124 lines
4.1 KiB
C++
124 lines
4.1 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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#include <functional>
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#include "plugins/DepthCameraPlugin.hh"
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using namespace gazebo;
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GZ_REGISTER_SENSOR_PLUGIN(DepthCameraPlugin)
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/////////////////////////////////////////////////
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DepthCameraPlugin::DepthCameraPlugin()
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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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DepthCameraPlugin::~DepthCameraPlugin()
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{
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this->newDepthFrameConnection.reset();
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this->newRGBPointCloudConnection.reset();
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this->newImageFrameConnection.reset();
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this->parentSensor.reset();
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this->depthCamera.reset();
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}
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/////////////////////////////////////////////////
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void DepthCameraPlugin::Load(sensors::SensorPtr _sensor,
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sdf::ElementPtr /*_sdf*/)
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{
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this->parentSensor =
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std::dynamic_pointer_cast<sensors::DepthCameraSensor>(_sensor);
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this->depthCamera = this->parentSensor->DepthCamera();
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if (!this->parentSensor)
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{
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gzerr << "DepthCameraPlugin not attached to a depthCamera sensor\n";
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return;
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}
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this->width = this->depthCamera->ImageWidth();
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this->height = this->depthCamera->ImageHeight();
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this->depth = this->depthCamera->ImageDepth();
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this->format = this->depthCamera->ImageFormat();
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this->newDepthFrameConnection = this->depthCamera->ConnectNewDepthFrame(
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std::bind(&DepthCameraPlugin::OnNewDepthFrame,
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this, std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
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this->newRGBPointCloudConnection = this->depthCamera->ConnectNewRGBPointCloud(
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std::bind(&DepthCameraPlugin::OnNewRGBPointCloud,
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this, std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
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this->newImageFrameConnection = this->depthCamera->ConnectNewImageFrame(
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std::bind(&DepthCameraPlugin::OnNewImageFrame,
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this, std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, 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 DepthCameraPlugin::OnNewDepthFrame(const float *_image,
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unsigned int _width, unsigned int _height,
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unsigned int /*_depth*/, const std::string &/*_format*/)
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{
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float min, max;
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min = 1000;
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max = 0;
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for (unsigned int i = 0; i < _width * _height; i++)
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{
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if (_image[i] > max)
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max = _image[i];
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if (_image[i] < min)
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min = _image[i];
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}
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int index = ((_height * 0.5) * _width) + _width * 0.5;
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printf("W[%u] H[%u] MidPoint[%d] Dist[%f] Min[%f] Max[%f]\n",
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width, height, index, _image[index], min, max);
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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/depthCamera/me.jpg");
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*/
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}
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/////////////////////////////////////////////////
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void DepthCameraPlugin::OnNewRGBPointCloud(const float * /*_pcd*/,
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unsigned int /*_width*/, unsigned int /*_height*/,
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unsigned int /*_depth*/, const std::string &/*_format*/)
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{
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}
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/////////////////////////////////////////////////
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void DepthCameraPlugin::OnNewImageFrame(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/depthCamera/me.jpg");
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*/
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}
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