camera_contains_plugin.h

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#ifndef GAZEBO_VIDEO_MONITOR_PLUGINS_CAMERA_CONTAINS_PLUGIN_H
#define GAZEBO_VIDEO_MONITOR_PLUGINS_CAMERA_CONTAINS_PLUGIN_H

#include <vector>

#include <ros/callback_queue.h>
#include <ros/ros.h>

#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/physics.hh>

#include <gazebo_video_monitor_msgs/Strings.h>
#include <gazebo_video_monitor_plugins/utils/box_marker_visualizer.h>

namespace gazebo {

class CameraContainsPlugin : public WorldPlugin {
 public:
  CameraContainsPlugin();
  void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) override;

 private:
  bool contains(const std::string &name) const;
  void onUpdate(const common::UpdateInfo &info);

  std::string logger_prefix_;

  physics::WorldPtr world_;

  std::vector<std::string> tracked_models_;
  std::vector<std::string> cameras_;
  ignition::math::OrientedBoxd container_;

  ros::NodeHandlePtr nh_;
  ros::CallbackQueue callback_queue_;
  ros::AsyncSpinner spinner_;

  ros::Publisher publisher_;
  gazebo_video_monitor_msgs::Strings msg_;
  bool contains_model_;

  BoxMarkerVisualizerPtr container_visualizer_;

  double update_period_;
  common::Time last_update_time_;
  event::ConnectionPtr update_connection_;
};

}  // namespace gazebo

#endif  // GAZEBO_VIDEO_MONITOR_PLUGINS_CAMERA_CONTAINS_PLUGIN_H