LogicalCameraSensor.hh

/*
 * Copyright (C) 2019 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 GZ_SENSORS_LOGICALCAMERASENSOR_HH_
#define GZ_SENSORS_LOGICALCAMERASENSOR_HH_

#include <map>
#include <memory>
#include <string>

#include <sdf/sdf.hh>

#include <gz/utils/SuppressWarning.hh>

#include <gz/math/Angle.hh>

#include <gz/msgs/logical_camera_image.pb.h>

#include "gz/sensors/config.hh"
#include "gz/sensors/Export.hh"
#include "gz/sensors/logical_camera/Export.hh"
#include "gz/sensors/Sensor.hh"

namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
    //
    /// \brief forward declarations
    class LogicalCameraSensorPrivate;

    /// \brief Logical Camera Sensor Class
    ///
    /// A logical camera reports locations of objects. This camera finds models
    /// within the sensor's frustum and publishes information about the models
    /// on the sensor's topic.
    class GZ_SENSORS_LOGICAL_CAMERA_VISIBLE LogicalCameraSensor
      : public Sensor
    {
      /// \brief constructor
      public: LogicalCameraSensor();

      /// \brief destructor
      public: virtual ~LogicalCameraSensor();

      /// \brief Load the sensor with SDF parameters.
      /// \param[in] _sdf SDF Sensor parameters.
      /// \return true if loading was successful
      public: virtual bool Load(sdf::ElementPtr _sdf) override;

      /// \brief Initialize values in the sensor
      /// \return True on success
      public: virtual bool Init() override;

      using Sensor::Update;

      /// \brief Force the sensor to generate data
      /// \param[in] _now The current time
      /// \return true if the update was successfull
      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) override;

      /// \brief Get the near distance. This is the distance from the
      /// frustum's vertex to the closest plane.
      /// \return Near distance.
      public: double Near() const;

      /// \brief Get the far distance. This is the distance from the
      /// frustum's vertex to the farthest plane.
      /// \return Far distance.
      public: double Far() const;

      /// \brief Set the models currently in the world
      /// \param[in] _models A map of model names to their world pose.
      public: void SetModelPoses(std::map<std::string, math::Pose3d> &&_models);

      /// \brief Get the horizontal field of view. The field of view is the
      /// angle between the frustum's vertex and the edges of the near or far
      /// plane. This value represents the horizontal angle.
      /// \return The field of view.
      public: gz::math::Angle HorizontalFOV() const;

      /// \brief Get the aspect ratio, which is the width divided by height
      /// of the near or far planes.
      /// \return The frustum's aspect ratio.
      public: double AspectRatio() const;

      /// \brief Check if there are any subscribers
      /// \return True if there are subscribers, false otherwise
      public: virtual bool HasConnections() const override;

      /// \brief Check if there are any image subscribers
      /// \return True if there are image subscribers, false otherwise
      public: virtual bool HasImageConnections() const;

      /// \brief Check if there are any frustum subscribers
      /// \return True if there are info subscribers, false otherwise
      public: virtual bool HasFrustumConnections() const;

      /// \brief Get the latest image. An image is an instance of
      /// msgs::LogicalCameraImage, which contains a list of detected models.
      /// \return List of detected models.
      public: msgs::LogicalCameraImage Image() const;

      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      /// \brief Data pointer for private data
      /// \internal
      private: std::unique_ptr<LogicalCameraSensorPrivate> dataPtr;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}

#endif