CameraSensor.hh

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/*
 * Copyright (C) 2017 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_SENSORS_CAMERASENSOR_HH_
#define GZ_SENSORS_CAMERASENSOR_HH_
 
#include <cstdint>
#include <memory>
#include <string>
 
#include <gz/msgs/boolean.pb.h>
#include <gz/msgs/image.pb.h>
 
#include <sdf/sdf.hh>
 
#include <gz/utils/SuppressWarning.hh>
 
// TODO(louise) Remove these pragmas once gz-rendering is disabling the
// warnings
#ifdef _WIN32
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
#include <gz/rendering/Camera.hh>
#ifdef _WIN32
#pragma warning(pop)
#endif
 
#include "gz/sensors/camera/Export.hh"
#include "gz/sensors/config.hh"
#include "gz/sensors/Export.hh"
#include "gz/sensors/RenderingSensor.hh"
 
namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
    //
    class CameraSensorPrivate;
 
    class GZ_SENSORS_CAMERA_VISIBLE CameraSensor : public RenderingSensor
    {
      public: CameraSensor();
 
      public: virtual ~CameraSensor();
 
      public: virtual bool Load(const sdf::Sensor &_sdf) override;
 
      public: virtual bool Load(sdf::ElementPtr _sdf) override;
 
      public: virtual bool Init() override;
 
      using Sensor::Update;
 
      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) override;
 
      public: gz::common::ConnectionPtr ConnectImageCallback(
                  std::function<
                  void(const gz::msgs::Image &)> _callback);
 
      public: virtual void SetScene(
                  gz::rendering::ScenePtr _scene) override;
 
      public: virtual unsigned int ImageWidth() const;
 
      public: virtual unsigned int ImageHeight() const;
 
      public: virtual rendering::CameraPtr RenderingCamera() const;
 
      public: std::string InfoTopic() const;
 
      public: void SetBaseline(double _baseline);
 
      public: double Baseline() const;
 
      // Documentation inherited.
      public: virtual bool HasConnections() const override;
 
      public: virtual bool HasImageConnections() const;
 
      public: virtual bool HasInfoConnections() const;
 
      public: const std::string& OpticalFrameId() const;
 
      public: void UpdateLensIntrinsicsAndProjection(
          rendering::CameraPtr _camera, sdf::Camera &_cameraSdf);
 
      protected: bool AdvertiseInfo();
 
      protected: bool AdvertiseInfo(const std::string &_topic);
 
      protected: void PopulateInfo(const sdf::Camera *_cameraSdf);
 
      protected: void PublishInfo(
        const std::chrono::steady_clock::duration &_now);
 
      private: bool CreateCamera();
 
      private: void OnSceneChange(gz::rendering::ScenePtr /*_scene*/);
 
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<CameraSensorPrivate> dataPtr;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}
 
#endif