gazebo_geotagged_images_plugin.h

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/*
 * Copyright (C) 2016 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.
 *
*/
#pragma once

#include <string>

#include <gazebo/common/Plugin.hh>
#include <gazebo/sensors/CameraSensor.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/common/common.hh>
#include <gazebo/rendering/Camera.hh>
//#include <gazebo/util/system.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/rendering/rendering.hh>

namespace gazebo {

class GAZEBO_VISIBLE GeotaggedImagesPlugin : public SensorPlugin {
  public: GeotaggedImagesPlugin();

  public: virtual ~GeotaggedImagesPlugin();

  public: virtual void Load(sensors::SensorPtr sensor, sdf::ElementPtr sdf);

  public: void OnNewFrame(const unsigned char *image);
  public: void OnNewGpsPosition(ConstVector3dPtr& v);

  protected: float storeIntervalSec_;
  private: int imageCounter_;
  common::Time lastImageTime_;

  protected: sensors::CameraSensorPtr parentSensor_;
  protected: rendering::CameraPtr camera_;
  protected: rendering::ScenePtr scene_;
  private: event::ConnectionPtr newFrameConnection_;
  private: std::string storageDir_;
  private: msgs::Vector3d lastGpsPosition_;

  private: transport::NodePtr node_handle_;
  private: std::string namespace_;
  private: transport::SubscriberPtr gpsSub_;

  protected: unsigned int width_, height_, depth_;
  protected: unsigned int destWidth_, destHeight_; 
  protected: std::string format_;
};

} // namespace gazebo