UnderwaterCameraROSPlugin.hh

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// Copyright (c) 2016 The UUV Simulator Authors.
// All rights reserved.
//
// 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 __UUV_UNDERWATER_CAMERA_ROS_PLUGIN_HH__
#define __UUV_UNDERWATER_CAMERA_ROS_PLUGIN_HH__

#include <gazebo/gazebo.hh>
#include <ros/ros.h>
#include <gazebo/common/Plugin.hh>
#include <gazebo/plugins/DepthCameraPlugin.hh>
#include <gazebo_plugins/gazebo_ros_camera_utils.h>
#include <uuv_sensor_ros_plugins/Common.hh>
#include <opencv2/opencv.hpp>

namespace gazebo
{
  class UnderwaterCameraROSPlugin :
    public DepthCameraPlugin, public GazeboRosCameraUtils
  {
    public: UnderwaterCameraROSPlugin();

    public: virtual ~UnderwaterCameraROSPlugin();

    public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);

    public: virtual void OnNewDepthFrame(const float *_image,
      unsigned int _width, unsigned int _height, unsigned int _depth,
      const std::string& _format);

    public: virtual void OnNewRGBPointCloud(const float *_pcd,
      unsigned int _width, unsigned int _height, unsigned int _depth,
      const std::string& _format);

    public: virtual void OnNewImageFrame(const unsigned char* _image,
      unsigned int _width, unsigned int _height,  unsigned int _depth,
      const std::string& _format);

    protected: virtual void SimulateUnderwater(
     const cv::Mat& _inputImage, const cv::Mat& _inputDepth,
     cv::Mat& _outputImage);

    protected: const float * lastDepth;

    protected: unsigned char * lastImage;

    protected: float* depth2rangeLUT;

    protected: float attenuation[3];

    protected: unsigned char background[3];
  };
}

#endif // __UUV_UNDERWATER_CAMERA_ROS_PLUGIN_HH__