gz/rendering/DepthCamera.hh

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/*
 * Copyright (C) 2018 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 GZ_RENDERING_DEPTHCAMERA_HH_
#define GZ_RENDERING_DEPTHCAMERA_HH_
 
#include <string>
 
#include <gz/common/Event.hh>
#include "gz/rendering/Camera.hh"
 
namespace ignition
{
  namespace rendering
  {
    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
    class IGNITION_RENDERING_VISIBLE DepthCamera :
      public virtual Camera
    {
      public: typedef std::function<void(const void*, unsigned int,
          unsigned int, unsigned int, const std::string&)> NewFrameListener;
 
      public: virtual ~DepthCamera() { }
 
      public: virtual void CreateDepthTexture() = 0;
 
      public: virtual const float *DepthData() const = 0;
 
      public: virtual gz::common::ConnectionPtr ConnectNewDepthFrame(
          std::function<void(const float *, unsigned int, unsigned int,
          unsigned int, const std::string &)>  _subscriber) = 0;
 
      public: 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;
    };
  }
  }
}
#endif