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17 #ifndef GZ_SENSORS_DEPTHCAMERASENSOR_HH_
18 #define GZ_SENSORS_DEPTHCAMERASENSOR_HH_
26 #include <gz/common/Event.hh>
27 #include <gz/common/PluginMacros.hh>
28 #include <gz/common/SuppressWarning.hh>
29 #include <gz/common/Time.hh>
33 #pragma warning(disable: 4005)
34 #pragma warning(disable: 4251)
36 #include <ignition/msgs.hh>
45 #pragma warning(disable: 4251)
47 #include <gz/rendering/DepthCamera.hh>
52 #include "gz/sensors/depth_camera/Export.hh"
54 #include "gz/sensors/Export.hh"
62 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
64 class DepthCameraSensorPrivate;
85 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
90 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
94 public:
virtual bool Init()
override;
99 public:
virtual bool Update(
const common::Time &_now)
override;
104 public:
virtual rendering::DepthCameraPtr DepthCamera();
112 public:
void OnNewDepthFrame(
const float *_scan,
113 unsigned int _width,
unsigned int _height,
123 public:
void OnNewRgbPointCloud(
const float *_data,
124 unsigned int _width,
unsigned int _height,
136 public: gz::common::ConnectionPtr ConnectImageCallback(
138 void(
const gz::msgs::Image &)> _callback);
142 public:
virtual void SetScene(
143 gz::rendering::ScenePtr _scene)
override;
147 public:
virtual unsigned int ImageWidth()
const override;
151 public:
virtual unsigned int ImageHeight()
const override;
155 public:
virtual double FarClip()
const;
159 public:
virtual double NearClip()
const;
163 private:
bool CreateCamera();
168 private:
void OnSceneChange(gz::rendering::ScenePtr )
171 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
175 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
Definition: gz/sensors/AirPressureSensor.hh:32
Depth camera sensor class.
Definition: gz/sensors/DepthCameraSensor.hh:73
Camera Sensor Class.
Definition: gz/sensors/CameraSensor.hh:73