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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();
70 public:
virtual std::string
Topic()
const;
91 public:
unsigned int ImageWidth(
const unsigned int _index)
const;
97 public:
unsigned int ImageHeight(
const unsigned int _index)
const;
103 public:
const unsigned char *
ImageData(
const unsigned int _index);
109 public:
bool SaveFrame(
const std::vector<std::string> &_filenames);
118 protected:
virtual void Fini();
121 private:
void Render();
124 private:
void PrerenderEnded();
128 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:37
Forward declarations for transport.
void SetActive(bool _value) override
Set whether the sensor is active or not.
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.
bool NeedsUpdate() override
Return true if the sensor needs to be updated.
virtual void Init()
Initialize the sensor.
double NextRequiredTimestamp() const override
Return the next timestamp going to be used by 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.
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.
void ResetLastUpdateTime() override
reset timing related members