text: /*
   * Copyright (C) 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_DEPTHCAMERAPLUGIN_HH_
  #define GAZEBO_PLUGINS_DEPTHCAMERAPLUGIN_HH_
  
  #include <string>
  
  #include "gazebo/common/Plugin.hh"
  #include "gazebo/sensors/DepthCameraSensor.hh"
  #include "gazebo/sensors/CameraSensor.hh"
  #include "gazebo/rendering/DepthCamera.hh"
  #include "gazebo/util/system.hh"
  
  namespace gazebo
  {
    class GAZEBO_VISIBLE DepthCameraPlugin : public SensorPlugin
    {
      /// \brief Constructor
      public: DepthCameraPlugin();
  
      /// \brief Destructor
      public: virtual ~DepthCameraPlugin();
  
      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);
  
      /// \brief Update the controller
      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: unsigned int width, height, depth;
      protected: std::string format;
  
      protected: sensors::DepthCameraSensorPtr parentSensor;
      protected: rendering::DepthCameraPtr depthCamera;
  
      private: event::ConnectionPtr newDepthFrameConnection;
      private: event::ConnectionPtr newRGBPointCloudConnection;
      private: event::ConnectionPtr newImageFrameConnection;
    };
  }
  #endif
  