Gazebo Rendering

API Reference

6.6.3
gz/rendering/BoundingBoxCamera.hh
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17 #ifndef IGNITION_RENDERING_BOUNDINGBOXCAMERA_HH_
18 #define IGNITION_RENDERING_BOUNDINGBOXCAMERA_HH_
19 
20 #include <cstdint>
21 #include <vector>
22 
23 #include <ignition/common/Event.hh>
24 #include <ignition/math/Color.hh>
25 #include <ignition/math/Vector3.hh>
26 
29 
30 namespace ignition
31 {
32  namespace rendering
33  {
34  inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
35  //
37  enum class BoundingBoxType
38  {
40  BBT_FULLBOX2D = 0,
41 
44  BBT_VISIBLEBOX2D = 1,
45 
47  BBT_BOX3D = 2
48  };
49 
54  class IGNITION_RENDERING_VISIBLE BoundingBoxCamera :
55  public virtual Camera
56  {
58  public: virtual ~BoundingBoxCamera() { }
59 
64  public: virtual const std::vector<BoundingBox> &BoundingBoxData()
65  const = 0;
66 
70  public: virtual ignition::common::ConnectionPtr ConnectNewBoundingBoxes(
71  std::function<void(const std::vector<BoundingBox> &)> _subscriber) = 0;
72 
75  public: virtual void SetBoundingBoxType(BoundingBoxType _type) = 0;
76 
79  public: virtual BoundingBoxType Type() const = 0;
80 
85  public: virtual void DrawBoundingBox(unsigned char *_data,
86  const math::Color &_color, const BoundingBox &_box) const = 0;
87  };
88  }
89  }
90 }
91 #endif
STL class.
2D or 3D Bounding box. It stores the position / orientation / size info of the box and its label
Definition: gz/rendering/BoundingBox.hh:41
STL class.
virtual void SetBoundingBoxType(BoundingBoxType _type)=0
Set BoundingBox Type (Visible / Full)
virtual ignition::common::ConnectionPtr ConnectNewBoundingBoxes(std::function< void(const std::vector< BoundingBox > &)> _subscriber)=0
Connect to the new BoundingBox info.
virtual ~BoundingBoxCamera()
Destructor.
Definition: gz/rendering/BoundingBoxCamera.hh:58
Posable camera used for rendering the scene graph.
Definition: gz/rendering/Camera.hh:49
virtual void DrawBoundingBox(unsigned char *_data, const math::Color &_color, const BoundingBox &_box) const =0
Draw a bounding box on the given image.
Poseable BoundingBox camera used for rendering bounding boxes of objects in the scene.
Definition: gz/rendering/BoundingBoxCamera.hh:54
@ BBT_FULLBOX2D
2D box that shows the full box of occluded objects
virtual const std::vector< BoundingBox > & BoundingBoxData() const =0
Get the BoundingBox data.
BoundingBoxType
BoundingBox types for Visible / Full 2D Boxes / 3D Boxes.
Definition: gz/rendering/BoundingBoxCamera.hh:37
virtual BoundingBoxType Type() const =0
Get the BoundingBox Type (Visible / Full)