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00017 #pragma once
00018
00019 #include <string>
00020
00021 #include <gazebo/common/Plugin.hh>
00022 #include <gazebo/sensors/CameraSensor.hh>
00023 #include <gazebo/gazebo.hh>
00024 #include <gazebo/common/common.hh>
00025 #include <gazebo/rendering/Camera.hh>
00026
00027 #include <gazebo/transport/transport.hh>
00028 #include <gazebo/msgs/msgs.hh>
00029 #include <gazebo/physics/physics.hh>
00030 #include <gazebo/rendering/rendering.hh>
00031
00032 namespace gazebo {
00033
00035 class GAZEBO_VISIBLE GeotaggedImagesPlugin : public SensorPlugin {
00036 public: GeotaggedImagesPlugin();
00037
00038 public: virtual ~GeotaggedImagesPlugin();
00039
00040 public: virtual void Load(sensors::SensorPtr sensor, sdf::ElementPtr sdf);
00041
00042 public: void OnNewFrame(const unsigned char *image);
00043 public: void OnNewGpsPosition(ConstVector3dPtr& v);
00044
00045 protected: float storeIntervalSec_;
00046 private: int imageCounter_;
00047 common::Time lastImageTime_;
00048
00049 protected: sensors::CameraSensorPtr parentSensor_;
00050 protected: rendering::CameraPtr camera_;
00051 protected: rendering::ScenePtr scene_;
00052 private: event::ConnectionPtr newFrameConnection_;
00053 private: std::string storageDir_;
00054 private: msgs::Vector3d lastGpsPosition_;
00055
00056 private: transport::NodePtr node_handle_;
00057 private: std::string namespace_;
00058 private: transport::SubscriberPtr gpsSub_;
00059
00060 protected: unsigned int width_, height_, depth_;
00061 protected: unsigned int destWidth_, destHeight_;
00062 protected: std::string format_;
00063 };
00064
00065 }
rotors_gazebo_plugins
Author(s): Fadri Furrer, Michael Burri, Mina Kamel, Janosch Nikolic, Markus Achtelik
autogenerated on Thu Apr 18 2019 02:43:43