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91 lines
2.6 KiB
91 lines
2.6 KiB
/*
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* Copyright (C) 2012-2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_OPTICAL_FLOW_PLUGIN_HH_
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#define _GAZEBO_OPTICAL_FLOW_PLUGIN_HH_
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#include <string>
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/sensors/ImuSensor.hh"
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#include "gazebo/sensors/CameraSensor.hh"
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#include "gazebo/gazebo.hh"
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#include "gazebo/common/common.hh"
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#include "gazebo/rendering/Camera.hh"
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#include "gazebo/util/system.hh"
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#include "gazebo/transport/transport.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/physics.hh"
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#include "OpticalFlow.pb.h"
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#include <opencv2/opencv.hpp>
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#include <iostream>
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#include <ignition/math.hh>
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#include "flow_opencv.hpp"
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#include "flow_px4.hpp"
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#define DEFAULT_RATE 20
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#define HAS_GYRO true
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using namespace cv;
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using namespace std;
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namespace gazebo
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{
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static const std::string kDefaultGyroTopic = "/px4flow/imu";
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class GAZEBO_VISIBLE OpticalFlowPlugin : public SensorPlugin
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{
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public:
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OpticalFlowPlugin();
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virtual ~OpticalFlowPlugin();
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virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
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virtual void OnNewFrame(const unsigned char *_image,
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unsigned int _width, unsigned int _height,
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unsigned int _depth, const std::string &_format);
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void ImuCallback(ConstIMUPtr& _imu);
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protected:
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unsigned int width, height, depth;
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std::string format;
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sensors::CameraSensorPtr parentSensor;
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rendering::CameraPtr camera;
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physics::WorldPtr world;
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private:
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event::ConnectionPtr newFrameConnection;
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transport::PublisherPtr opticalFlow_pub_;
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transport::NodePtr node_handle_;
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transport::SubscriberPtr imuSub_;
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sensor_msgs::msgs::OpticalFlow opticalFlow_message;
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ignition::math::Vector3d opticalFlow_rate;
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std::string namespace_;
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std::string gyro_sub_topic_;
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OpticalFlowOpenCV *optical_flow_;
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// OpticalFlowPX4 *optical_flow_;
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float hfov_;
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int dt_us_;
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int output_rate_;
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float focal_length_;
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double first_frame_time_;
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uint32_t frame_time_us_;
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bool has_gyro_;
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};
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}
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#endif
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