Camera.hh

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/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef IGNITION_RENDERING_CAMERA_HH_
#define IGNITION_RENDERING_CAMERA_HH_

#include <string>

#include <ignition/common/Event.hh>
#include <ignition/math/Matrix4.hh>

#include "ignition/rendering/Image.hh"
#include "ignition/rendering/PixelFormat.hh"
#include "ignition/rendering/Sensor.hh"

namespace ignition
{
  namespace rendering
  {
    class IGNITION_RENDERING_VISIBLE Camera :
      public virtual Sensor
    {
      public: typedef std::function<void(const void*, unsigned int,
          unsigned int, unsigned int, const std::string&)> NewFrameListener;

      public: virtual ~Camera() { }

      public: virtual unsigned int ImageWidth() const = 0;

      public: virtual void SetImageWidth(unsigned int _width) = 0;

      public: virtual unsigned int ImageHeight() const = 0;

      public: virtual void SetImageHeight(unsigned int _height) = 0;

      public: virtual PixelFormat ImageFormat() const = 0;

      public: virtual void SetImageFormat(PixelFormat _format) = 0;

      public: virtual unsigned int ImageMemorySize() const = 0;

      public: virtual math::Angle HFOV() const = 0;

      public: virtual void SetHFOV(const math::Angle &_angle) = 0;

      public: virtual double AspectRatio() const = 0;

      public: virtual void SetAspectRatio(const double _ratio) = 0;

      // TODO: add auto-aspect ratio

      public: virtual unsigned int AntiAliasing() const = 0;

      public: virtual void SetAntiAliasing(const unsigned int _aa) = 0;

      public: virtual double FarClipPlane() const = 0;

      public: virtual void SetFarClipPlane(const double _far) = 0;

      public: virtual double NearClipPlane() const = 0;

      public: virtual void SetNearClipPlane(const double _near) = 0;

      public: virtual void Render() = 0;

      public: virtual void PostRender() = 0;

      public: virtual void Update() = 0;

      public: virtual Image CreateImage() const = 0;

      public: virtual void Capture(Image &_image) = 0;

      public: virtual void Copy(Image &_image) const = 0;

      public: virtual bool SaveFrame(const std::string &_name) = 0;

      public: virtual common::ConnectionPtr ConnectNewImageFrame(
                  NewFrameListener _listener) = 0;

      public: virtual RenderWindowPtr CreateRenderWindow() = 0;

      public: virtual math::Matrix4d ProjectionMatrix() const = 0;

      public: virtual math::Matrix4d ViewMatrix() const = 0;

      public: virtual void SetTrackTarget(const NodePtr &_target,
                  const math::Vector3d &_offset = math::Vector3d::Zero,
                  const bool _worldFrame = false) = 0;

      public: virtual NodePtr TrackTarget() const = 0;

      public: virtual void SetTrackOffset(const math::Vector3d &_offset) = 0;

      public: virtual math::Vector3d TrackOffset() const = 0;

      public: virtual void SetTrackPGain(const double _pGain) = 0;

      public: virtual double TrackPGain() const = 0;

      public: virtual void SetFollowTarget(const NodePtr &_target,
                  const math::Vector3d &_offset = math::Vector3d::Zero,
                  const bool _worldFrame = false) = 0;

      public: virtual NodePtr FollowTarget() const = 0;

      public: virtual void SetFollowOffset(const math::Vector3d &_offset) = 0;

      public: virtual math::Vector3d FollowOffset() const = 0;

      public: virtual void SetFollowPGain(const double _pGain) = 0;

      public: virtual double FollowPGain() const = 0;
    };
  }
}
#endif