Commit b046657a authored by Nicolae Rosia's avatar Nicolae Rosia
Browse files

gazebo_opticalFlow_plugin: fix compilation warnings against Gazebo 7


Signed-off-by: default avatarNicolae Rosia <nicolae.rosia@gmail.com>
parent d4903a76
......@@ -73,7 +73,11 @@ void CameraPlugin::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
gzmsg << "It is a depth camera sensor\n";
}
#if GAZEBO_MAJOR_VERSION >= 7
this->camera = this->parentSensor->Camera();
#else
this->camera = this->parentSensor->GetCamera();
#endif
if (!this->parentSensor)
{
......@@ -81,10 +85,17 @@ void CameraPlugin::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
return;
}
#if GAZEBO_MAJOR_VERSION >= 7
this->width = this->camera->ImageWidth();
this->height = this->camera->ImageHeight();
this->depth = this->camera->ImageDepth();
this->format = this->camera->ImageFormat();
#else
this->width = this->camera->GetImageWidth();
this->height = this->camera->GetImageHeight();
this->depth = this->camera->GetImageDepth();
this->format = this->camera->GetImageFormat();
#endif
if (_sdf->HasElement("robotNamespace"))
......@@ -111,14 +122,22 @@ void CameraPlugin::OnNewFrame(const unsigned char * _image,
unsigned int _depth,
const std::string &_format)
{
#if GAZEBO_MAJOR_VERSION >= 7
_image = this->camera->ImageData(0);
#else
_image = this->camera->GetImageData(0);
#endif
//GetHFOV gives fucking gazebo::math::Angle which you can not cast...
const double Hfov = 0.6;
const double focal_length = (_width/2)/tan(Hfov/2);
double pixel_flow_x_integral = 0.0;
double pixel_flow_y_integral = 0.0;
#if GAZEBO_MAJOR_VERSION >= 7
double rate = this->camera->RenderRate();
#else
double rate = this->camera->GetRenderRate();
#endif
if (!isfinite(rate))
rate = 30.0;
double dt = 1.0 / rate;
......
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