FiducialCameraPlugin.hh
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1/*
2 * Copyright (C) 2016 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_FIDUCIAL_CAMERA_PLUGIN_HH_
19#define GAZEBO_PLUGINS_FIDUCIAL_CAMERA_PLUGIN_HH_
20
21#include <string>
22#include <memory>
23
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 // Forward declare private class.
30 class FiducialCameraPluginPrivate;
31
39 class GZ_PLUGIN_VISIBLE FiducialCameraPlugin : public SensorPlugin
40 {
43
45 public: virtual ~FiducialCameraPlugin();
46
47 // Documentation Inherited.
48 public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
49
50 // Documentation Inherited.
51 public: void Init();
52
59 public: virtual void OnNewFrame(const unsigned char *_image,
60 const unsigned int _width, const unsigned int _height,
61 const unsigned int _depth, const std::string &_format);
62
65 private: void PopulateFiducials();
66
69 private: std::unique_ptr<FiducialCameraPluginPrivate> dataPtr;
70 };
71}
72#endif
A camera sensor plugin for fiducial detection A fiducial is detected if its center is within the came...
Definition FiducialCameraPlugin.hh:40
virtual void OnNewFrame(const unsigned char *_image, const unsigned int _width, const unsigned int _height, const unsigned int _depth, const std::string &_format)
Callback when a new camera frame is available.
void Init()
Override this method for custom plugin initialization behavior.
FiducialCameraPlugin()
Constructor.
void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
Load function.
virtual ~FiducialCameraPlugin()
Destructor.
A plugin with access to physics::Sensor.
Definition Plugin.hh:333
std::shared_ptr< Sensor > SensorPtr
Definition SensorTypes.hh:64
Forward declarations for the common classes.
Definition Animation.hh:27