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DepthCameraPlugin.hh
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/*
* Copyright (C) 2012 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 GAZEBO_PLUGINS_DEPTHCAMERAPLUGIN_HH_
#define GAZEBO_PLUGINS_DEPTHCAMERAPLUGIN_HH_
#include <string>
#include "gazebo/common/Plugin.hh"
#include "gazebo/sensors/DepthCameraSensor.hh"
#include "gazebo/sensors/CameraSensor.hh"
#include "gazebo/rendering/DepthCamera.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE DepthCameraPlugin : public SensorPlugin
{
public: DepthCameraPlugin();
public: virtual ~DepthCameraPlugin();
public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
public: virtual void OnNewDepthFrame(const float *_image,
unsigned int _width, unsigned int _height,
unsigned int _depth, const std::string &_format);
public: virtual void OnNewRGBPointCloud(const float *_pcd,
unsigned int _width, unsigned int _height,
unsigned int _depth, const std::string &_format);
public: virtual void OnNewImageFrame(const unsigned char *_image,
unsigned int _width, unsigned int _height,
unsigned int _depth, const std::string &_format);
protected: unsigned int width, height, depth;
protected: std::string format;
protected: sensors::DepthCameraSensorPtr parentSensor;
protected: rendering::DepthCameraPtr depthCamera;
private: event::ConnectionPtr newDepthFrameConnection;
private: event::ConnectionPtr newRGBPointCloudConnection;
private: event::ConnectionPtr newImageFrameConnection;
};
}
#endif
gazebo::sensors::SensorPtr
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
DepthCameraSensor.hh
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::sensors::DepthCameraSensorPtr
std::shared_ptr< DepthCameraSensor > DepthCameraSensorPtr
Definition: SensorTypes.hh:84
gazebo::DepthCameraPlugin::format
std::string format
Definition: DepthCameraPlugin.hh:55
system.hh
CameraSensor.hh
gazebo::DepthCameraPlugin::depthCamera
rendering::DepthCameraPtr depthCamera
Definition: DepthCameraPlugin.hh:58
gazebo::SensorPlugin
A plugin with access to physics::Sensor. See reference.
Definition: Plugin.hh:332
gazebo::rendering::DepthCameraPtr
boost::shared_ptr< DepthCamera > DepthCameraPtr
Definition: RenderTypes.hh:98
gazebo::event::ConnectionPtr
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
gazebo::DepthCameraPlugin::parentSensor
sensors::DepthCameraSensorPtr parentSensor
Definition: DepthCameraPlugin.hh:57
gazebo::DepthCameraPlugin::width
unsigned int width
Definition: DepthCameraPlugin.hh:54
DepthCamera.hh
Plugin.hh
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59
gazebo::DepthCameraPlugin
Definition: DepthCameraPlugin.hh:31