DepthCameraPlugin.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GAZEBO_PLUGINS_DEPTHCAMERAPLUGIN_HH_
19#define GAZEBO_PLUGINS_DEPTHCAMERAPLUGIN_HH_
20
21#include <string>
22
27#include "gazebo/util/system.hh"
28
29namespace gazebo
30{
31 class GZ_PLUGIN_VISIBLE DepthCameraPlugin : public SensorPlugin
32 {
35
37 public: virtual ~DepthCameraPlugin();
38
39 public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
40
41 public: virtual void OnNewDepthFrame(const float *_image,
42 unsigned int _width, unsigned int _height,
43 unsigned int _depth, const std::string &_format);
44
46 public: virtual void OnNewRGBPointCloud(const float *_pcd,
47 unsigned int _width, unsigned int _height,
48 unsigned int _depth, const std::string &_format);
49
50 public: virtual void OnNewImageFrame(const unsigned char *_image,
51 unsigned int _width, unsigned int _height,
52 unsigned int _depth, const std::string &_format);
53
54 protected: unsigned int width, height, depth;
55 protected: std::string format;
56
59
60 private: event::ConnectionPtr newDepthFrameConnection;
61 private: event::ConnectionPtr newRGBPointCloudConnection;
62 private: event::ConnectionPtr newImageFrameConnection;
63 };
64}
65#endif
Definition DepthCameraPlugin.hh:32
DepthCameraPlugin()
Constructor.
unsigned int depth
Definition DepthCameraPlugin.hh:54
void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
Load function.
virtual void OnNewDepthFrame(const float *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
virtual void OnNewImageFrame(const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
rendering::DepthCameraPtr depthCamera
Definition DepthCameraPlugin.hh:58
unsigned int height
Definition DepthCameraPlugin.hh:54
virtual void OnNewRGBPointCloud(const float *_pcd, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
Update the controller.
virtual ~DepthCameraPlugin()
Destructor.
unsigned int width
Definition DepthCameraPlugin.hh:54
std::string format
Definition DepthCameraPlugin.hh:55
sensors::DepthCameraSensorPtr parentSensor
Definition DepthCameraPlugin.hh:57
A plugin with access to physics::Sensor.
Definition Plugin.hh:333
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< DepthCamera > DepthCameraPtr
Definition RenderTypes.hh:98
std::shared_ptr< DepthCameraSensor > DepthCameraSensorPtr
Definition SensorTypes.hh:84
std::shared_ptr< Sensor > SensorPtr
Definition SensorTypes.hh:64
Forward declarations for the common classes.
Definition Animation.hh:27