135 lines
4.5 KiB
C++
135 lines
4.5 KiB
C++
/*
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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_CAMERASENSOR_HH_
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#define _GAZEBO_SENSORS_CAMERASENSOR_HH_
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#include <memory>
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#include <string>
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#include "gazebo/sensors/Sensor.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/transport/TransportTypes.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 CameraSensorPrivate;
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/// \addtogroup gazebo_sensors Sensors
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/// \{
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/// \class CameraSensor CameraSensor.hh sensors/sensors.hh
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/// \brief Basic camera sensor
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///
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/// This sensor is used for simulating standard monocular cameras
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class GAZEBO_VISIBLE CameraSensor : public Sensor
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{
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/// \brief Constructor
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public: CameraSensor();
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/// \brief Destructor
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public: virtual ~CameraSensor();
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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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public: 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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public: virtual void Load(const std::string &_worldName);
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/// \brief Initialize the camera
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public: virtual void Init();
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/// \brief Gets the topic name of the sensor
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/// \return Topic name
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public: virtual std::string Topic() const;
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/// \brief Returns a pointer to the rendering::Camera.
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/// \return The Pointer to the camera sensor.
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/// \deprecated See Camera() function
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public: rendering::CameraPtr GetCamera() const GAZEBO_DEPRECATED(7.0);
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/// \brief Returns a pointer to the rendering::Camera.
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/// \return The Pointer to the camera sensor.
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public: rendering::CameraPtr Camera() const;
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/// \brief Gets the width of the image in pixels.
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/// \return The image width in pixels.
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/// \deprecated See ImageWidth()
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public: unsigned int GetImageWidth() const GAZEBO_DEPRECATED(7.0);
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/// \brief Gets the width of the image in pixels.
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/// \return The image width in pixels.
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/// \deprecated See ImageWidth()
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public: unsigned int ImageWidth() const;
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/// \brief Gets the height of the image in pixels.
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/// \return The image height in pixels.
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/// \deprecated See ImageHeight()
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public: unsigned int GetImageHeight() const GAZEBO_DEPRECATED(7.0);
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/// \brief Gets the height of the image in pixels.
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/// \return The image height in pixels.
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public: unsigned int ImageHeight() const;
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/// \brief Gets the raw image data from the sensor.
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/// \return The pointer to the image data array.
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/// \deprecated See ImageData()
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public: const unsigned char *GetImageData() GAZEBO_DEPRECATED(7.0);
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/// \brief Gets the raw image data from the sensor.
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/// \return The pointer to the image data array.
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public: const unsigned char *ImageData() const;
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/// \brief Saves the image to the disk.
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/// \param[in] _filename The name of the file to be saved.
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/// \return True if successful, false if unsuccessful.
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public: bool SaveFrame(const std::string &_filename);
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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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protected: virtual bool UpdateImpl(const bool _force);
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/// \brief Finalize the camera
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protected: virtual void Fini();
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/// \brief Handle the render event.
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private: void Render();
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/// \brief Pointer to the camera.
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protected: rendering::CameraPtr camera;
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/// \brief Publisher of image messages.
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protected: transport::PublisherPtr imagePub;
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<CameraSensorPrivate> 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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