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17 #ifndef _GAZEBO_SENSORS_MULTICAMERASENSOR_HH_
18 #define _GAZEBO_SENSORS_MULTICAMERASENSOR_HH_
24 #include "gazebo/msgs/MessageTypes.hh"
35 class MultiCameraSensorPrivate;
53 public:
virtual void Load(
const std::string &_worldName);
56 public:
virtual void Init();
59 public:
virtual std::string
Topic()
const;
76 public:
unsigned int ImageWidth(
const unsigned int _index)
const;
82 public:
unsigned int ImageHeight(
const unsigned int _index)
const;
88 public:
const unsigned char *
ImageData(
const unsigned int _index);
94 public:
bool SaveFrame(
const std::vector<std::string> &_filenames);
103 protected:
virtual void Fini();
106 private:
void Render();
110 private: std::unique_ptr<MultiCameraSensorPrivate> dataPtr;
bool SaveFrame(const std::vector< std::string > &_filenames)
Saves the camera image(s) to the disk.
virtual bool IsActive() const
Returns true if sensor generation is active.
virtual ~MultiCameraSensor()
Destructor.
unsigned int ImageWidth(const unsigned int _index) const
Gets the width of the image in pixels.
Forward declarations for the common classes.
Definition: Animation.hh:27
sensors
Definition: SensorManager.hh:35
Forward declarations for transport.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
virtual void Init()
Initialize the sensor.
MultiCameraSensor()
Constructor.
rendering::CameraPtr Camera(const unsigned int _index) const
Returns a pointer to a rendering::Camera.
virtual std::string Topic() const
Returns the topic name as set in SDF.
const unsigned char * ImageData(const unsigned int _index)
Gets the raw image data from the sensor.
Multiple camera sensor. This sensor type can create one or more synchronized cameras.
Definition: MultiCameraSensor.hh:45
Base class for sensors.
Definition: Sensor.hh:53
unsigned int ImageHeight(const unsigned int _index) const
Gets the height of the image in pixels.
virtual void Fini()
Finalize the sensor.
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:90
unsigned int CameraCount() const
Get the number of cameras.