28 #ifndef ROTORS_GAZEBO_PLUGINS_GAZEBO_NOISYDEPTH_PLUGIN_H 29 #define ROTORS_GAZEBO_PLUGINS_GAZEBO_NOISYDEPTH_PLUGIN_H 31 #include <dynamic_reconfigure/server.h> 32 #include <boost/thread/mutex.hpp> 34 #include <gazebo_plugins/GazeboRosOpenniKinectConfig.h> 36 #include <gazebo/common/Time.hh> 37 #include <gazebo/msgs/MessageTypes.hh> 38 #include <gazebo/physics/physics.hh> 39 #include <gazebo/plugins/DepthCameraPlugin.hh> 40 #include <gazebo/sensors/SensorTypes.hh> 41 #include <gazebo/transport/TransportTypes.hh> 48 #include <sdf/Param.hh> 50 #include <sensor_msgs/CameraInfo.h> 51 #include <sensor_msgs/Image.h> 52 #include <sensor_msgs/PointCloud2.h> 54 #include <std_msgs/Float64.h> 67 virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
73 unsigned int _height,
unsigned int _depth,
74 const std::string &_format);
77 virtual void OnNewImageFrame(
const unsigned char *_image,
unsigned int _width,
78 unsigned int _height,
unsigned int _depth,
79 const std::string &_format);
88 const uint32_t cols_arg,
89 const uint32_t step_arg,
90 const float *data_arg,
91 sensor_msgs::Image *image_msg);
112 #endif // ROTORS_GAZEBO_PLUGINS_GAZEBO_NOISYDEPTH_PLUGIN_H
virtual void OnNewImageFrame(const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
virtual void Advertise()
Advertise depth image.
event::ConnectionPtr load_connection_
virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
Load the plugin.
void DepthImageDisconnect()
void FillDepthImage(const float *_src)
std::string depth_image_topic_name_
sensor_msgs::Image depth_image_msg_
std::string depth_image_camera_info_topic_name_
common::Time last_depth_image_camera_info_update_time_
int depth_image_connect_count_
void DepthInfoDisconnect()
ros::Publisher depth_image_camera_info_pub_
std::unique_ptr< DepthNoiseModel > noise_model
int depth_info_connect_count_
common::Time depth_sensor_update_time_
virtual void PublishCameraInfo()
ros::Publisher depth_image_pub_
bool FillDepthImageHelper(const uint32_t rows_arg, const uint32_t cols_arg, const uint32_t step_arg, const float *data_arg, sensor_msgs::Image *image_msg)
virtual void OnNewDepthFrame(const float *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)