set background color for viewport (if viewport is not null) More...
void | SetCaptureData (const bool _value)
| Set whether to capture data. More...
void | SetCaptureDataOnce ()
| Capture data once and save to disk. More...
virtual void | SetClipDist (const float _near, const float _far)
| Set the clip distances. More...
void | SetHFOV (const ignition::math::Angle &_angle)
| Set the camera FOV (horizontal) More...
void | SetImageHeight (const unsigned int _h)
| Set the image height. More...
void | SetImageSize (const unsigned int _w, const unsigned int _h)
| Set the image size. More...
void | SetImageWidth (const unsigned int _w)
| Set the image height. More...
void | SetName (const std::string &_name)
| Set the camera's name. More...
virtual bool | SetProjectionType (const std::string &_type)
| Set the type of projection used by the camera. More...
void | SetRenderRate (const double _hz)
| Set the render Hz rate. More...
virtual void | SetRenderTarget (Ogre::RenderTarget *_target)
| Set to true to enable rendering. More...
void | SetSaveFramePathname (const std::string &_pathname)
| Set the save frame pathname. More...
void | SetScene (ScenePtr _scene)
| Set the scene this camera is viewing. More...
void | SetSceneNode (Ogre::SceneNode *_node)
| Set the camera's scene node. More...
void | SetTrackInheritYaw (const bool _inheritYaw)
| Set whether this camera inherits the yaw rotation of the tracked model. More...
void | SetTrackIsStatic (const bool _isStatic)
| Set whether this camera is static when tracking a model. More...
void | SetTrackMaxDistance (const double _dist)
| Set the maximum distance between the camera and tracked visual. More...
void | SetTrackMinDistance (const double _dist)
| Set the minimum distance between the camera and tracked visual. More...
void | SetTrackPosition (const ignition::math::Vector3d &_pos)
| Set the position of the camera when tracking a visual. More...
void | SetTrackUseModelFrame (const bool _useModelFrame)
| Set whether this camera's position is relative to tracked models. More...
void | SetWindowId (unsigned int _windowId)
virtual void | SetWorldPose (const ignition::math::Pose3d &_pose)
| Set the global pose of the camera. More...
void | SetWorldPosition (const ignition::math::Vector3d &_pos)
| Set the world position. More...
void | SetWorldRotation (const ignition::math::Quaterniond &_quat)
| Set the world orientation. More...
void | ShowWireframe (const bool _s)
| Set whether to view the world in wireframe. More...
bool | StartVideo (const std::string &_format, const std::string &_filename="")
| Turn on video recording. More...
bool | StopVideo ()
| Turn off video recording. More...
unsigned int | TextureHeight () const
| Get the height of the off-screen render texture. More...
unsigned int | TextureWidth () const
| Get the width of the off-screen render texture. More...
void | ToggleShowWireframe ()
| Toggle whether to view the world in wireframe. More...
VisualPtr | TrackedVisual () const
| Get the visual tracked by this camera. More...
bool | TrackInheritYaw () const
| Get whether this camera inherits the yaw rotation of the tracked model. More...
bool | TrackIsStatic () const
| Get whether this camera is static when tracking a model. More...
double | TrackMaxDistance () const
| Return the maximum distance to the tracked visual. More...
double | TrackMinDistance () const
| Return the minimum distance to the tracked visual. More...
ignition::math::Vector3d | TrackPosition () const
| Return the position of the camera when tracking a model. More...
bool | TrackUseModelFrame () const
| Get whether this camera's position is relative to tracked models. More...
void | TrackVisual (const std::string &_visualName)
| Set the camera to track a scene node. More...
void | Translate (const ignition::math::Vector3d &_direction)
| Translate the camera. More...
virtual unsigned int | TriangleCount () const
| Get the triangle count. More...
ignition::math::Vector3d | Up () const
| Get the viewport up vector. More...
virtual void | Update ()
| Render the camera. More...
void | UpdateCameraIntrinsics (const double _cameraIntrinsicsFx, const double _cameraIntrinsicsFy, const double _cameraIntrinsicsCx, const double _cameraIntrinsicsCy, const double _cameraIntrinsicsS)
| Updates the camera intrinsics. More...
ignition::math::Angle | VFOV () const
| Get the camera FOV (vertical) More...
unsigned int | ViewportHeight () const
| Get the viewport height in pixels. More...
unsigned int | ViewportWidth () const
| Get the viewport width in pixels. More...
unsigned int | WindowId () const
| Get the ID of the window this camera is rendering into. More...
bool | WorldPointOnPlane (const int _x, const int _y, const ignition::math::Planed &_plane, ignition::math::Vector3d &_result)
| Get point on a plane. More...
ignition::math::Pose3d | WorldPose () const
| Get the world pose. More...
ignition::math::Vector3d | WorldPosition () const
| Get the camera position in the world. More...
ignition::math::Quaterniond | WorldRotation () const
| Get the camera's orientation in the world. More...
void | Yaw (const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_WORLD)
| Rotate the camera around the z-axis. More...
double | ZValue (const int _x, const int _y)
| Get the Z-buffer value at the given image coordinate. More...

## Static Public Member Functions

static ignition::math::Matrix4d | BuildNDCMatrix (const double _left, const double _right, const double _bottom, const double _top, const double _near, const double _far)
| Computes the OpenGL NDC matrix. More...
static ignition::math::Matrix4d | BuildPerspectiveMatrix (const double _intrinsicsFx, const double _intrinsicsFy, const double _intrinsicsCx, const double _intrinsicsCy, const double _intrinsicsS, const double _clipNear, const double _clipFar)
| Computes the OpenGL perspective matrix. More...
static ignition::math::Matrix4d | BuildProjectionMatrix (const double _imageWidth, const double _imageHeight, const double _intrinsicsFx, const double _intrinsicsFy, const double _intrinsicsCx, const double _intrinsicsCy, const double _intrinsicsS, const double _clipNear, const double _clipFar)
| Computes the OpenGL projection matrix by multiplying the OpenGL Normalized Device Coordinates matrix (NDC) with the OpenGL perspective matrix openglProjectionMatrix = ndcMatrix * perspectiveMatrix. More...
static size_t | ImageByteSize (const unsigned int _width, const unsigned int _height, const std::string &_format)
| Calculate image byte size base on a few parameters. More...
static bool | SaveFrame (const unsigned char *_image, const unsigned int _width, const unsigned int _height, const int _depth, const std::string &_format, const std::string &_filename)
| Save a frame using an image buffer. More...

## Protected Member Functions

virtual void | AnimationComplete ()
| Internal function used to indicate that an animation has completed. More...
virtual bool | AttachToVisualImpl (const std::string &_name, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
| Attach the camera to a scene node. More...
virtual bool | AttachToVisualImpl (uint32_t _id, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
| Attach the camera to a scene node. More...
virtual bool | AttachToVisualImpl (VisualPtr _visual, bool _inheritOrientation, double _minDist=0, double _maxDist=0)
| Set the camera to be attached to a visual. More...
std::string | FrameFilename ()
| Get the next frame filename based on SDF parameters. More...
void | ReadPixelBuffer ()
| Read image data from pixel buffer. More...
virtual void | RenderImpl ()
| Implementation of the render call. More...
virtual void | SetClipDist ()
| Set the clip distance based on stored SDF values. More...
virtual void | SetFixedYawAxis (const bool _useFixed, const ignition::math::Vector3d &_fixedAxis=ignition::math::Vector3d::UnitY)
| Tell the camera whether to yaw around its own local Y axis or a fixed axis of choice. More...
bool | TrackVisualImpl (const std::string &_visualName)
| Implementation of the Camera::TrackVisual call. More...
virtual bool | TrackVisualImpl (VisualPtr _visual)
| Set the camera to track a scene node. More...
virtual void | UpdateFOV ()
| Update the camera's field of view. More...

## Static Protected Member Functions

static double | LimitFOV (const double _fov)
| Limit field of view taking care of using a valid value for an OGRE camera. More...

## Protected Attributes

Ogre::AnimationState * | animState
| Animation state, used to animate the camera. More...
unsigned char * | bayerFrameBuffer
| Buffer for a bayer image frame. More...
Ogre::Camera * | camera
| The OGRE camera. More...
bool | captureData
| True to capture frames into an image buffer. More...
bool | captureDataOnce
| True to capture a frame once and save to disk. More...
std::vector< event::ConnectionPtr > | connections
| The camera's event connections. More...
int | imageFormat
| Format for saving images. More...
int | imageHeight
| Save image height. More...
int | imageWidth
| Save image width. More...
bool | initialized
| True if initialized. More...
common::Time | lastRenderWallTime
| Time the last frame was rendered. More...
std::string | name
| Name of the camera. More...
bool | newData
| True if new data is available. More...
event::EventT< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> | newImageFrame
| Event triggered when a new frame is generated. More...
std::function< void()> | onAnimationComplete
| User callback for when an animation completes. More...
common::Time | prevAnimTime
| Previous time the camera animation was updated. More...
Ogre::RenderTarget * | renderTarget
| Target that renders frames. More...
Ogre::Texture * | renderTexture
| Texture that receives results from rendering. More...
std::list< msgs::Request > | requests
| List of requests. More...
unsigned int | saveCount
| Number of saved frames. More...
unsigned char * | saveFrameBuffer
| Buffer for a single image frame. More...
ScenePtr | scene
| Pointer to the scene. More...
Ogre::SceneNode * | sceneNode
| Scene node that controls camera position and orientation. More...
std::string | scopedName
| Scene scoped name of the camera. More...
std::string | scopedUniqueName
| Scene scoped name of the camera with a unique ID. More...
std::string | screenshotPath
| Path to saved screenshots. More...
sdf::ElementPtr | sdf
| Camera's SDF values. More...
unsigned int | textureHeight
| Height of the render texture. More...
unsigned int | textureWidth
| Width of the render texture. More...
Ogre::Viewport * | viewport
| Viewport the ogre camera uses. More...
unsigned int | windowId
| ID of the window that the camera is attached to. More...

## Detailed Description

A camera used for user visualization of a scene.

## Constructor & Destructor Documentation

## OculusCamera()

OculusCamera | ( | const std::string & | _name,
|  | ScenePtr | _scene
| ) |  |

Constructor.

Parameters

  [in] | _name | Name of the camera.
  [in] | _scene | Scene to put the camera in.

## ~OculusCamera()

virtual ~OculusCamera | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## AdjustAspect()

void AdjustAspect | ( | double | _v | ) |

Change screen aspect ratio.

Parameters

  [in] | _v | Aspect ratio.

## AnimationComplete()

virtual void AnimationComplete | ( |  | ) |

protected virtual inherited

Internal function used to indicate that an animation has completed.

Reimplemented in UserCamera.

## AspectRatio()

float AspectRatio | ( |  | ) | const

inherited

Get the apect ratio.

Returns
  The aspect ratio (width / height) in pixels

## AttachToVisual() [1/2]

void AttachToVisual | ( | const std::string & | _visualName,
|  | const bool | _inheritOrientation,
|  | const double | _minDist = `0.0`,
|  | const double | _maxDist = `0.0`
| ) |  |

inherited

Attach the camera to a scene node.

Parameters

  [in] | _visualName | Name of the visual to attach the camera to
  [in] | _inheritOrientation | True means camera acquires the visual's orientation
  [in] | _minDist | Minimum distance the camera is allowed to get to the visual
  [in] | _maxDist | Maximum distance the camera is allowd to get from the visual

## AttachToVisual() [2/2]

void AttachToVisual | ( | uint32_t | _id,
|  | const bool | _inheritOrientation,
|  | const double | _minDist = `0.0`,
|  | const double | _maxDist = `0.0`
| ) |  |

inherited

Attach the camera to a scene node.

Parameters

  [in] | _id | ID of the visual to attach the camera to
  [in] | _inheritOrientation | True means camera acquires the visual's orientation
  [in] | _minDist | Minimum distance the camera is allowed to get to the visual
  [in] | _maxDist | Maximum distance the camera is allowd to get from the visual

## AttachToVisualImpl() [1/3]

virtual bool AttachToVisualImpl | ( | const std::string & | _name,
|  | const bool | _inheritOrientation,
|  | const double | _minDist = `0`,
|  | const double | _maxDist = `0`
| ) |  |

protected virtual inherited

Attach the camera to a scene node.

Parameters

  [in] | _visualName | Name of the visual to attach the camera to
  [in] | _inheritOrientation | True means camera acquires the visual's orientation
  [in] | _minDist | Minimum distance the camera is allowed to get to the visual
  [in] | _maxDist | Maximum distance the camera is allowd to get from the visual

Returns
  True on success

## AttachToVisualImpl() [2/3]

virtual bool AttachToVisualImpl | ( | uint32_t | _id,
|  | const bool | _inheritOrientation,
|  | const double | _minDist = `0`,
|  | const double | _maxDist = `0`
| ) |  |

protected virtual inherited

Attach the camera to a scene node.

Parameters

  [in] | _id | ID of the visual to attach the camera to
  [in] | _inheritOrientation | True means camera acquires the visual's orientation
  [in] | _minDist | Minimum distance the camera is allowed to get to the visual
  [in] | _maxDist | Maximum distance the camera is allowd to get from the visual

Returns
  True on success

## AttachToVisualImpl() [3/3]

virtual bool AttachToVisualImpl | ( | VisualPtr | _visual,
|  | bool | _inheritOrientation,
|  | double | _minDist = `0`,
|  | double | _maxDist = `0`
| ) |  |

protected virtual

Set the camera to be attached to a visual.

This causes the camera to move in relation to the specified visual.

Parameters

  [in] | _visual | The visual to attach to.
  [in] | _inheritOrientation | True if the camera should also rotate when the visual rotates.
  [in] | _minDist | Minimum distance the camera can get to the visual.
  [in] | _maxDist | Maximum distance the camera can get from the visual.

Returns
  True if successfully attach to the visual.

Reimplemented from Camera.

## AvgFPS()

virtual float AvgFPS | ( |  | ) | const

virtual inherited

Get the average FPS.

Returns
  The average frames per second

## BuildNDCMatrix()

static ignition::math::Matrix4d BuildNDCMatrix | ( | const double | _left,
|  | const double | _right,
|  | const double | _bottom,
|  | const double | _top,
|  | const double | _near,
|  | const double | _far
| ) |  |

static inherited

Computes the OpenGL NDC matrix.

Parameters

  [in] | _left | Left vertical clipping plane
  [in] | _right | Right vertical clipping plane
  [in] | _bottom | Bottom horizontal clipping plane
  [in] | _top | Top horizontal clipping plane
  [in] | _near | Distance to the nearer depth clipping plane This value is negative if the plane is to be behind the camera
  [in] | _far | Distance to the farther depth clipping plane This value is negative if the plane is to be behind the camera

Returns
  OpenGL NDC (Normalized Device Coordinates) matrix

## BuildPerspectiveMatrix()

static ignition::math::Matrix4d BuildPerspectiveMatrix | ( | const double | _intrinsicsFx,
|  | const double | _intrinsicsFy,
|  | const double | _intrinsicsCx,
|  | const double | _intrinsicsCy,
|  | const double | _intrinsicsS,
|  | const double | _clipNear,
|  | const double | _clipFar
| ) |  |

static inherited

Computes the OpenGL perspective matrix.

Parameters

  [in] | _intrinsicsFx | Horizontal focal length (in pixels)
  [in] | _intrinsicsFy | Vertical focal length (in pixels)
  [in] | _intrinsicsCx | X coordinate of principal point in pixels
  [in] | _intrinsicsCy | Y coordinate of principal point in pixels
  [in] | _intrinsicsS | Skew coefficient defining the angle between the x and y pixel axes
  [in] | _clipNear | Distance to the nearer depth clipping plane This value is negative if the plane is to be behind the camera
  [in] | _clipFar | Distance to the farther depth clipping plane This value is negative if the plane is to be behind the camera

Returns
  OpenGL perspective matrix

## BuildProjectionMatrix()

static ignition::math::Matrix4d BuildProjectionMatrix | ( | const double | _imageWidth,
|  | const double | _imageHeight,
|  | const double | _intrinsicsFx,
|  | const double | _intrinsicsFy,
|  | const double | _intrinsicsCx,
|  | const double | _intrinsicsCy,
|  | const double | _intrinsicsS,
|  | const double | _clipNear,
|  | const double | _clipFar
| ) |  |

static inherited

Computes the OpenGL projection matrix by multiplying the OpenGL Normalized Device Coordinates matrix (NDC) with the OpenGL perspective matrix openglProjectionMatrix = ndcMatrix * perspectiveMatrix.

Parameters

  [in] | _imageWidth | Image width (in pixels)
  [in] | _imageHeight | Image height (in pixels)
  [in] | _intrinsicsFx | Horizontal focal length (in pixels)
  [in] | _intrinsicsFy | Vertical focal length (in pixels)
  [in] | _intrinsicsCx | X coordinate of principal point in pixels
  [in] | _intrinsicsCy | Y coordinate of principal point in pixels
  [in] | _intrinsicsS | Skew coefficient defining the angle between the x and y pixel axes
  [in] | _clipNear | Distance to the nearer depth clipping plane This value is negative if the plane is to be behind the camera
  [in] | _clipFar | Distance to the farther depth clipping plane This value is negative if the plane is to be behind the camera

Returns
  OpenGL projection matrix

## CameraToViewportRay()

virtual void CameraToViewportRay | ( | const int | _screenx,
|  | const int | _screeny,
|  | ignition::math::Vector3d & | _origin,
|  | ignition::math::Vector3d & | _dir
| ) |  | const

virtual inherited

Get a world space ray as cast from the camera through the viewport.

Parameters

  [in] | _screenx | X coordinate in the camera's viewport, in pixels.
  [in] | _screeny | Y coordinate in the camera's viewport, in pixels.
  [out] | _origin | Origin in the world coordinate frame of the resulting ray
  [out] | _dir | Direction of the resulting ray

Reimplemented in UserCamera.

## CaptureData()

bool CaptureData | ( |  | ) | const

inherited

Return the value of this->captureData.

Returns
  True if the camera is set to capture data.

## ConnectNewImageFrame()

event::ConnectionPtr ConnectNewImageFrame | ( | std::function< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> | _subscriber | ) |

inherited

Connect to the new image signal.

Parameters

  [in] | _subscriber | Callback that is called when a new image is generated

Returns
  A pointer to the connection. This must be kept in scope.

## CreateRenderTexture()

void CreateRenderTexture | ( | const std::string & | _textureName | ) |

inherited

Set the render target.

Parameters

  [in] | _textureName | Name of the new render texture

## Direction()

ignition::math::Vector3d Direction | ( |  | ) | const

inherited

Get the camera's direction vector.

Returns
  Direction the camera is facing

## EnableSaveFrame()

void EnableSaveFrame | ( | const bool | _enable | ) |

inherited

Enable or disable saving.

Parameters

  [in] | _enable | Set to True to enable saving of frames

## FarClip()

double FarClip | ( |  | ) | const

inherited

Get the far clip distance.

Returns
  Far clip distance

## Fini()

void Fini | ( |  | ) |

virtual

Finialize.

Reimplemented from Camera.

## FrameFilename()

std::string FrameFilename | ( |  | ) |

protected inherited

Get the next frame filename based on SDF parameters.

Returns
  The frame's filename

## GetImageHeight()

virtual unsigned int GetImageHeight | ( |  | ) | const

virtual

## GetImageWidth()

virtual unsigned int GetImageWidth | ( |  | ) | const

virtual

## GetScene()

ScenePtr GetScene | ( |  | ) | const

inherited

Get the scene this camera is in.

Returns
  Pointer to scene containing this camera

## HFOV()

ignition::math::Angle HFOV | ( |  | ) | const

inherited

Get the camera FOV (horizontal)

Returns
  The horizontal field of view

## ImageByteSize() [1/2]

size_t ImageByteSize | ( |  | ) | const

inherited

Get the image size in bytes.

Returns
  Size in bytes

## ImageByteSize() [2/2]

static size_t ImageByteSize | ( | const unsigned int | _width,
|  | const unsigned int | _height,
|  | const std::string & | _format
| ) |  |

static inherited

Calculate image byte size base on a few parameters.

Parameters

  [in] | _width | Width of an image
  [in] | _height | Height of an image
  [in] | _format | Image format

Returns
  Size of an image based on the parameters

## ImageData()

virtual const unsigned char* ImageData | ( | const unsigned int | i = `0` | ) | const

virtual inherited

Get a pointer to the image data.

Get the raw image data from a camera's buffer.

Parameters

  [in] | _i | Index of the camera's texture (0 = RGB, 1 = depth).

Returns
  Pointer to the raw data, null if data is not available.

## ImageDepth()

unsigned int ImageDepth | ( |  | ) | const

inherited

Get the depth of the image in bytes per pixel.

Returns
  Depth of the image in bytes per pixel

## ImageFormat()

std::string ImageFormat | ( |  | ) | const

inherited

Get the string representation of the image format.

Returns
  String representation of the image format.

## ImageHeight()

virtual unsigned int ImageHeight | ( |  | ) | const

virtual inherited

Get the height of the image.

Returns
  Image height

## ImageMemorySize()

unsigned int ImageMemorySize | ( |  | ) | const

inherited

Get the memory size of this image.

Returns
  Image memory size in bytes

## ImageWidth()

virtual unsigned int ImageWidth | ( |  | ) | const

virtual inherited

Get the width of the image.

Returns
  Image width

## Init()

void Init | ( |  | ) |

virtual

Initialize.

Reimplemented from Camera.

## Initialized()

bool Initialized | ( |  | ) | const

inherited

Return true if the camera has been initialized.

Returns
  True if initialized was successful

## IsAnimating()

bool IsAnimating | ( |  | ) | const

inherited

Return true if the camera is moving due to an animation.

## IsVisible() [1/2]

bool IsVisible | ( | const std::string & | _visualName | ) |

inherited

Return true if the visual is within the camera's view frustum.

Parameters

  [in] | _visualName | Name of the visual to check for visibility

Returns
  True if the _visual is in the camera's frustum

## IsVisible() [2/2]

bool IsVisible | ( | VisualPtr | _visual | ) |

inherited

Return true if the visual is within the camera's view frustum.

Parameters

  [in] | _visual | The visual to check for visibility

Returns
  True if the _visual is in the camera's frustum

## LastRenderWallTime()

common::Time LastRenderWallTime | ( |  | ) | const

inherited

Get the last time the camera was rendered.

Returns
  Time the camera was last rendered

## LensDistortion()

DistortionPtr LensDistortion | ( |  | ) | const

inherited

Get the distortion model of this camera.

Returns
  Distortion model.

## LimitFOV()

static double LimitFOV | ( | const double | _fov | ) |

static protected inherited

Limit field of view taking care of using a valid value for an OGRE camera.

Parameters

  [in] | _fov | expected field of view

Returns
  valid field of view

## Load() [1/2]

void Load | ( |  | ) |

virtual

Generic load function.

Reimplemented from Camera.

## Load() [2/2]

void Load | ( | sdf::ElementPtr | _sdf | ) |

virtual

Load the user camera.

Parameters

  [in] | _sdf | Parameters for the camera.

Reimplemented from Camera.

## MoveToPosition()

virtual bool MoveToPosition | ( | const ignition::math::Pose3d & | _pose,
|  | const double | _time
| ) |  |

virtual inherited

Move the camera to a position (this is an animated motion).

See also
  Camera::MoveToPositions

Parameters

  [in] | _pose | End position of the camera
  [in] | _time | Duration of the camera's movement

## MoveToPositions()

bool MoveToPositions | ( | const std::vector< ignition::math::Pose3d > & | _pts,
|  | const double | _time,
|  | std::function< void()> | _onComplete = `NULL`
| ) |  |

inherited

Move the camera to a series of poses (this is an animated motion).

See also
  Camera::MoveToPosition

Parameters

  [in] | _pts | Vector of poses to move to
  [in] | _time | Duration of the entire move
  [in] | _onComplete | Callback that is called when the move is complete

## MoveToVisual() [1/2]

void MoveToVisual | ( | const std::string & | _visualName | ) |

Move the camera to focus on a visual.

Parameters

  [in] | _visualName | Name of the visual to move the camera to.

## MoveToVisual() [2/2]

void MoveToVisual | ( | VisualPtr | _visual | ) |

Move the camera to focus on a visual.

Parameters

  [in] | _visual | Visual to move the camera to.

## Name()

std::string Name | ( |  | ) | const

inherited

Get the camera's unscoped name.

Returns
  The name of the camera

## NearClip()

double NearClip | ( |  | ) | const

inherited

Get the near clip distance.

Returns
  Near clip distance

## OgreCamera()

Ogre::Camera* OgreCamera | ( |  | ) | const

inherited

Get a pointer to the ogre camera.

Returns
  Pointer to the OGRE camera

## OgreViewport()

Ogre::Viewport* OgreViewport | ( |  | ) | const

inherited

Get a pointer to the Ogre::Viewport.

Returns
  Pointer to the Ogre::Viewport

## Pitch()

void Pitch | ( | const ignition::math::Angle & | _angle,
|  | ReferenceFrame | _relativeTo = `RF_LOCAL`
| ) |  |

inherited

Rotate the camera around the y-axis.

Parameters

  [in] | _angle | Pitch amount
  [in] | _relativeTo | Coordinate frame to rotate in. Valid values are RF_LOCAL, RF_PARENT, and RF_WORLD. Default is RF_LOCAL

## PostRender()

virtual void PostRender | ( |  | ) |

virtual

Post render.

Reimplemented from Camera.

## Project()

virtual ignition::math::Vector2i Project | ( | const ignition::math::Vector3d & | _pt | ) | const

virtual inherited

Project 3D world coordinates to 2D screen coordinates.

Parameters

  [in] | _pt | 3D world coodinates

Returns
  _pt 2D screen coordinates

Reimplemented in UserCamera.

## ProjectionMatrix()

ignition::math::Matrix4d ProjectionMatrix | ( |  | ) | const

inherited

Return the projection matrix of this camera.

Returns
  the projection matrix

## ProjectionType()

std::string ProjectionType | ( |  | ) | const

inherited

Return the projection type as a string.

Returns
  "perspective" or "orthographic"

See also
  SetProjectionType(const std::string &_type)

## ReadPixelBuffer()

void ReadPixelBuffer | ( |  | ) |

protected inherited

Read image data from pixel buffer.

## Ready()

bool Ready | ( |  | ) |

Used to check if Oculus is plugged in and can be used.

Returns
  True when Oculus is ready to use.

## Render()

virtual void Render | ( | const bool | _force = `false` | ) |

virtual inherited

Render the camera.

Called after the pre-render signal. This function will generate camera images.

Parameters

  [in] | _force | Force camera to render. Ignore camera update rate.

Reimplemented in UserCamera.

## RenderImpl()

virtual void RenderImpl | ( |  | ) |

protected virtual

Implementation of the render call.

Reimplemented from Camera.

## RenderRate()

double RenderRate | ( |  | ) | const

inherited

Get the render Hz rate.

Returns
  The Hz rate

## RenderTexture()

Ogre::Texture* RenderTexture | ( |  | ) | const

inherited

Get the render texture.

Returns
  Pointer to the render texture

## ResetSensor()

void ResetSensor | ( |  | ) |

Reset the Oculus Rift sensor orientation.

## ResetVideo()

bool ResetVideo | ( |  | ) |

inherited

Reset video recording.

This will call common::VideoEncoder::Reset, which will cleanup temporary files and set video encoding values to their default settings.

See also
  common::VideoEncoder::Reset

Returns
  True if reset was succesful. Currently this function will always return true.

## Resize()

void Resize | ( | unsigned int | _w,
|  | unsigned int | _h
| ) |  |

Resize the camera.

Parameters

  [in] | _w | Width of the camera image.
  [in] | _h | Height of the camera image.

## Right()

ignition::math::Vector3d Right | ( |  | ) | const

inherited

Get the viewport right vector.

Returns
  The viewport right vector

## Roll()

void Roll | ( | const ignition::math::Angle & | _angle,
|  | ReferenceFrame | _relativeTo = `RF_LOCAL`
| ) |  |

inherited

Rotate the camera around the x-axis.

Parameters

  [in] | _angle | Rotation amount
  [in] | _relativeTo | Coordinate frame to rotate in. Valid values are RF_LOCAL, RF_PARENT, and RF_WORLD. Default is RF_LOCAL

## SaveFrame() [1/2]

bool SaveFrame | ( | const std::string & | _filename | ) |

inherited

Save the last frame to disk.

Parameters

  [in] | _filename | File in which to save a single frame

Returns
  True if saving was successful

## SaveFrame() [2/2]

static bool SaveFrame | ( | const unsigned char * | _image,
|  | const unsigned int | _width,
|  | const unsigned int | _height,
|  | const int | _depth,
|  | const std::string & | _format,
|  | const std::string & | _filename
| ) |  |

static inherited

Save a frame using an image buffer.

Parameters

  [in] | _image | The raw image buffer
  [in] | _width | Width of the image
  [in] | _height | Height of the image
  [in] | _depth | Depth of the image data
  [in] | _format | Format the image data is in
  [in] | _filename | Name of the file in which to write the frame

Returns
  True if saving was successful

## SaveVideo()

bool SaveVideo | ( | const std::string & | _filename | ) |

inherited

Save the last encoded video to disk.

Parameters

  [in] | _filename | File in which to save the encoded video

Returns
  True if saving was successful. The return value is set by common::VideoEncoder::SaveToFile().

See also
  common::VideoEncoder::SaveToFile

## SceneNode()

Ogre::SceneNode* SceneNode | ( |  | ) | const

inherited

Get the camera's scene node.

Returns
  The scene node the camera is attached to

## ScopedName()

std::string ScopedName | ( |  | ) | const

inherited

Get the camera's scoped name (scene_name::camera_name)

Returns
  The name of the camera

## ScreenshotPath()

std::string ScreenshotPath | ( |  | ) | const

inherited

Get the path to saved screenshots.

Returns
  Path to saved screenshots.

## SetAspectRatio()

void SetAspectRatio | ( | float | _ratio | ) |

inherited

Set the aspect ratio.

Parameters

  [in] | _ratio | The aspect ratio (width / height) in pixels

## SetBackgroundColor() [1/2]

virtual bool SetBackgroundColor | ( | const common::Color & | _color | ) |

virtual inherited

Set background color for viewport (if viewport is not null)

Parameters

  [in] | _color | Background color.

Returns
  True if successful. False if viewport is null

Deprecated:
  Use function which accepts ignition::math::Color.

## SetBackgroundColor() [2/2]

virtual bool SetBackgroundColor | ( | const ignition::math::Color & | _color | ) |

virtual inherited

Set background color for viewport (if viewport is not null)

Parameters

  [in] | _color | Background color.

Returns
  True if successful. False if viewport is null

Reimplemented in WideAngleCamera.

## SetCaptureData()

void SetCaptureData | ( | const bool | _value | ) |

inherited

Set whether to capture data.

Parameters

  [in] | _value | Set to true to capture data into a memory buffer.

## SetCaptureDataOnce()

void SetCaptureDataOnce | ( |  | ) |

inherited

Capture data once and save to disk.

## SetClipDist() [1/2]

virtual void SetClipDist | ( |  | ) |

protected virtual inherited

Set the clip distance based on stored SDF values.

Reimplemented in WideAngleCamera.

## SetClipDist() [2/2]

virtual void SetClipDist | ( | const float | _near,
|  | const float | _far
| ) |  |

virtual inherited

Set the clip distances.

Parameters

  [in] | _near | Near clip distance in meters
  [in] | _far | Far clip distance in meters

Reimplemented in UserCamera.

## SetFixedYawAxis()

virtual void SetFixedYawAxis | ( | const bool | _useFixed,
|  | const ignition::math::Vector3d & | _fixedAxis = `ignition::math::Vector3d::UnitY`
| ) |  |

protected virtual inherited

Tell the camera whether to yaw around its own local Y axis or a fixed axis of choice.

Parameters

  [in] | _useFixed | If true, the axis passed in the second parameter will always be the yaw axis no matter what the camera orientation. If false, the camera yaws around the local Y.
  [in] | _fixedAxis | The axis to use if the first parameter is true.

## SetHFOV()

void SetHFOV | ( | const ignition::math::Angle & | _angle | ) |

inherited

Set the camera FOV (horizontal)

Parameters

  [in] | _angle | Horizontal field of view

## SetImageHeight()

void SetImageHeight | ( | const unsigned int | _h | ) |

inherited

Set the image height.

Parameters

  [in] | _h | Image height

## SetImageSize()

void SetImageSize | ( | const unsigned int | _w,
|  | const unsigned int | _h
| ) |  |

inherited

Set the image size.

Parameters

  [in] | _w | Image width
  [in] | _h | Image height

## SetImageWidth()

void SetImageWidth | ( | const unsigned int | _w | ) |

inherited

Set the image height.

Parameters

  [in] | _w | Image width

## SetName()

void SetName | ( | const std::string & | _name | ) |

inherited

Set the camera's name.

Parameters

  [in] | _name | New name for the camera

## SetProjectionType()

virtual bool SetProjectionType | ( | const std::string & | _type | ) |

virtual inherited

Set the type of projection used by the camera.

Parameters

  [in] | _type | The type of projection: "perspective" or "orthographic".

Returns
  True if successful.

See also
  GetProjectionType()

Reimplemented in UserCamera.

## SetRenderRate()

void SetRenderRate | ( | const double | _hz | ) |

inherited

Set the render Hz rate.

Parameters

  [in] | _hz | The Hz rate

## SetRenderTarget()

virtual void SetRenderTarget | ( | Ogre::RenderTarget * | _target | ) |

virtual

Set to true to enable rendering.

Use this only if you really know what you're doing.

Parameters

  [in] | _target | The new rendering target.

Reimplemented from Camera.

## SetSaveFramePathname()

void SetSaveFramePathname | ( | const std::string & | _pathname | ) |

inherited

Set the save frame pathname.

Parameters

  [in] | _pathname | Directory in which to store saved image frames

## SetScene()

void SetScene | ( | ScenePtr | _scene | ) |

inherited

Set the scene this camera is viewing.

Parameters

  [in] | _scene | Pointer to the scene

## SetSceneNode()

void SetSceneNode | ( | Ogre::SceneNode * | _node | ) |

inherited

Set the camera's scene node.

Parameters

  [in] | _node | The scene nodes to attach the camera to

## SetTrackInheritYaw()

void SetTrackInheritYaw | ( | const bool | _inheritYaw | ) |

inherited

Set whether this camera inherits the yaw rotation of the tracked model.

Parameters

  [in] | _inheritYaw | True means camera inherits the yaw rotation of the tracked model.

See also
  TrackInheritYaw()

## SetTrackIsStatic()

void SetTrackIsStatic | ( | const bool | _isStatic | ) |

inherited

Set whether this camera is static when tracking a model.

Parameters

  [in] | _isStatic | True means camera is static when tracking a model.

See also
  TrackIsStatic()

## SetTrackMaxDistance()

void SetTrackMaxDistance | ( | const double | _dist | ) |

inherited

Set the maximum distance between the camera and tracked visual.

Parameters

  [in] | _dist | Maximum distance between camera and visual.

See also
  TrackMaxDistance()

## SetTrackMinDistance()

void SetTrackMinDistance | ( | const double | _dist | ) |

inherited

Set the minimum distance between the camera and tracked visual.

Parameters

  [in] | _dist | Minimum distance between camera and visual.

See also
  TrackMinDistance()

## SetTrackPosition()

void SetTrackPosition | ( | const ignition::math::Vector3d & | _pos | ) |

inherited

Set the position of the camera when tracking a visual.

Parameters

  [in] | _pos | Position of the camera.

See also
  TrackPosition()

## SetTrackUseModelFrame()

void SetTrackUseModelFrame | ( | const bool | _useModelFrame | ) |

inherited

Set whether this camera's position is relative to tracked models.

Parameters

  [in] | _useModelFrame | True means camera's position is relative to tracked models.

See also
  TrackUseModelFrame()

## SetWindowId()

void SetWindowId | ( | unsigned int | _windowId | ) |

inherited

## SetWorldPose()

virtual void SetWorldPose | ( | const ignition::math::Pose3d & | _pose | ) |

virtual inherited

Set the global pose of the camera.

Parameters

  [in] | _pose | The new ignition::math::Pose3d of the camera

Reimplemented in UserCamera.

## SetWorldPosition()

void SetWorldPosition | ( | const ignition::math::Vector3d & | _pos | ) |

inherited

Set the world position.

Parameters

  [in] | _pos | The new position of the camera

## SetWorldRotation()

void SetWorldRotation | ( | const ignition::math::Quaterniond & | _quat | ) |

inherited

Set the world orientation.

Parameters

  [in] | _quat | The new orientation of the camera

## ShowWireframe()

void ShowWireframe | ( | const bool | _s | ) |

inherited

Set whether to view the world in wireframe.

Parameters

  [in] | _s | Set to True to render objects as wireframe

## StartVideo()

bool StartVideo | ( | const std::string & | _format,
|  | const std::string & | _filename = `""`
| ) |  |

inherited

Turn on video recording.

Parameters

  [in] | _format | String that represents the video type. Supported types include: "avi", "ogv", mp4", "v4l2". If using "v4l2", you must also specify a _filename.
  [in] | _filename | Name of the file that stores the video while it is being created. This is a temporary file when recording to disk, or a video4linux loopback device like /dev/video0 when the _format is "v4l2". If blank, a default temporary file is used. However, the "v4l2" _format must be accompanied with a video loopback device filename.

Returns
  True on success. The return value is set by common::VideoEncoder::Start().

See also
  common::VideoEncoder::Start

## StopVideo()

bool StopVideo | ( |  | ) |

inherited

Turn off video recording.

Returns
  True on success. The return value is set by common::VideoEncoder::Stop().

See also
  common::VideoEncoder::Stop

## TextureHeight()

unsigned int TextureHeight | ( |  | ) | const

inherited

Get the height of the off-screen render texture.

Returns
  Render texture height

## TextureWidth()

unsigned int TextureWidth | ( |  | ) | const

inherited

Get the width of the off-screen render texture.

Returns
  Render texture width

## ToggleShowWireframe()

void ToggleShowWireframe | ( |  | ) |

inherited

Toggle whether to view the world in wireframe.

## TrackedVisual()

VisualPtr TrackedVisual | ( |  | ) | const

inherited

Get the visual tracked by this camera.

Returns
  Tracked visual.

## TrackInheritYaw()

bool TrackInheritYaw | ( |  | ) | const

inherited

Get whether this camera inherits the yaw rotation of the tracked model.

Returns
  True if the camera inherits the yaw rotation of the tracked model.

See also
  SetTrackInheritYaw(const bool _inheritYaw)

## TrackIsStatic()

bool TrackIsStatic | ( |  | ) | const

inherited

Get whether this camera is static when tracking a model.

Returns
  True if camera is static when tracking a model.

See also
  SetTrackIsStatic(const bool _isStatic)

## TrackMaxDistance()

double TrackMaxDistance | ( |  | ) | const

inherited

Return the maximum distance to the tracked visual.

Returns
  Maximum distance to the model.

See also
  SetTrackMaxDistance(const double _dist)

## TrackMinDistance()

double TrackMinDistance | ( |  | ) | const

inherited

Return the minimum distance to the tracked visual.

Returns
  Minimum distance to the model.

See also
  SetTrackMinDistance(const double _dist)

## TrackPosition()

ignition::math::Vector3d TrackPosition | ( |  | ) | const

inherited

Return the position of the camera when tracking a model.

Returns
  Position of the camera.

See also
  SetTrackPosition(const ignition::math::Vector3d &_pos)

## TrackUseModelFrame()

bool TrackUseModelFrame | ( |  | ) | const

inherited

Get whether this camera's position is relative to tracked models.

Returns
  True if camera's position is relative to tracked models.

See also
  SetTrackUseModelFrame(const bool _useModelFrame)

## TrackVisual()

void TrackVisual | ( | const std::string & | _visualName | ) |

inherited

Set the camera to track a scene node.

Parameters

  [in] | _visualName | Name of the visual to track

## TrackVisualImpl() [1/2]

bool TrackVisualImpl | ( | const std::string & | _visualName | ) |

protected inherited

Implementation of the Camera::TrackVisual call.

Parameters

  [in] | _visualName | Name of the visual to track

Returns
  True if able to track the visual

## TrackVisualImpl() [2/2]

virtual bool TrackVisualImpl | ( | VisualPtr | _visual | ) |

protected virtual

Set the camera to track a scene node.

Tracking just causes the camera to rotate to follow the visual.

Parameters

  [in] | _visual | Visual to track.

Returns
  True if the camera is now tracking the visual.

Reimplemented from Camera.

## Translate()

void Translate | ( | const ignition::math::Vector3d & | _direction | ) |

inherited

Translate the camera.

Parameters

  [in] | _direction | The translation vector

## TriangleCount()

virtual unsigned int TriangleCount | ( |  | ) | const

virtual inherited

Get the triangle count.

Returns
  The current triangle count

## Up()

ignition::math::Vector3d Up | ( |  | ) | const

inherited

Get the viewport up vector.

Returns
  The viewport up vector

## Update()

virtual void Update | ( |  | ) |

virtual

Render the camera.

Reimplemented from Camera.

## UpdateCameraIntrinsics()

void UpdateCameraIntrinsics | ( | const double | _cameraIntrinsicsFx,
|  | const double | _cameraIntrinsicsFy,
|  | const double | _cameraIntrinsicsCx,
|  | const double | _cameraIntrinsicsCy,
|  | const double | _cameraIntrinsicsS
| ) |  |

inherited

Updates the camera intrinsics.

Parameters

  [in] | _intrinsicsFx | Horizontal focal length (in pixels)
  [in] | _intrinsicsFy | Vertical focal length (in pixels)
  [in] | _intrinsicsCx | X coordinate of principal point in pixels
  [in] | _intrinsicsCy | Y coordinate of principal point in pixels
  [in] | _intrinsicsS | Skew coefficient defining the angle between the x and y pixel axes

## UpdateFOV()

virtual void UpdateFOV | ( |  | ) |

protected virtual inherited

Update the camera's field of view.

Reimplemented in WideAngleCamera, and UserCamera.

## VFOV()

ignition::math::Angle VFOV | ( |  | ) | const

inherited

Get the camera FOV (vertical)

Returns
  The vertical field of view

## ViewportHeight()

unsigned int ViewportHeight | ( |  | ) | const

inherited

Get the viewport height in pixels.

Returns
  The viewport height

## ViewportWidth()

unsigned int ViewportWidth | ( |  | ) | const

inherited

Get the viewport width in pixels.

Returns
  The viewport width

## WindowId()

unsigned int WindowId | ( |  | ) | const

inherited

Get the ID of the window this camera is rendering into.

Returns
  The ID of the window.

## WorldPointOnPlane()

bool WorldPointOnPlane | ( | const int | _x,
|  | const int | _y,
|  | const ignition::math::Planed & | _plane,
|  | ignition::math::Vector3d & | _result
| ) |  |

inherited

Get point on a plane.

Parameters

  [in] | _x | X coordinate in camera's viewport, in pixels
  [in] | _y | Y coordinate in camera's viewport, in pixels
  [in] | _plane | Plane on which to find the intersecting point
  [out] | _result | Point on the plane

Returns
  True if a valid point was found

## WorldPose()

ignition::math::Pose3d WorldPose | ( |  | ) | const

inherited

Get the world pose.

Returns
  The pose of the camera in the world coordinate frame.

## WorldPosition()

ignition::math::Vector3d WorldPosition | ( |  | ) | const

inherited

Get the camera position in the world.

Returns
  The world position of the camera

## WorldRotation()

ignition::math::Quaterniond WorldRotation | ( |  | ) | const

inherited

Get the camera's orientation in the world.

Returns
  The camera's orientation as an ignition::math::Quaterniond

## Yaw()

void Yaw | ( | const ignition::math::Angle & | _angle,
|  | ReferenceFrame | _relativeTo = `RF_WORLD`
| ) |  |

inherited

Rotate the camera around the z-axis.

Parameters

  [in] | _angle | Rotation amount
  [in] | _relativeTo | Coordinate frame to rotate in. Valid values are RF_LOCAL, RF_PARENT, and RF_WORLD. Default is RF_WORLD

## ZValue()

double ZValue | ( | const int | _x,
|  | const int | _y
| ) |  |

inherited

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

Parameters

  [in] | _x | Image coordinate; (0, 0) specifies the top-left corner.
  [in] | _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.

## Member Data Documentation

## animState

Ogre::AnimationState* animState

protected inherited

Animation state, used to animate the camera.

## bayerFrameBuffer

unsigned char* bayerFrameBuffer

protected inherited

Buffer for a bayer image frame.

## camera

Ogre::Camera* camera

protected inherited

The OGRE camera.

## captureData

bool captureData

protected inherited

True to capture frames into an image buffer.

## captureDataOnce

bool captureDataOnce

protected inherited

True to capture a frame once and save to disk.

## connections

std::vector<event::ConnectionPtr> connections

protected inherited

The camera's event connections.

## imageFormat

int imageFormat

protected inherited

Format for saving images.

## imageHeight

int imageHeight

protected inherited

Save image height.

## imageWidth

int imageWidth

protected inherited

Save image width.

## initialized

bool initialized

protected inherited

True if initialized.

## lastRenderWallTime

common::Time lastRenderWallTime

protected inherited

Time the last frame was rendered.

## name

std::string name

protected inherited

Name of the camera.

## newData

bool newData

protected inherited

True if new data is available.

## newImageFrame

event::EventT<void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> newImageFrame

protected inherited

Event triggered when a new frame is generated.

## onAnimationComplete

std::function<void()> onAnimationComplete

protected inherited

User callback for when an animation completes.

## prevAnimTime

common::Time prevAnimTime

protected inherited

Previous time the camera animation was updated.

## renderTarget

Ogre::RenderTarget* renderTarget

protected inherited

Target that renders frames.

## renderTexture

Ogre::Texture* renderTexture

protected inherited

Texture that receives results from rendering.

## requests

std::list<msgs::Request> requests

protected inherited

List of requests.

## saveCount

unsigned int saveCount

protected inherited

Number of saved frames.

## saveFrameBuffer

unsigned char* saveFrameBuffer

protected inherited

Buffer for a single image frame.

## scene

ScenePtr scene

protected inherited

Pointer to the scene.

## sceneNode

Ogre::SceneNode* sceneNode

protected inherited

Scene node that controls camera position and orientation.

## scopedName

std::string scopedName

protected inherited

Scene scoped name of the camera.

## scopedUniqueName

std::string scopedUniqueName

protected inherited

Scene scoped name of the camera with a unique ID.

## screenshotPath

std::string screenshotPath

protected inherited

Path to saved screenshots.

## sdf

sdf::ElementPtr sdf

protected inherited

Camera's SDF values.

## textureHeight

unsigned int textureHeight

protected inherited

Height of the render texture.

## textureWidth

unsigned int textureWidth

protected inherited

Width of the render texture.

## viewport

Ogre::Viewport* viewport

protected inherited

Viewport the ogre camera uses.

## windowId

unsigned int windowId

protected inherited

ID of the window that the camera is attached to.

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

- OculusCamera.hh