BoundingBoxCamera.hh

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/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef IGNITION_RENDERING_BOUNDINGBOXCAMERA_HH_
#define IGNITION_RENDERING_BOUNDINGBOXCAMERA_HH_

#include <cstdint>
#include <vector>

#include <ignition/common/Event.hh>
#include <ignition/math/Color.hh>
#include <ignition/math/Vector3.hh>

#include "ignition/rendering/BoundingBox.hh"
#include "ignition/rendering/Camera.hh"

namespace ignition
{
  namespace rendering
  {
    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
    //
    enum class BoundingBoxType
    {
      BBT_FULLBOX2D = 0,

      BBT_VISIBLEBOX2D = 1,

      BBT_BOX3D = 2
    };

    class IGNITION_RENDERING_VISIBLE BoundingBoxCamera :
      public virtual Camera
    {
      public: virtual ~BoundingBoxCamera() { }

      public: virtual const std::vector<BoundingBox> &BoundingBoxData()
              const = 0;

      public: virtual ignition::common::ConnectionPtr ConnectNewBoundingBoxes(
        std::function<void(const std::vector<BoundingBox> &)> _subscriber) = 0;

      public: virtual void SetBoundingBoxType(BoundingBoxType _type) = 0;

      public: virtual BoundingBoxType Type() const = 0;

      public: virtual void DrawBoundingBox(unsigned char *_data,
        const math::Color &_color, const BoundingBox &_box) const = 0;
    };
  }
  }
}
#endif