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| 1 | +/* |
| 2 | + * Copyright (C) 2021 Open Source Robotics Foundation |
| 3 | + * |
| 4 | + * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | + * you may not use this file except in compliance with the License. |
| 6 | + * You may obtain a copy of the License at |
| 7 | + * |
| 8 | + * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | + * |
| 10 | + * Unless required by applicable law or agreed to in writing, software |
| 11 | + * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | + * See the License for the specific language governing permissions and |
| 14 | + * limitations under the License. |
| 15 | + * |
| 16 | +*/ |
| 17 | + |
| 18 | +#ifndef IGNITION_SENSORS_SEGMENTATIONCAMERASENSOR_HH_ |
| 19 | +#define IGNITION_SENSORS_SEGMENTATIONCAMERASENSOR_HH_ |
| 20 | + |
| 21 | +#include <memory> |
| 22 | +#include <string> |
| 23 | + |
| 24 | +#include <ignition/common/Event.hh> |
| 25 | +#include <ignition/common/PluginMacros.hh> |
| 26 | +#include <ignition/common/SuppressWarning.hh> |
| 27 | +#include <ignition/common/Time.hh> |
| 28 | +#include <ignition/msgs.hh> |
| 29 | +#include <ignition/transport/Node.hh> |
| 30 | +#include <ignition/transport/Publisher.hh> |
| 31 | +#include <sdf/sdf.hh> |
| 32 | + |
| 33 | +#include "ignition/sensors/CameraSensor.hh" |
| 34 | +#include "ignition/sensors/Export.hh" |
| 35 | +#include "ignition/sensors/Sensor.hh" |
| 36 | + |
| 37 | +#include "ignition/sensors/segmentation_camera/Export.hh" |
| 38 | + |
| 39 | +namespace ignition |
| 40 | +{ |
| 41 | + namespace sensors |
| 42 | + { |
| 43 | + // Inline bracket to help doxygen filtering. |
| 44 | + inline namespace IGNITION_SENSORS_VERSION_NAMESPACE { |
| 45 | + // forward declarations |
| 46 | + class SegmentationCameraSensorPrivate; |
| 47 | + |
| 48 | + /// \brief Segmentation camera sensor class. |
| 49 | + /// |
| 50 | + /// This class creates segmentation images from an ignition rendering scene. |
| 51 | + /// The scene must be created in advance and given to Manager::Init(). |
| 52 | + /// It offers both an ignition-transport interface and a direct C++ API |
| 53 | + /// to access the image data. The API works by setting a callback to be |
| 54 | + /// called with image data. |
| 55 | + class IGNITION_SENSORS_SEGMENTATION_CAMERA_VISIBLE |
| 56 | + SegmentationCameraSensor : public CameraSensor |
| 57 | + { |
| 58 | + /// \brief constructor |
| 59 | + public: SegmentationCameraSensor(); |
| 60 | + |
| 61 | + /// \brief destructor |
| 62 | + public: virtual ~SegmentationCameraSensor(); |
| 63 | + |
| 64 | + /// \brief Load the sensor based on data from an sdf::Sensor object. |
| 65 | + /// \param[in] _sdf SDF Sensor parameters. |
| 66 | + /// \return true if loading was successful |
| 67 | + public: virtual bool Load(const sdf::Sensor &_sdf) override; |
| 68 | + |
| 69 | + /// \brief Load the sensor with SDF parameters. |
| 70 | + /// \param[in] _sdf SDF Sensor parameters. |
| 71 | + /// \return true if loading was successful |
| 72 | + public: virtual bool Load(sdf::ElementPtr _sdf) override; |
| 73 | + |
| 74 | + /// \brief Initialize values in the sensor |
| 75 | + /// \return True on success |
| 76 | + public: virtual bool Init() override; |
| 77 | + |
| 78 | + /// \brief Force the sensor to generate data |
| 79 | + /// \param[in] _now The current time |
| 80 | + /// \return true if the update was successful |
| 81 | + public: virtual bool Update( |
| 82 | + const std::chrono::steady_clock::duration &_now) override; |
| 83 | + |
| 84 | + /// \brief Get the rendering segmentation camera |
| 85 | + /// \return Segmentation camera pointer |
| 86 | + public: rendering::SegmentationCameraPtr SegmentationCamera() const; |
| 87 | + |
| 88 | + /// \brief Segmentation data callback used to get the data from the sensor |
| 89 | + /// \param[in] _data pointer to the data from the sensor |
| 90 | + /// \param[in] _width width of the segmentation image |
| 91 | + /// \param[in] _height height of the segmentation image |
| 92 | + /// \param[in] _channels num of channels |
| 93 | + /// \param[in] _format string with the format |
| 94 | + public: void OnNewSegmentationFrame(const uint8_t * _data, |
| 95 | + unsigned int _width, unsigned int _height, unsigned int _channels, |
| 96 | + const std::string &_format); |
| 97 | + |
| 98 | + /// \brief Set a callback to be called when image frame data is |
| 99 | + /// generated. |
| 100 | + /// \param[in] _callback This callback will be called every time the |
| 101 | + /// camera produces image data. The Update function will be blocked |
| 102 | + /// while the callbacks are executed. |
| 103 | + /// \remark Do not block inside of the callback. |
| 104 | + /// \return A connection pointer that must remain in scope. When the |
| 105 | + /// connection pointer falls out of scope, the connection is broken. |
| 106 | + public: ignition::common::ConnectionPtr ConnectImageCallback( |
| 107 | + std::function<void(const ignition::msgs::Image &)> _callback); |
| 108 | + |
| 109 | + /// \brief Set the rendering scene. |
| 110 | + /// \param[in] _scene Pointer to the scene |
| 111 | + public: virtual void SetScene( |
| 112 | + ignition::rendering::ScenePtr _scene) override; |
| 113 | + |
| 114 | + /// \brief Get image width. |
| 115 | + /// \return width of the image |
| 116 | + public: virtual unsigned int ImageWidth() const override; |
| 117 | + |
| 118 | + /// \brief Get image height. |
| 119 | + /// \return height of the image |
| 120 | + public: virtual unsigned int ImageHeight() const override; |
| 121 | + |
| 122 | + /// \brief Create a camera in a scene |
| 123 | + /// \return True on success. |
| 124 | + private: bool CreateCamera(); |
| 125 | + |
| 126 | + IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING |
| 127 | + /// \brief Data pointer for private data |
| 128 | + /// \internal |
| 129 | + private: std::unique_ptr<SegmentationCameraSensorPrivate> dataPtr; |
| 130 | + IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING |
| 131 | + }; |
| 132 | + } |
| 133 | + } |
| 134 | +} |
| 135 | + |
| 136 | +#endif |
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