00001 /* 00002 * Copyright 2012 Open Source Robotics Foundation 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 * 00016 */ 00017 00018 #ifndef GAZEBO_ROS_MULTICAMERA_HH 00019 #define GAZEBO_ROS_MULTICAMERA_HH 00020 00021 #include <string> 00022 #include <vector> 00023 00024 // library for processing camera data for gazebo / ros conversions 00025 #include <gazebo_plugins/gazebo_ros_camera_utils.h> 00026 #include <gazebo_plugins/MultiCameraPlugin.h> 00027 00028 namespace gazebo 00029 { 00030 class GazeboRosMultiCamera : public MultiCameraPlugin 00031 { 00034 public: GazeboRosMultiCamera(); 00035 00037 public: ~GazeboRosMultiCamera(); 00038 00041 public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf); 00042 00043 std::vector<GazeboRosCameraUtils*> utils; 00044 00047 protected: virtual void OnNewFrameLeft(const unsigned char *_image, 00048 unsigned int _width, unsigned int _height, 00049 unsigned int _depth, const std::string &_format); 00050 protected: virtual void OnNewFrameRight(const unsigned char *_image, 00051 unsigned int _width, unsigned int _height, 00052 unsigned int _depth, const std::string &_format); 00053 00057 private: boost::shared_ptr<int> image_connect_count_; 00058 private: boost::shared_ptr<boost::mutex> image_connect_count_lock_; 00059 private: boost::shared_ptr<bool> was_active_; 00060 }; 00061 } 00062 #endif 00063