78 lines
2.1 KiB
C++
78 lines
2.1 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_RENDERING_DEPTHCAMERA_PRIVATE_HH_
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#define _GAZEBO_RENDERING_DEPTHCAMERA_PRIVATE_HH_
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#include <string>
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#include "gazebo/common/Event.hh"
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#include "gazebo/rendering/Camera.hh"
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namespace Ogre
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{
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class Material;
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class RenderTarget;
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class Texture;
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class Viewport;
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}
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namespace gazebo
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{
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namespace rendering
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{
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/// \internal
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/// \brief Private data for the DepthCameraPrivate class
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class DepthCameraPrivate
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{
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/// \brief The depth buffer
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public: float *depthBuffer;
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/// \brief The depth material
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public: Ogre::Material *depthMaterial;
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/// \brief True to generate point clouds
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public: bool outputPoints;
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/// \brief Point cloud data buffer
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public: float *pcdBuffer;
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/// \brief Point cloud view port
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public: Ogre::Viewport *pcdViewport;
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/// \brief Point cloud material
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public: Ogre::Material *pcdMaterial;
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/// \brief Point cloud texture
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public: Ogre::Texture *pcdTexture;
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/// \brief Point cloud texture
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public: Ogre::RenderTarget *pcdTarget;
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/// \brief Event used to signal rgb point cloud data
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public: event::EventT<void(const float *, unsigned int, unsigned int,
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unsigned int, const std::string &)> newRGBPointCloud;
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/// \brief Event used to signal depth data
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public: event::EventT<void(const float *, unsigned int, unsigned int,
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unsigned int, const std::string &)> newDepthFrame;
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};
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}
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}
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#endif
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