66 lines
2.2 KiB
C++
66 lines
2.2 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_DEPTH_CAMERA_PLUGIN_HH_
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#define _GAZEBO_DEPTH_CAMERA_PLUGIN_HH_
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#include <string>
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/sensors/DepthCameraSensor.hh"
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#include "gazebo/sensors/CameraSensor.hh"
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#include "gazebo/rendering/DepthCamera.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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class GAZEBO_VISIBLE DepthCameraPlugin : public SensorPlugin
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{
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/// \brief Constructor
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public: DepthCameraPlugin();
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/// \brief Destructor
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public: virtual ~DepthCameraPlugin();
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public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
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public: virtual void 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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/// \brief Update the controller
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public: virtual void 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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public: virtual void OnNewImageFrame(const unsigned char *_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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protected: unsigned int width, height, depth;
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protected: std::string format;
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protected: sensors::DepthCameraSensorPtr parentSensor;
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protected: rendering::DepthCameraPtr depthCamera;
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private: event::ConnectionPtr newDepthFrameConnection;
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private: event::ConnectionPtr newRGBPointCloudConnection;
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private: event::ConnectionPtr newImageFrameConnection;
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};
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}
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#endif
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