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FiducialCameraPlugin.hh
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/*
* Copyright (C) 2016 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_FIDUCIAL_CAMERA_PLUGIN_HH_
#define GAZEBO_PLUGINS_FIDUCIAL_CAMERA_PLUGIN_HH_
#include <string>
#include <memory>
#include "gazebo/common/Plugin.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
// Forward declare private class.
class FiducialCameraPluginPrivate;
class GAZEBO_VISIBLE FiducialCameraPlugin : public SensorPlugin
{
public: FiducialCameraPlugin();
public: virtual ~FiducialCameraPlugin();
// Documentation Inherited.
public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
// Documentation Inherited.
public: void Init();
public: virtual void OnNewFrame(const unsigned char *_image,
const unsigned int _width, const unsigned int _height,
const unsigned int _depth, const std::string &_format);
private: void PopulateFiducials();
private: std::unique_ptr<FiducialCameraPluginPrivate> dataPtr;
};
}
#endif
gazebo::sensors::SensorPtr
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
system.hh
gazebo::FiducialCameraPlugin
A camera sensor plugin for fiducial detection A fiducial is detected if its center is within the came...
Definition: FiducialCameraPlugin.hh:39
gazebo::SensorPlugin
A plugin with access to physics::Sensor. See reference.
Definition: Plugin.hh:332
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Plugin.hh
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59