#pragma once
#ifndef _IV_PERCEPTION_SENSOR_CAMERA_
#define _IV_PERCEPTION_SENSOR_CAMERA_

#include <perception_sf/sensor.h>
namespace iv {
	namespace perception {
		class CameraSensor : public iv::perception::Sensor
		{
		public:
			CameraSensor();
			~CameraSensor();

			typedef void
			(sig_cb_camera_sensor_obstacle)(iv::ObsCamera);

			// 通过 Sensor 继承
			virtual void start() override;

			virtual void stop() override;

			virtual bool isRunning() const override;

			virtual void processSensor() override;

		private:
			boost::signals2::signal<sig_cb_camera_sensor_obstacle>* signal_camera_obstacle;	//摄像头障碍物信号

		};
	}
}

#endif // !_IV_PERCEPTION_SENSOR_CAMERA_