DepthCameraSensor.hh

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/*
 * Copyright (C) 2018 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 IGNITION_SENSORS_DEPTHCAMERASENSOR_HH_
#define IGNITION_SENSORS_DEPTHCAMERASENSOR_HH_

#include <memory>
#include <cstdint>
#include <string>

#include <sdf/sdf.hh>

#include <ignition/common/Event.hh>

#include <ignition/common/PluginMacros.hh>
#include <ignition/common/Time.hh>

#include <ignition/msgs.hh>

#include <ignition/rendering/DepthCamera.hh>

#include "ignition/sensors/depth_camera/Export.hh"
#include "ignition/sensors/CameraSensor.hh"
#include "ignition/sensors/Export.hh"
#include "ignition/sensors/Sensor.hh"

namespace ignition
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
    // forward declarations
    class DepthCameraSensorPrivate;

    class IGNITION_SENSORS_DEPTH_CAMERA_VISIBLE DepthCameraSensor
      : public CameraSensor
    {
      public: DepthCameraSensor();

      public: virtual ~DepthCameraSensor();

      public: virtual bool Load(const sdf::Sensor &_sdf) override;

      public: virtual bool Load(sdf::ElementPtr _sdf) override;

      public: virtual bool Init() override;

      public: virtual bool Update(const common::Time &_now) override;

      public: virtual rendering::DepthCameraPtr DepthCamera();

      public: void OnNewDepthFrame(const float *_scan,
                    unsigned int _width, unsigned int _height,
                    unsigned int /*_channels*/,
                    const std::string &/*_format*/);

      public: void OnNewRgbPointCloud(const float *_data,
                    unsigned int _width, unsigned int _height,
                    unsigned int /*_channels*/,
                    const std::string &/*_format*/);

      public: ignition::common::ConnectionPtr ConnectImageCallback(
                  std::function<
                  void(const ignition::msgs::Image &)> _callback);

      public: virtual void SetScene(
                  ignition::rendering::ScenePtr _scene) override;

      public: virtual unsigned int ImageWidth() const override;

      public: virtual unsigned int ImageHeight() const override;

      public: virtual double FarClip() const;

      public: virtual double NearClip() const;

      private: bool CreateCamera();

      private: void OnSceneChange(ignition::rendering::ScenePtr /*_scene*/)
              { }

      private: std::unique_ptr<DepthCameraSensorPrivate> dataPtr;
    };
    }
  }
}

#endif