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CameraSensor.hh
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1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: A persepective X11 OpenGL Camera Sensor
18  * Author: Nate Koenig
19  * Date: 15 July 2003
20  */
21 
22 #ifndef _CAMERASENSOR_HH_
23 #define _CAMERASENSOR_HH_
24 
25 #include <string>
26 
27 #include "gazebo/sensors/Sensor.hh"
28 #include "gazebo/msgs/MessageTypes.hh"
31 
32 namespace gazebo
33 {
34  namespace sensors
35  {
38 
43  class CameraSensor : public Sensor
44  {
46  public: CameraSensor();
47 
49  public: virtual ~CameraSensor();
50 
54  public: virtual void Load(const std::string &_worldName,
55  sdf::ElementPtr _sdf);
56 
59  public: virtual void Load(const std::string &_worldName);
60 
62  public: virtual void Init();
63 
67  public: virtual std::string GetTopic() const;
68 
71  protected: virtual void UpdateImpl(bool _force);
72 
74  protected: virtual void Fini();
75 
79  {return this->camera;}
80 
83  public: unsigned int GetImageWidth() const;
84 
87  public: unsigned int GetImageHeight() const;
88 
91  public: const unsigned char *GetImageData();
92 
96  public: bool SaveFrame(const std::string &_filename);
97 
98  // Documentation inherited
99  public: virtual bool IsActive();
100 
101  private: rendering::CameraPtr camera;
102  private: rendering::ScenePtr scene;
103 
104  private: transport::PublisherPtr imagePub;
105  };
107  }
108 }
109 #endif