92 lines
2.8 KiB
C++
92 lines
2.8 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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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "gazebo/sensors/DepthCameraSensor.hh"
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#include "plugins/CameraPlugin.hh"
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using namespace gazebo;
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GZ_REGISTER_SENSOR_PLUGIN(CameraPlugin)
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/////////////////////////////////////////////////
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CameraPlugin::CameraPlugin()
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: SensorPlugin(), width(0), height(0), depth(0)
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{
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}
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/////////////////////////////////////////////////
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CameraPlugin::~CameraPlugin()
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{
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this->newFrameConnection.reset();
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this->parentSensor.reset();
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this->camera.reset();
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}
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/////////////////////////////////////////////////
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void CameraPlugin::Load(sensors::SensorPtr _sensor, sdf::ElementPtr /*_sdf*/)
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{
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if (!_sensor)
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gzerr << "Invalid sensor pointer.\n";
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this->parentSensor =
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std::dynamic_pointer_cast<sensors::CameraSensor>(_sensor);
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if (!this->parentSensor)
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{
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gzerr << "CameraPlugin requires a CameraSensor.\n";
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if (std::dynamic_pointer_cast<sensors::DepthCameraSensor>(_sensor))
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gzmsg << "It is a depth camera sensor\n";
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}
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this->camera = this->parentSensor->Camera();
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if (!this->parentSensor)
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{
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gzerr << "CameraPlugin not attached to a camera sensor\n";
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return;
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}
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this->width = this->camera->ImageWidth();
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this->height = this->camera->ImageHeight();
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this->depth = this->camera->ImageDepth();
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this->format = this->camera->ImageFormat();
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this->newFrameConnection = this->camera->ConnectNewImageFrame(
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std::bind(&CameraPlugin::OnNewFrame, this,
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std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
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std::placeholders::_4, std::placeholders::_5));
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this->parentSensor->SetActive(true);
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}
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/////////////////////////////////////////////////
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void CameraPlugin::OnNewFrame(const unsigned char * /*_image*/,
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unsigned int /*_width*/,
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unsigned int /*_height*/,
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unsigned int /*_depth*/,
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const std::string &/*_format*/)
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{
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/*rendering::Camera::SaveFrame(_image, this->width,
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this->height, this->depth, this->format,
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"/tmp/camera/me.jpg");
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*/
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}
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