CameraSensor.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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17 #ifndef GAZEBO_SENSORS_CAMERASENSOR_HH_
18 #define GAZEBO_SENSORS_CAMERASENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <ignition/transport/Node.hh>
23 
24 #include "gazebo/sensors/Sensor.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace sensors
32  {
33  // Forward declare private data class
34  class CameraSensorPrivate;
35 
38 
44  {
46  public: CameraSensor();
47 
49  public: virtual ~CameraSensor();
50 
54  public: virtual void Load(const std::string &_worldName,
55  sdf::ElementPtr _sdf);
56 
59  public: virtual void Load(const std::string &_worldName);
60 
62  public: virtual void Init();
63 
66  public: virtual std::string Topic() const;
67 
70  public: std::string TopicIgn() const;
71 
74  public: rendering::CameraPtr Camera() const;
75 
78  public: unsigned int ImageWidth() const;
79 
82  public: unsigned int ImageHeight() const;
83 
86  public: const unsigned char *ImageData() const;
87 
91  public: bool SaveFrame(const std::string &_filename);
92 
93  // Documentation inherited
94  public: virtual bool IsActive() const;
95 
96  // Documentation inherited
97  protected: virtual bool UpdateImpl(const bool _force);
98 
100  protected: virtual void Fini();
101 
103  protected: virtual void Render();
104 
106  protected: bool Rendered() const;
107 
110  protected: void SetRendered(const bool _value);
111 
114 
117 
119  protected: ignition::transport::Node::Publisher imagePubIgn;
120 
123  private: std::unique_ptr<CameraSensorPrivate> dataPtr;
124  };
126  }
127 }
128 #endif
Basic camera sensor.
Definition: CameraSensor.hh:43
transport::PublisherPtr imagePub
Publisher of image messages.
Definition: CameraSensor.hh:116
Forward declarations for the common classes.
Definition: Animation.hh:33
Forward declarations for transport.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
ignition::transport::Node::Publisher imagePubIgn
Publisher of image messages.
Definition: CameraSensor.hh:119
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Base class for sensors.
Definition: Sensor.hh:51
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:89
rendering::CameraPtr camera
Pointer to the camera.
Definition: CameraSensor.hh:113