agxSensor/Camera.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 <agxSensor/CameraBackend.h>
#include <agxSensor/CameraModel.h>
#include <agxSensor/CameraOutputHandler.h>
#include <agxSensor/Environment.h>
#include <agxSensor/FrameAttachedSensor.h>
 
#include <agx/Frame.h>
 
#include <agxSDK/Simulation.h>
 
namespace agxSensor
{
  AGX_DECLARE_POINTER_TYPES(Camera);
  AGX_DECLARE_VECTOR_TYPES(Camera);
 
  class AGXSENSOR_EXPORT Camera : public FrameAttachedSensor
  {
    public:
      static Camera* find(const agxSDK::Simulation* simulation, const agx::Name& name);
 
      static Camera* find(const Environment* environment, const agx::Name& name);
 
      static CameraPtrVector findAll(const agxSDK::Simulation* simulation, const agx::Name& name);
 
      static CameraPtrVector findAll(const Environment* environment, const agx::Name& name);
 
      static CameraPtrVector findAll(const agxSDK::Simulation* simulation);
 
      static CameraPtrVector findAll(const Environment* environment);
 
      static void setDefaultCameraBackend(const CameraBackend& backend);
 
    public:
      Camera(agx::Frame* frame, CameraModel* model, const CameraBackend& backend = defaultBackend());
 
      virtual void setFrame(agx::Frame* frame) override;
 
      virtual agx::Frame* getFrame() const override;
 
      CameraModel* getModel() const;
 
      CameraOutputHandler* getOutputHandler() const;
 
      virtual ISensorOutputHandler* getOutputHandlerBase() const override;
 
      const CameraBackend& getCameraBackend() const;
 
      void capture();
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual void synchronize(const CallbackData& data) override;
      virtual void execute(const CallbackData& data) override;
      virtual void complete() override;
      virtual void result(const CallbackData& data) override;
      virtual void synchronizeGraphics(const agxRender::RenderManager& renderManager) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::Camera);
 
    protected:
      Camera();
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      static CameraBackend& defaultBackend();
 
    private:
      agx::FrameRef m_frame;
      CameraModelRef m_model;
      CameraBackend m_backend;
      bool m_useDefaultBackend;
  };
}