114 lines
3.7 KiB
C++
114 lines
3.7 KiB
C++
/*
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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_LOGICAL_CAMERASENSOR_HH_
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#define _GAZEBO_LOGICAL_CAMERASENSOR_HH_
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#include <memory>
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#include <string>
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#include <sdf/sdf.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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namespace sensors
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{
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// Forward declare private data class
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class LogicalCameraSensorPrivate;
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/// \addtogroup gazebo_sensors Sensors
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/// \{
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/// \class LogicalCameraSensor LogicalCameraSensor.hh sensors/sensors.hh
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/// \brief A camera sensor that reports locations of objects instead
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/// of rendering a scene. This camera finds models in the sensor's
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/// vicinity, and transmits information about the models on the sensor's
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/// topic.
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class GAZEBO_VISIBLE LogicalCameraSensor : public Sensor
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{
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/// \brief Constructor
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public: LogicalCameraSensor();
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/// \brief Destructor
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public: virtual ~LogicalCameraSensor();
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// Documentation inherited
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public: virtual void Load(const std::string &_worldName,
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sdf::ElementPtr _sdf);
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// Documentation inherited
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public: virtual void Load(const std::string &_worldName);
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// Documentation inherited
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public: virtual void Init();
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// Documentation inherited
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// Remove this in gazebo8.
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public: virtual std::string GetTopic() const;
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/// \brief Get the near distance. This is the distance from the
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/// frustum's vertex to the closest plane.
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/// \return Near distance.
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public: double Near() const;
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/// \brief Get the far distance. This is the distance from the
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/// frustum's vertex to the farthest plane.
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/// \return Far distance.
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public: double Far() const;
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/// \brief Get the horizontal field of view. The field of view is the
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/// angle between the frustum's vertex and the edges of the near or far
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/// plane. This value represents the horizontal angle.
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/// \return The field of view.
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public: ignition::math::Angle HorizontalFOV() const;
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/// \brief Get the aspect ratio, which is the width divided by height
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/// of the near or far planes.
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/// \return The frustum's aspect ratio.
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public: double AspectRatio() const;
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/// \brief Get the latest image. An image is an instance of
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/// msgs::LogicalCameraImage, which contains a list of detected models.
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/// \return List of detected models.
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public: msgs::LogicalCameraImage Image() const;
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// Documentation inherited
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protected: virtual bool UpdateImpl(const bool _force);
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// \brief Finalize the logical camera
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protected: virtual void Fini();
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// Documentation inherited
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public: virtual bool IsActive() const;
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// Documentation inherited.
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// Move this to the public section in gazebo8. Basically move this
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// function up in this file to be grouped with other public functions
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// per the Gazebo style guide. This should replace the GetTopic
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// function.
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public: virtual std::string Topic() const;
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// \internal
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// \brief Private data pointer
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private: std::unique_ptr<LogicalCameraSensorPrivate> 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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