SegmentationCamera.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 GZ_RENDERING_SEGMENTATIONCAMERA_HH_
#define GZ_RENDERING_SEGMENTATIONCAMERA_HH_
 
#include <functional>
#include <string>
 
#include <gz/common/Event.hh>
#include <gz/math/Color.hh>
 
#include "gz/rendering/Camera.hh"
 
 
namespace gz
{
  namespace rendering
  {
    enum class SegmentationType
    {
      ST_SEMANTIC = 0,
 
      ST_PANOPTIC = 1
    };
 
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    class GZ_RENDERING_VISIBLE SegmentationCamera :
      public virtual Camera
    {
      public: virtual ~SegmentationCamera();
 
      public: virtual void CreateSegmentationTexture() = 0;
 
      public: virtual uint8_t *SegmentationData() const = 0;
 
      public: virtual gz::common::ConnectionPtr
        ConnectNewSegmentationFrame(
          std::function<void(const uint8_t *, unsigned int, unsigned int,
          unsigned int, const std::string &)>  _subscriber) = 0;
 
      public: virtual void SetSegmentationType(SegmentationType _type) = 0;
 
      public: virtual SegmentationType Type() const = 0;
 
      public: virtual void EnableColoredMap(bool _enable) = 0;
 
      public: virtual bool IsColoredMap() const = 0;
 
      public: virtual void SetBackgroundColor(const math::Color &_color) = 0;
 
      public: virtual void SetBackgroundLabel(int _label) = 0;
 
      public: virtual const math::Color &BackgroundColor() const = 0;
 
      public: virtual int BackgroundLabel() const = 0;
 
      public: virtual void LabelMapFromColoredBuffer(
        uint8_t *_labelBuffer) const = 0;
    };
  }
  }
}
#endif