17 #ifndef IGNITION_SENSORS_DEPTHCAMERASENSOR_HH_ 18 #define IGNITION_SENSORS_DEPTHCAMERASENSOR_HH_ 26 #include <ignition/common/Event.hh> 27 #include <ignition/common/PluginMacros.hh> 28 #include <ignition/common/SuppressWarning.hh> 29 #include <ignition/common/Time.hh> 33 #pragma warning(disable: 4005) 34 #pragma warning(disable: 4251) 36 #include <ignition/msgs.hh> 45 #pragma warning(disable: 4251) 47 #include <ignition/rendering/DepthCamera.hh> 52 #include "ignition/sensors/depth_camera/Export.hh" 54 #include "ignition/sensors/Export.hh" 62 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
64 class DepthCameraSensorPrivate;
85 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
90 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
94 public:
virtual bool Init()
override;
99 public:
virtual bool IGN_DEPRECATED(4) Update(
100 const ignition::common::Time &_now)
override;
105 public:
virtual bool Update(
106 const std::chrono::steady_clock::duration &_now)
override;
111 public:
virtual rendering::DepthCameraPtr DepthCamera();
119 public:
void OnNewDepthFrame(
const float *_scan,
120 unsigned int _width,
unsigned int _height,
130 public:
void OnNewRgbPointCloud(
const float *_data,
131 unsigned int _width,
unsigned int _height,
143 public: ignition::common::ConnectionPtr ConnectImageCallback(
145 void(
const ignition::msgs::Image &)> _callback);
149 public:
virtual void SetScene(
150 ignition::rendering::ScenePtr _scene)
override;
154 public:
virtual unsigned int ImageWidth()
const override;
158 public:
virtual unsigned int ImageHeight()
const override;
162 public:
virtual double FarClip()
const;
166 public:
virtual double NearClip()
const;
170 private:
bool CreateCamera();
175 private:
void OnSceneChange(ignition::rendering::ScenePtr )
178 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
182 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
Depth camera sensor class.
Definition: DepthCameraSensor.hh:73
Camera Sensor Class.
Definition: CameraSensor.hh:73
Definition: AirPressureSensor.hh:32