17 #ifndef IGNITION_SENSORS_DEPTHCAMERASENSOR_HH_ 18 #define IGNITION_SENSORS_DEPTHCAMERASENSOR_HH_ 26 #include <ignition/common/Event.hh> 27 #include <ignition/common/SuppressWarning.hh> 31 #pragma warning(disable: 4005) 32 #pragma warning(disable: 4251) 34 #include <ignition/msgs.hh> 43 #pragma warning(disable: 4251) 45 #include <ignition/rendering/DepthCamera.hh> 50 #include "ignition/sensors/depth_camera/Export.hh" 52 #include "ignition/sensors/Export.hh" 60 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
62 class DepthCameraSensorPrivate;
83 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
88 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
92 public:
virtual bool Init()
override;
97 public:
virtual bool Update(
98 const std::chrono::steady_clock::duration &_now)
override;
103 public:
virtual rendering::DepthCameraPtr DepthCamera();
111 public:
void OnNewDepthFrame(
const float *_scan,
112 unsigned int _width,
unsigned int _height,
122 public:
void OnNewRgbPointCloud(
const float *_data,
123 unsigned int _width,
unsigned int _height,
135 public: ignition::common::ConnectionPtr ConnectImageCallback(
137 void(
const ignition::msgs::Image &)> _callback);
141 public:
virtual void SetScene(
142 ignition::rendering::ScenePtr _scene)
override;
146 public:
virtual unsigned int ImageWidth()
const override;
150 public:
virtual unsigned int ImageHeight()
const override;
154 public:
virtual double FarClip()
const;
158 public:
virtual double NearClip()
const;
162 private:
bool CreateCamera();
167 private:
void OnSceneChange(ignition::rendering::ScenePtr )
170 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
174 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
Depth camera sensor class.
Definition: DepthCameraSensor.hh:71
Camera Sensor Class.
Definition: CameraSensor.hh:71
Definition: AirPressureSensor.hh:31