MultiCameraSensor.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.
 *
*/

#ifndef _MULTICAMERASENSOR_HH_
#define _MULTICAMERASENSOR_HH_

#include <string>
#include <vector>

#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 MultiCameraSensor : public Sensor
    {
      public: MultiCameraSensor();

      public: virtual ~MultiCameraSensor();

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

      // Documentation inherited
      public: virtual void Init();

      // Documentation inherited
      public: virtual std::string GetTopic() const;

      public: unsigned int GetCameraCount() const;

      public: rendering::CameraPtr GetCamera(unsigned int _index) const;

      public: unsigned int GetImageWidth(unsigned int _index) const;

      public: unsigned int GetImageHeight(unsigned int _index) const;

      public: const unsigned char *GetImageData(unsigned int _index);

      public: bool SaveFrame(const std::vector<std::string> &_filenames);

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

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

      // Documentation inherited.
      protected: virtual void Fini();

      private: void Render();

      private: std::vector<rendering::CameraPtr> cameras;

      private: mutable boost::mutex cameraMutex;

      private: transport::PublisherPtr imagePub;

      private: msgs::ImagesStamped msg;

      private: bool rendered;
    };
  }
}
#endif