Gazebo Rendering

API Reference

7.4.2
gz/rendering/base/BaseDepthCamera.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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16  */
17 #ifndef GZ_RENDERING_BASE_BASEDEPTHCAMERA_HH_
18 #define GZ_RENDERING_BASE_BASEDEPTHCAMERA_HH_
19 
20 #include <string>
21 
22 #include <gz/common/Event.hh>
23 
26 
27 namespace gz
28 {
29  namespace rendering
30  {
31  inline namespace GZ_RENDERING_VERSION_NAMESPACE {
32  template <class T>
33  class BaseDepthCamera :
34  public virtual DepthCamera,
35  public virtual BaseCamera<T>,
36  public virtual T
37  {
38  protected: BaseDepthCamera();
39 
40  public: virtual ~BaseDepthCamera();
41 
42  public: virtual void CreateDepthTexture();
43 
44  public: virtual const float *DepthData() const;
45 
46  public: virtual gz::common::ConnectionPtr ConnectNewDepthFrame(
47  std::function<void(const float *, unsigned int, unsigned int,
48  unsigned int, const std::string &)> _subscriber);
49 
50  public: virtual gz::common::ConnectionPtr ConnectNewRGBPointCloud(
51  std::function<void(const float *, unsigned int, unsigned int,
52  unsigned int, const std::string &)> _subscriber);
53  };
54 
56  template <class T>
58  {
59  }
60 
62  template <class T>
64  {
65  }
66 
68  template <class T>
70  {
71  }
72 
74  template <class T>
75  const float *BaseDepthCamera<T>::DepthData() const
76  {
77  return nullptr;
78  }
79 
81  template <class T>
83  std::function<void(const float *, unsigned int, unsigned int,
84  unsigned int, const std::string &)>)
85  {
86  return nullptr;
87  }
88 
90  template <class T>
92  std::function<void(const float *, unsigned int, unsigned int,
93  unsigned int, const std::string &)>)
94  {
95  return nullptr;
96  }
97  }
98  }
99 }
100 #endif