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17 #ifndef GAZEBO_SENSORS_CAMERASENSOR_HH_
18 #define GAZEBO_SENSORS_CAMERASENSOR_HH_
22 #include <ignition/transport/Node.hh>
34 class CameraSensorPrivate;
54 public:
virtual void Load(
const std::string &_worldName,
55 sdf::ElementPtr _sdf);
59 public:
virtual void Load(
const std::string &_worldName);
62 public:
virtual void Init();
66 public:
virtual std::string
Topic()
const;
91 public:
bool SaveFrame(
const std::string &_filename);
100 protected:
virtual void Fini();
123 private: std::unique_ptr<CameraSensorPrivate> dataPtr;
virtual void Load(const std::string &_worldName, sdf::ElementPtr _sdf)
Load the sensor with SDF parameters.
virtual std::string Topic() const
Gets the topic name of the sensor.
Forward declarations for the common classes.
Definition: Animation.hh:27
rendering::CameraPtr Camera() const
Returns a pointer to the rendering::Camera.
unsigned int ImageWidth() const
Gets the width of the image in pixels.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
sensors
Definition: SensorManager.hh:35
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
Forward declarations for transport.
void SetRendered(const bool _value)
Set the value of the rendered flag.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
CameraSensor()
Constructor.
transport::PublisherPtr imagePub
Publisher of image messages.
Definition: CameraSensor.hh:116
unsigned int ImageHeight() const
Gets the height of the image in pixels.
virtual ~CameraSensor()
Destructor.
Base class for sensors.
Definition: Sensor.hh:53
std::string TopicIgn() const
Gets the ignition topic name of the sensor.
virtual void Render()
Handle the render event.
ignition::transport::Node::Publisher imagePubIgn
Publisher of image messages.
Definition: CameraSensor.hh:119
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:90
bool Rendered() const
Get the value of the rendered flag.
virtual void Init()
Initialize the camera.
virtual bool IsActive() const
Returns true if sensor generation is active.
const unsigned char * ImageData() const
Gets the raw image data from the sensor.
bool SaveFrame(const std::string &_filename)
Saves the image to the disk.
rendering::CameraPtr camera
Pointer to the camera.
Definition: CameraSensor.hh:113
Basic camera sensor.
Definition: CameraSensor.hh:44
virtual void Fini()
Finalize the camera.