gazebo_ros_multicamera.h

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/*
 * Copyright 2012 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 GAZEBO_ROS_MULTICAMERA_HH
#define GAZEBO_ROS_MULTICAMERA_HH

#include <string>
#include <vector>

// library for processing camera data for gazebo / ros conversions
#include <gazebo_plugins/gazebo_ros_camera_utils.h>
#include <gazebo_plugins/MultiCameraPlugin.h>

namespace gazebo
{
  class GazeboRosMultiCamera : public MultiCameraPlugin
  {
    public: GazeboRosMultiCamera();

    public: ~GazeboRosMultiCamera();

    public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);

    std::vector<GazeboRosCameraUtils*> utils;

    protected: void OnNewFrame(const unsigned char *_image,
                   GazeboRosCameraUtils* util);
    protected: virtual void OnNewFrameLeft(const unsigned char *_image,
                   unsigned int _width, unsigned int _height,
                   unsigned int _depth, const std::string &_format);
    protected: virtual void OnNewFrameRight(const unsigned char *_image,
                   unsigned int _width, unsigned int _height,
                   unsigned int _depth, const std::string &_format);

    private: boost::shared_ptr<int> image_connect_count_;
    private: boost::shared_ptr<boost::mutex> image_connect_count_lock_;
    private: boost::shared_ptr<bool> was_active_;
  };
}
#endif