Camera instance class defined by a frame/transform and a model. More...

#include <Camera.h>

Inheritance diagram for agxSensor::Camera:

Public Member Functions
	Camera (agx::Frame frame, CameraModel model, const CameraBackend &backend=defaultBackend())
	Construct this camera attached to the given `frame` and configured by the `model`.

void	capture ()
	Tell the camera to capture a frame for all outputs.

const CameraBackend &	getCameraBackend () const

virtual agx::Frame *	getFrame () const override

CameraModel *	getModel () const

CameraOutputHandler *	getOutputHandler () const

virtual ISensorOutputHandler *	getOutputHandlerBase () const override

virtual void	setFrame (agx::Frame *frame) override
	Assign a new parent frame to attach this camera to.

Public Member Functions inherited from agxSensor::FrameAttachedSensor
	FrameAttachedSensor ()=default
	Default constructor.

virtual agx::Frame *	getFrame () const =0

virtual void	setFrame (agx::Frame *frame)=0
	Assign a new parent frame to attach this sensor to.

Public Member Functions inherited from agxSensor::Sensor
	Sensor ()=default
	Default constructor.

ISensorOutputHandler *	getOutputHandler () const

virtual ISensorOutputHandler *	getOutputHandlerBase () const =0

Public Member Functions inherited from agxSensor::SystemNode
	SystemNode (const SystemNode &)=delete
	Disallow direct copying of nodes.

virtual	~SystemNode ()=default

bool	addChild (SystemNode *child)
	Add unique child to this node.

virtual bool	addNotification ()
	Called when this system node has been added to a sensor environment.

bool	appendChild (SystemNode *child)
	Append child to vector of children, silently.

virtual void	cleanup ()=0
	The sensor environment is being put down, clean everything.

virtual void	complete ()
	Complete the execution of this system, finishing the integration forward in time.

bool	detachChild (SystemNode *child)
	Detach/erase child from vector of children, silently.

virtual bool	eraseAndConnect ()
	Erase this node from the tree and connect its children to the current parent of this node.

virtual void	execute (const CallbackData &data)
	Execute this system, integrating it `data.dt` forward in time.

template<typename T >
T *	findChild (bool recurse=true) const
	Find child of given type.

template<typename PredicateT >
SystemNode *	findChild (PredicateT pred, bool recurse=true) const
	Find child given predicate `pred`.

template<typename T >
T *	findParent () const

template<typename PredicateT >
SystemNode *	findParent (PredicateT pred) const
	Find parent given predicate.

template<typename T >
T *	getChild () const
	Searches children for a node of given type.

SystemNode *	getChild (size_t index) const

bool	getEnable () const

Environment *	getEnvironment () const

const agx::Name &	getName () const

size_t	getNumChildren () const

SystemNode *	getParent () const

SystemNode *	getRoot () const

bool	hasChild (const SystemNode *child, bool recurse=true) const

virtual bool	insertParent (SystemNode &parent)
	Inserts new parent to this node.

virtual bool	onAdd (agx::Referenced &instance)
	Called when an object has been added to the sensor environment.

virtual void	onChildAdded (SystemNode &child)
	Called when `child` has been added to this parent.

virtual void	onChildRemoved (SystemNode &child)
	Called when `child` has been removed from this parent.

virtual bool	onRemove (agx::Referenced &instance)
	Called when an object has been removed from the sensor environment.

bool	removeChild (SystemNode *child)
	Remove child from this node.

virtual void	removeNotification ()
	Called when this system node is being removed from a sensor environment.

virtual void	result (const CallbackData &data)
	If necessary assemble, and fetch results related to this system node after a step by `data.dt` has been completed.

void	setEnable (bool enable)
	Enable/disable this node.

void	setName (const agx::Name &name)
	Assign name to this node.

virtual void	synchronize (const CallbackData &data)
	Synchronization from the main thread.

virtual void	synchronizeGraphics (const agxRender::RenderManager &renderManager)
	At the very end of a step, synchronize any graphics related aspects of the system node.

template<typename VisitorT >
SystemNode *	visitBf (VisitorT visitor) const
	Visit the tree from, including, this node until `callback` returns true - using breadth first traversal.

template<typename VisitorT >
void	visitChildren (VisitorT visitor, bool recurse=true) const
	Visit all children with `func` as void( const SystemNode& child ).

template<typename VisitorT >
SystemNode *	visitChildrenBf (VisitorT visitor) const
	Visit the tree from the children of this node until `callback` returns true - using breadth first traversal.

template<typename VisitorT >
SystemNode *	visitChildrenDf (VisitorT visitor) const
	Visit the tree from the children of this node until `callback` returns true - using depth first traversal.

template<typename T , typename VisitorT >
void	visitChildrenOfType (VisitorT visitor, bool recurse=true) const
	Visit all children with `func` as void( const T& child ).

template<typename VisitorT >
SystemNode *	visitDf (VisitorT visitor) const
	Visit the tree from, including, this node until `callback` returns true - using depth first traversal.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static Camera *	find (const agxSDK::Simulation *simulation, const agx::Name &name)
	Find camera given name.

static Camera *	find (const Environment *environment, const agx::Name &name)
	Find camera given name.

static CameraPtrVector	findAll (const agxSDK::Simulation *simulation)
	Find all cameras.

static CameraPtrVector	findAll (const agxSDK::Simulation *simulation, const agx::Name &name)
	Find all cameras, given name.

static CameraPtrVector	findAll (const Environment *environment)
	Find all cameras.

static CameraPtrVector	findAll (const Environment *environment, const agx::Name &name)
	Find all cameras, given name.

static void	setDefaultCameraBackend (const CameraBackend &backend)
	Set the render backend connection to use as default for all cameras, if no explicit one is assigned.

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Additional Inherited Members
Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Camera instance class defined by a frame/transform and a model.

Any output from the sensor is accessed through the CameraOutputHandler.

Definition at line 36 of file agxSensor/Camera.h.

Constructor & Destructor Documentation

◆ Camera()

agxSensor::Camera::Camera	(	agx::Frame *	frame,
		CameraModel *	model,
		const CameraBackend &	backend = `defaultBackend()`
	)

Construct this camera attached to the given frame and configured by the model.

Note: This camera instance is invalid if the given model is nullptr.

Parameters

frame	- parent frame to attach this camera to, may be dynamic, the output is relative to this frame. If nullptr, a new frame is created aligned to the world frame
model	- model defining the parameters of this camera instance, invalid if nullptr
backend	- connection to the backend to use for the camera rendering

Member Function Documentation

◆ capture()

void agxSensor::Camera::capture ( )

Tell the camera to capture a frame for all outputs.

◆ find() [1/2]

static Camera * agxSensor::Camera::find	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find camera given name.

Parameters

simulation	- simulation with a sensor environment
name	- name of camera instance to search for

Returns: first camera instance with name name if found, otherwise nullptr

◆ find() [2/2]

static Camera * agxSensor::Camera::find	(	const Environment *	environment,
		const agx::Name &	name
	)

static

Find camera given name.

Parameters

environment	- sensor environment
name	- name of camera instance to search for

Returns: first camera instance with name name if found, otherwise nullptr

◆ findAll() [1/4]

static CameraPtrVector agxSensor::Camera::findAll ( const agxSDK::Simulation * simulation )

static

Find all cameras.

Parameters

simulation - simulation with a sensor environment

Returns: all camera instances in the sensor environment

◆ findAll() [2/4]

static CameraPtrVector agxSensor::Camera::findAll	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find all cameras, given name.

Parameters

simulation	- simulation with a sensor environment
name	- name of camera instance to search for

Returns: camera instances with name name

◆ findAll() [3/4]

static CameraPtrVector agxSensor::Camera::findAll ( const Environment * environment )

static

Find all cameras.

Parameters

environment - sensor environment

Returns: all camera instances in the given sensor environment environment

◆ findAll() [4/4]

static CameraPtrVector agxSensor::Camera::findAll	(	const Environment *	environment,
		const agx::Name &	name
	)

static

Find all cameras, given name.

Parameters

environment	- sensor environment
name	- name of camera instance to search for

Returns: camera instances with name name

◆ getCameraBackend()

const CameraBackend & agxSensor::Camera::getCameraBackend ( ) const

Returns: the camera backend connection currently in use

◆ getFrame()

virtual agx::Frame * agxSensor::Camera::getFrame ( ) const

overridevirtual

Returns: the frame of this camera, defining this camera -> world transform

Implements agxSensor::FrameAttachedSensor.

◆ getModel()

CameraModel * agxSensor::Camera::getModel ( ) const

Returns: the model of this camera

◆ getOutputHandler()

CameraOutputHandler * agxSensor::Camera::getOutputHandler ( ) const

Returns: the output handler managing the outputs from the camera

◆ getOutputHandlerBase()

virtual ISensorOutputHandler * agxSensor::Camera::getOutputHandlerBase ( ) const

overridevirtual

Returns: the output handler managing the outputs from the camera

Implements agxSensor::Sensor.

◆ setDefaultCameraBackend()

static void agxSensor::Camera::setDefaultCameraBackend ( const CameraBackend & backend )

static

Set the render backend connection to use as default for all cameras, if no explicit one is assigned.

Parameters

backend - camera backend connection to use as default

◆ setFrame()

virtual void agxSensor::Camera::setFrame ( agx::Frame * frame )

overridevirtual

Assign a new parent frame to attach this camera to.

The effects will take place the next time the environment is stepped.

Parameters

frame - new frame for this camera

Implements agxSensor::FrameAttachedSensor.

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

agxSensor/Camera.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Camera()

Member Function Documentation

◆ capture()

◆ find() [1/2]

◆ find() [2/2]

◆ findAll() [1/4]

◆ findAll() [2/4]

◆ findAll() [3/4]

◆ findAll() [4/4]

◆ getCameraBackend()

◆ getFrame()

◆ getModel()

◆ getOutputHandler()

◆ getOutputHandlerBase()

◆ setDefaultCameraBackend()

◆ setFrame()