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CameraPlugin.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_CAMERAPLUGIN_HH_
#define GAZEBO_PLUGINS_CAMERAPLUGIN_HH_
#include <string>
#include "gazebo/common/Plugin.hh"
#include "gazebo/sensors/CameraSensor.hh"
#include "gazebo/rendering/Camera.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE CameraPlugin : public SensorPlugin
{
public: CameraPlugin();
public: virtual ~CameraPlugin();
public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
public: virtual void OnNewFrame(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::CameraSensorPtr parentSensor;
protected: rendering::CameraPtr camera;
private: event::ConnectionPtr newFrameConnection;
};
}
#endif
gazebo::sensors::CameraSensorPtr
std::shared_ptr< CameraSensor > CameraSensorPtr
Definition: SensorTypes.hh:72
gazebo::sensors::SensorPtr
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::CameraPlugin
Definition: CameraPlugin.hh:29
system.hh
CameraSensor.hh
Camera.hh
gazebo::CameraPlugin::camera
rendering::CameraPtr camera
Definition: CameraPlugin.hh:46
gazebo::SensorPlugin
A plugin with access to physics::Sensor. See reference.
Definition: Plugin.hh:332
gazebo::CameraPlugin::format
std::string format
Definition: CameraPlugin.hh:43
gazebo::CameraPlugin::width
unsigned int width
Definition: CameraPlugin.hh:42
gazebo::event::ConnectionPtr
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
gazebo::rendering::CameraPtr
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:90
Plugin.hh
gazebo::CameraPlugin::parentSensor
sensors::CameraSensorPtr parentSensor
Definition: CameraPlugin.hh:45
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59