CameraSensor.hh

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/*
 * Copyright (C) 2012 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 GAZEBO_SENSORS_CAMERASENSOR_HH_
#define GAZEBO_SENSORS_CAMERASENSOR_HH_
 
#include <memory>
#include <string>
#include <ignition/transport/Node.hh>
 
#include "gazebo/sensors/Sensor.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"
 
namespace gazebo
{
  namespace sensors
  {
    // Forward declare private data class
    class CameraSensorPrivate;
 
 
    class GZ_SENSORS_VISIBLE CameraSensor : public Sensor
    {
      public: CameraSensor();
 
      public: virtual ~CameraSensor();
 
      public: virtual void Load(const std::string &_worldName,
                                sdf::ElementPtr _sdf) override;
 
      public: virtual void Load(const std::string &_worldName) override;
 
      public: virtual void Init() override;
 
      protected: void ResetLastUpdateTime() override;
 
      protected: bool NeedsUpdate() override;
 
      public: void Update(bool _force) override;
 
      public: double NextRequiredTimestamp() const override;
 
      public: virtual std::string Topic() const override;
 
      public: std::string TopicIgn() const;
 
      public: void SetActive(bool _value) override;
 
      public: rendering::CameraPtr Camera() const;
 
      public: unsigned int ImageWidth() const;
 
      public: unsigned int ImageHeight() const;
 
      public: const unsigned char *ImageData() const;
 
      public: bool SaveFrame(const std::string &_filename);
 
      // Documentation inherited
      public: virtual bool IsActive() const override;
 
      // Documentation inherited
      protected: virtual bool UpdateImpl(const bool _force) override;
 
      protected: virtual void Fini() override;
 
      protected: virtual void Render();
 
      protected: bool Rendered() const;
 
      protected: void SetRendered(const bool _value);
 
      protected: void PrerenderEnded();
 
      protected: rendering::CameraPtr camera;
 
      protected: transport::PublisherPtr imagePub;
 
      protected: ignition::transport::Node::Publisher imagePubIgn;
 
      private: std::unique_ptr<CameraSensorPrivate> dataPtr;
    };
  }
}
#endif