NeoCameraSensorBackend.h

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/*
Copyright 2007-2026. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
#include <agx/config/AGX_USE_AGXSENSOR.h>
 
#if AGX_USE_AGXSENSOR()
  #include <agxSensor/CameraBackend.h>
 
  #include <agxOSG/NeoCamera.h>
 
  #include <agx/Singleton.h>
 
  #include <unordered_map>
#endif
 
#if AGX_USE_AGXSENSOR()
namespace agxOSG
{
  class AGXOSG_EXPORT NeoCameraSensorBackend : public agx::Singleton
  {
    public:
      static void configure(
        osg::Group* sceneGraph, osg::Node* sceneNode, agxSDK::Simulation* simulation = nullptr, bool override = false);
 
      static void injectAsCameraDefault();
 
      static NeoCamera* getOrCreateBackendCameraFor(agxSensor::Camera* camera);
 
      static void eraseBackendCameraOf(agxSensor::Camera* camera);
 
      static bool hasBackendCamera(agxSensor::Camera* camera);
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      SINGLETON_CLASSNAME_METHOD();
 
      virtual void shutdown() override;
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      static NeoCameraSensorBackend& self();
 
    private:
      using NeoCameraSensorMap = std::unordered_map<agxSensor::Camera*, NeoCameraRef>;
      using NeoCameraSensorColorOutputMap = std::unordered_map<
        agxSensor::Camera*, std::unordered_map<agxSensor::CameraColorOutput*, NeoCameraColorImageOutputRef>>;
 
      static void synchronize(agxSensor::Camera* camera, agx::Real dt);
      static void execute(agxSensor::Camera* camera, agx::Real dt);
      static void complete(agxSensor::Camera* camera);
      static void result(agxSensor::Camera* camera, agx::Real dt);
      static void synchronizeGraphics(agxSensor::Camera* camera, agxSensor::Matrix4x4* viewMatrix);
      static void cleanup(agxSensor::Camera* camera);
 
      static void setCameraLensSingleElement(
        agxSensor::Camera* camera, agxSensor::CameraLensSingleElement* lens,
        agxSensor::CameraLensSingleElementParameters* parameters);
      static void setCameraCMOSSensor(
        agxSensor::Camera* camera, agxSensor::CameraCMOSSensor* sensor,
        agxSensor::CameraCMOSSensorParameters* parameters);
 
      static void setCameraLensDistortionNone(agxSensor::Camera* camera, agxSensor::CameraLens* lens);
      static void setCameraLensDistortionBrownConrady(
        agxSensor::Camera* camera, agxSensor::CameraLens* lens,
        agxSensor::LensDistortionBrownConradyCoefficients* coefficients);
 
      static void setCameraColorOutput(
        agxSensor::Camera* camera, agxSensor::CameraColorOutput* output,
        agxSensor::CameraColorOutputParameters* parameters);
      static void setCameraColorOutputAddress(
        agxSensor::Camera* camera, agxSensor::CameraColorOutput* output, void* outputAddress);
      static void captureCameraColorOutput(agxSensor::Camera* camera, agxSensor::CameraColorOutput* output);
      static bool hasCameraColorOutputUnreadData(
        agxSensor::Camera* camera, agxSensor::CameraColorOutput* output, bool markAsRead);
 
    private:
      NeoCameraSensorBackend();
 
      NeoCamera* getOrCreateBackendCameraForInternal(agxSensor::Camera* camera);
      void eraseBackendCameraOfInternal(agxSensor::Camera* camera);
      bool hasBackendCameraInternal(agxSensor::Camera* camera);
 
      NeoCameraColorImageOutput* getOrCreateBackendColorOutputForInternal(
        agxSensor::Camera* camera, agxSensor::CameraColorOutput* output);
 
    private:
      std::unique_ptr<agxSensor::CameraBackend> m_backend;
      NeoCameraSensorMap m_sensorMap;
      NeoCameraSensorColorOutputMap m_sensorColorOutputMap;
 
      osg::ref_ptr<osg::Group> m_sceneGraph;
      osg::ref_ptr<osg::Node> m_sceneNode;
      agxSDK::SimulationObserver m_simulation;
  };
}
#endif