.. _program_listing_file__tmp_ws_src_gazebo_ros_pkgs_gazebo_plugins_include_gazebo_plugins_gazebo_ros_camera.hpp:

Program Listing for File gazebo_ros_camera.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_gazebo_ros_pkgs_gazebo_plugins_include_gazebo_plugins_gazebo_ros_camera.hpp>` (``/tmp/ws/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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_PLUGINS__GAZEBO_ROS_CAMERA_HPP_
   #define GAZEBO_PLUGINS__GAZEBO_ROS_CAMERA_HPP_
   
   #include <gazebo/plugins/CameraPlugin.hh>
   #include <gazebo/plugins/DepthCameraPlugin.hh>
   #include <gazebo_plugins/multi_camera_plugin.hpp>
   #include <gazebo_ros/node.hpp>
   #include <std_msgs/msg/empty.hpp>
   
   #include <memory>
   #include <string>
   #include <vector>
   
   namespace gazebo_plugins
   {
   class GazeboRosCameraPrivate;
   
   
   class GazeboRosCamera
     : public gazebo::CameraPlugin, gazebo::DepthCameraPlugin, MultiCameraPlugin
   {
   public:
     GazeboRosCamera();
   
     ~GazeboRosCamera();
   
   protected:
     // Documentation inherited
     void Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) override;
   
     /*
      * \param[in] _image Image to publish
      * \param[in] _width Image width
      * \param[in] _height Image height
      * \param[in] camera_num Index number of camera
      */
     void NewFrame(
       const unsigned char * _image,
       unsigned int _width, unsigned int _height,
       int camera_num);
   
     /*
      * \details This is called at the camera's update rate.
      * \details Not called when the camera isn't active. For a triggered camera, it will only be
      * called after triggered.
      * \param[in] _image Image
      * \param[in] _width Image width
      * \param[in] _height Image height
      * \param[in] _depth Image depth
      * \param[in] _format Image format
      */
     void OnNewFrame(
       const unsigned char * _image,
       unsigned int _width, unsigned int _height,
       unsigned int _depth, const std::string & _format) override;
   
     /*
     * \details This is called at the camera's update rate.
     * \details Not called when the camera isn't active. For a triggered camera, it will only be
     * called after triggered.
     * \param[in] _image Image
     * \param[in] _width Image width
     * \param[in] _height Image height
     * \param[in] _depth Image depth
     * \param[in] _format Image format
     */
     void OnNewImageFrame(
       const unsigned char * _image,
       unsigned int _width, unsigned int _height,
       unsigned int _depth, const std::string & _format) override;
   
     /*
     * \details This is called at the camera's update rate.
     * \details Not called when the camera isn't active. For a triggered camera, it will only be
     * called after triggered.
     * \param[in] _image Image
     * \param[in] _width Image width
     * \param[in] _height Image height
     * \param[in] _depth Image depth
     * \param[in] _format Image format
     */
     void OnNewDepthFrame(
       const float * _image,
       unsigned int _width, unsigned int _height,
       unsigned int _depth, const std::string & _format) override;
   
   
     /*
     * \details This is called at the multi camera's update rate.
     * \details Not called when the camera isn't active. For a triggered multi camera, it will only be
     * called after triggered.
     * \param[in] _image Image
     * \param[in] _width Image width
     * \param[in] _height Image height
     * \param[in] _depth Image depth
     * \param[in] _format Image format
     * \param[in] _camera_num Index number of camera
     */
     void OnNewMultiFrame(
       const unsigned char * _image,
       unsigned int _width, unsigned int _height,
       unsigned int _depth, const std::string & _format, const int _camera_num) override;
   
     void OnTrigger(const std_msgs::msg::Empty::SharedPtr _dummy);
   
     void PreRender();
   
     void SetCameraEnabled(const bool _enabled);
   
     // Get pointer to the cameras
     std::vector<gazebo::rendering::CameraPtr> GetCameras() const;
   
     // Get camera name
     std::string GetCameraName() const;
   
     // Get number of cameras
     uint64_t GetNumCameras() const;
   
     gazebo_ros::Node::SharedPtr GetRosNode() const;
   
   private:
     std::unique_ptr<GazeboRosCameraPrivate> impl_;
   
     // A handler for the param change callback.
     rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_change_callback_handler_;
   };
   }  // namespace gazebo_plugins
   
   #endif  // GAZEBO_PLUGINS__GAZEBO_ROS_CAMERA_HPP_