21 #ifndef __PLUGINS_GAZSIM_WEBCAM_H_ 22 #define __PLUGINS_GAZSIM_WEBCAM_H_ 24 #include <core/threading/thread.h> 25 #include <aspect/clock.h> 26 #include <aspect/configurable.h> 27 #include <aspect/logging.h> 28 #include <aspect/blackboard.h> 29 #include <aspect/blocked_timing.h> 30 #include <plugins/gazebo/aspect/gazebo.h> 32 #include <config/config.h> 34 #include <fvutils/ipc/shm_image.h> 35 #include <boost/circular_buffer.hpp> 38 #include <gazebo/transport/TransportTypes.hh> 39 #include <gazebo/msgs/MessageTypes.hh> 40 #include <gazebo/transport/transport.hh> 47 gazebo::transport::NodePtr gazebo_world_node,
53 gazebo::transport::SubscriberPtr webcam_sub_;
56 void on_webcam_data_msg(ConstImageStampedPtr &msg);
61 unsigned char *buffer_;
65 std::string topic_name_;
66 double width_, height_;
70 firevision::colorspace_t format_from_;
71 firevision::colorspace_t format_to_;
Shared memory image buffer.
GazsimWebcam(std::string shm_id, gazebo::transport::NodePtr gazebo_world_node, fawkes::Configuration *config)
Constructor.
Interface for configuration handling.
Simulates a single webcam in Gazebo.