CameraSensor.hh

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/*
 * Copyright (C) 2012-2015 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.
 *
*/
/* Desc: A persepective X11 OpenGL Camera Sensor
 * Author: Nate Koenig
 * Date: 15 July 2003
 */

#ifndef _CAMERASENSOR_HH_
#define _CAMERASENSOR_HH_

#include <string>

#include "gazebo/sensors/Sensor.hh"
#include "gazebo/msgs/MessageTypes.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {

    class GAZEBO_VISIBLE CameraSensor : public Sensor
    {
      public: CameraSensor();

      public: virtual ~CameraSensor();

      public: virtual void Load(const std::string &_worldName,
                                sdf::ElementPtr _sdf);

      public: virtual void Load(const std::string &_worldName);

      public: virtual void Init();

      public: virtual std::string GetTopic() const;

      // Documentation inherited
      protected: virtual bool UpdateImpl(bool _force);

      protected: virtual void Fini();

      public: rendering::CameraPtr GetCamera() const
              {return this->camera;}

      public: unsigned int GetImageWidth() const;

      public: unsigned int GetImageHeight() const;

      public: const unsigned char *GetImageData();

      public: bool SaveFrame(const std::string &_filename);

      // Documentation inherited
      public: virtual bool IsActive();

      private: void Render();

      private: rendering::CameraPtr camera;

      private: transport::PublisherPtr imagePub;

      private: bool rendered;
    };
  }
}
#endif