17 #ifndef IGNITION_SENSORS_CAMERASENSOR_HH_ 18 #define IGNITION_SENSORS_CAMERASENSOR_HH_ 26 #include <ignition/common/PluginMacros.hh> 27 #include <ignition/common/Time.hh> 29 #include <ignition/msgs.hh> 30 #include <ignition/rendering/Camera.hh> 32 #include "ignition/sensors/camera/Export.hh" 33 #include "ignition/sensors/config.hh" 34 #include "ignition/sensors/Export.hh" 42 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
45 class CameraSensorPrivate;
65 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
70 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
74 public:
virtual bool Init()
override;
79 public:
virtual bool Update(
const common::Time &_now)
override;
89 public: ignition::common::ConnectionPtr ConnectImageCallback(
91 void(
const ignition::msgs::Image &)> _callback);
95 public:
virtual void SetScene(
96 ignition::rendering::ScenePtr _scene)
override;
100 public:
virtual unsigned int ImageWidth()
const;
104 public:
virtual unsigned int ImageHeight()
const;
108 public: rendering::CameraPtr RenderingCamera()
const;
117 public:
void SetBaseline(
double _baseline);
121 public:
double Baseline()
const;
125 protected:
bool AdvertiseInfo();
132 protected:
bool AdvertiseInfo(
const std::string &_topic);
137 protected:
void PopulateInfo(
const sdf::Camera *_cameraSdf);
141 protected:
void PublishInfo(
const ignition::common::Time &_now);
145 private:
bool CreateCamera();
150 private:
void OnSceneChange(ignition::rendering::ScenePtr );
a rendering sensor class
Definition: RenderingSensor.hh:42
Camera Sensor Class.
Definition: CameraSensor.hh:54
Definition: AirPressureSensor.hh:31