Gazebo Rendering

API Reference

6.6.3
gz/rendering/DepthCamera.hh
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1 /*
2  * Copyright (C) 2018 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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16  */
17 #ifndef GZ_RENDERING_DEPTHCAMERA_HH_
18 #define GZ_RENDERING_DEPTHCAMERA_HH_
19 
20 #include <string>
21 
22 #include <gz/common/Event.hh>
23 #include "gz/rendering/Camera.hh"
24 
25 namespace ignition
26 {
27  namespace rendering
28  {
29  inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
34  class IGNITION_RENDERING_VISIBLE DepthCamera :
35  public virtual Camera
36  {
38  public: typedef std::function<void(const void*, unsigned int,
39  unsigned int, unsigned int, const std::string&)> NewFrameListener;
40 
42  public: virtual ~DepthCamera() { }
43 
45  public: virtual void CreateDepthTexture() = 0;
46 
49  public: virtual const float *DepthData() const = 0;
50 
54  public: virtual gz::common::ConnectionPtr ConnectNewDepthFrame(
55  std::function<void(const float *, unsigned int, unsigned int,
56  unsigned int, const std::string &)> _subscriber) = 0;
57 
74  public: virtual gz::common::ConnectionPtr ConnectNewRgbPointCloud(
75  std::function<void(const float *_pointCloud, unsigned int _width,
76  unsigned int _height, unsigned int _depth,
77  const std::string &_format)> _subscriber) = 0;
78  };
79  }
80  }
81 }
82 #endif
virtual gz::common::ConnectionPtr ConnectNewDepthFrame(std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)=0
Connect to the new depth image signal.
STL class.
Definition: gz/rendering/DepthCamera.hh:34
Posable camera used for rendering the scene graph.
Definition: gz/rendering/Camera.hh:49
virtual const float * DepthData() const =0
All things needed to get back z buffer for depth data.
virtual gz::common::ConnectionPtr ConnectNewRgbPointCloud(std::function< void(const float *_pointCloud, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)> _subscriber)=0
Connect to the new rgb point cloud signal.
virtual void CreateDepthTexture()=0
Create a texture which will hold the depth data.
std::function< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)> NewFrameListener
Callback function for new frame render event listeners.
Definition: gz/rendering/DepthCamera.hh:39
virtual ~DepthCamera()
Destructor.
Definition: gz/rendering/DepthCamera.hh:42