100 lines
3.3 KiB
C++
100 lines
3.3 KiB
C++
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/*
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* Copyright (C) 2012 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_SENSORS_DEPTHCAMERASENSOR_HH_
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#define _GAZEBO_SENSORS_DEPTHCAMERASENSOR_HH_
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#include <memory>
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#include <string>
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/sensors/Sensor.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \ingroup gazebo_sensors
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/// \brief Sensors namespace
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namespace sensors
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{
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// Forward declare private data class
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class DepthCameraSensorPrivate;
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/// \class DepthCameraSensor DepthCameraSensor.hh sensors/sensors.hh
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/// \addtogroup gazebo_sensors Sensors
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/// \brief A set of sensor classes, functions, and definitions
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/// \{
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/// \brief Depth camera sensor
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/// This sensor is used for simulating standard monocular cameras
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class GAZEBO_VISIBLE DepthCameraSensor : public Sensor
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{
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/// \brief Constructor
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public: DepthCameraSensor();
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/// \brief Destructor
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public: virtual ~DepthCameraSensor();
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/// \brief Load the sensor with SDF parameters
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/// \param[in] _sdf SDF Sensor parameters
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/// \param[in] _worldName Name of world to load from
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protected: virtual void Load(const std::string &_worldName,
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sdf::ElementPtr _sdf);
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/// \brief Load the sensor with default parameters
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/// \param[in] _worldName Name of world to load from
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protected: virtual void Load(const std::string &_worldName);
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/// \brief Initialize the camera
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protected: virtual void Init();
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// Documentation inherited
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protected: virtual bool UpdateImpl(const bool _force);
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/// Finalize the camera
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protected: virtual void Fini();
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/// \brief Set whether the sensor is active or not
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/// \param[in] _value True if active, false if not
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public: virtual void SetActive(const bool _value);
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/// \brief Returns a pointer to the rendering::DepthCamera
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/// \return Depth Camera pointer
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/// \deprecated See DepthCamera()
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public: rendering::DepthCameraPtr GetDepthCamera() const
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GAZEBO_DEPRECATED(7.0);
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/// \brief Returns a pointer to the rendering::DepthCamera
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/// \return Depth Camera pointer
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public: rendering::DepthCameraPtr DepthCamera() const;
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/// \brief Saves an image frame of depth camera sensor to file
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/// \param[in] Name of file to save as
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/// \return True if saved, false if not
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public: bool SaveFrame(const std::string &_filename);
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/// \brief Handle the render event.
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private: void Render();
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<DepthCameraSensorPrivate> dataPtr;
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};
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/// \}
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}
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}
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#endif
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