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18 #ifndef IGNITION_SENSORS_SEGMENTATIONCAMERASENSOR_HH_
19 #define IGNITION_SENSORS_SEGMENTATIONCAMERASENSOR_HH_
24 #include <ignition/common/Event.hh>
25 #include <ignition/common/PluginMacros.hh>
26 #include <ignition/common/SuppressWarning.hh>
27 #include <ignition/common/Time.hh>
28 #include <ignition/msgs.hh>
29 #include <ignition/transport/Node.hh>
30 #include <ignition/transport/Publisher.hh>
44 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
46 class SegmentationCameraSensorPrivate;
55 class IGNITION_SENSORS_SEGMENTATION_CAMERA_VISIBLE
67 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
72 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
76 public:
virtual bool Init()
override;
81 public:
virtual bool Update(
82 const std::chrono::steady_clock::duration &_now)
override;
86 public: rendering::SegmentationCameraPtr SegmentationCamera()
const;
94 public:
void OnNewSegmentationFrame(
const uint8_t * _data,
95 unsigned int _width,
unsigned int _height,
unsigned int _channels,
106 public: ignition::common::ConnectionPtr ConnectImageCallback(
107 std::function<
void(
const ignition::msgs::Image &)> _callback);
111 public:
virtual void SetScene(
112 ignition::rendering::ScenePtr _scene)
override;
116 public:
virtual unsigned int ImageWidth()
const override;
120 public:
virtual unsigned int ImageHeight()
const override;
125 public:
bool HasConnections()
const;
129 private:
bool CreateCamera();
131 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
135 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
Definition: gz/sensors/AirPressureSensor.hh:31
Camera Sensor Class.
Definition: gz/sensors/CameraSensor.hh:71
Segmentation camera sensor class.
Definition: gz/sensors/SegmentationCameraSensor.hh:55