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
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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 
24 #include "gazebo/common/Plugin.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  // Forward declare private class.
30  class FiducialCameraPluginPrivate;
31 
40  {
42  public: FiducialCameraPlugin();
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
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
Forward declarations for the common classes.
Definition: Animation.hh:33
A camera sensor plugin for fiducial detection A fiducial is detected if its center is within the came...
Definition: FiducialCameraPlugin.hh:39
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
A plugin with access to physics::Sensor.
Definition: Plugin.hh:289
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58