CameraPlugin.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#ifndef GAZEBO_PLUGINS_CAMERAPLUGIN_HH_
18#define GAZEBO_PLUGINS_CAMERAPLUGIN_HH_
19
20#include <string>
21
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 class GZ_PLUGIN_VISIBLE CameraPlugin : public SensorPlugin
30 {
31 public: CameraPlugin();
32
34 public: virtual ~CameraPlugin();
35
36 public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
37
38 public: virtual void OnNewFrame(const unsigned char *_image,
39 unsigned int _width, unsigned int _height,
40 unsigned int _depth, const std::string &_format);
41
42 protected: unsigned int width, height, depth;
43 protected: std::string format;
44
47
48 private: event::ConnectionPtr newFrameConnection;
49 };
50}
51#endif
Definition CameraPlugin.hh:30
virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
Load function.
virtual void OnNewFrame(const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
virtual ~CameraPlugin()
Destructor.
unsigned int depth
Definition CameraPlugin.hh:42
unsigned int height
Definition CameraPlugin.hh:42
sensors::CameraSensorPtr parentSensor
Definition CameraPlugin.hh:45
rendering::CameraPtr camera
Definition CameraPlugin.hh:46
unsigned int width
Definition CameraPlugin.hh:42
std::string format
Definition CameraPlugin.hh:43
A plugin with access to physics::Sensor.
Definition Plugin.hh:333
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< Camera > CameraPtr
Definition RenderTypes.hh:90
std::shared_ptr< CameraSensor > CameraSensorPtr
Definition SensorTypes.hh:72
std::shared_ptr< Sensor > SensorPtr
Definition SensorTypes.hh:64
Forward declarations for the common classes.
Definition Animation.hh:27