FiducialCameraPlugin.hh

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/*
 * Copyright (C) 2016 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_PLUGINS_FIDUCIAL_CAMERA_PLUGIN_HH_
#define GAZEBO_PLUGINS_FIDUCIAL_CAMERA_PLUGIN_HH_

#include <string>
#include <memory>

#include "gazebo/common/Plugin.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  // Forward declare private class.
  class FiducialCameraPluginPrivate;

  class GZ_PLUGIN_VISIBLE FiducialCameraPlugin : public SensorPlugin
  {
    public: FiducialCameraPlugin();

    public: virtual ~FiducialCameraPlugin();

    // Documentation Inherited.
    public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);

    // Documentation Inherited.
    public: void Init();

    public: virtual void OnNewFrame(const unsigned char *_image,
        const unsigned int _width, const unsigned int _height,
        const unsigned int _depth, const std::string &_format);

    private: void PopulateFiducials();

    private: std::unique_ptr<FiducialCameraPluginPrivate> dataPtr;
  };
}
#endif