FiducialCameraPlugin Class Reference

A camera sensor plugin for fiducial detection A fiducial is detected if its center is within the camera frustum and not occluded by other models in the view. More...

#include <FiducialCameraPlugin.hh>

Inherits SensorPlugin.

Public Types
typedef boost::shared_ptr< SensorPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	FiducialCameraPlugin ()
	Constructor. More...
virtual	~FiducialCameraPlugin ()
	Destructor. More...
std::string	GetFilename () const
	Get the name of the handler. More...
std::string	GetHandle () const
	Get the short name of the handler. More...
PluginType	GetType () const
	Returns the type of the plugin. More...
void	Init ()
	Override this method for custom plugin initialization behavior. More...
void	Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
	Load function. More...
virtual void	OnNewFrame (const unsigned char *_image, const unsigned int _width, const unsigned int _height, const unsigned int _depth, const std::string &_format)
	Callback when a new camera frame is available. More...
virtual void	Reset ()
	Override this method for custom plugin reset behavior. More...

Static Public Member Functions
static TPtr	Create (const std::string &_filename, const std::string &_name)
	a class method that creates a plugin from a file name. More...

Protected Member Functions
void	LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...
void	LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

Protected Attributes
std::string	filename
	Path to the shared library file. More...
std::string	handleName
	Short name. More...
PluginType	type
	Type of plugin. More...

Detailed Description

A camera sensor plugin for fiducial detection A fiducial is detected if its center is within the camera frustum and not occluded by other models in the view.

The results are published to a topic, e.g. ~/camera_model_name/link_name/sensor_name/fiducial The message format is PosesStamped. The pose's x and y position fields are the image coordinates of the center of the detected fiducial, and the orientation is currently always an identity quaternion.

Member Typedef Documentation

TPtr

typedef boost::shared_ptr<SensorPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

FiducialCameraPlugin()

FiducialCameraPlugin

(

)

Constructor.

~FiducialCameraPlugin()

virtual ~FiducialCameraPlugin ( )

virtual

Destructor.

Member Function Documentation

Create()

static TPtr Create ( const std::string &  _filename, const std::string &  _name  )

inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

[in]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns

Shared Pointer to this class type

GetFilename()

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

GetHandle()

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns

type of the plugin

Init()

void Init ( )

virtual

Override this method for custom plugin initialization behavior.

Reimplemented from SensorPlugin.

Load()

void Load ( sensors::SensorPtr  _sensor, sdf::ElementPtr  _sdf  )

virtual

Load function.

Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.

Parameters

[in]	_sensor	Pointer the Sensor.
[in]	_sdf	Pointer the the SDF element of the plugin.

Implements SensorPlugin.

LoadParam() [1/2]

void LoadParam ( const sdf::ElementPtr &  _sdf, const std::string &  _name, V &  _target, V  _defaultValue = V()  ) const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

LoadParam() [2/2]

void LoadParam ( sdf::ElementPtr &  _sdf, const std::string &  _name, std::string &  _target, const char *  _defaultValue  ) const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

OnNewFrame()

virtual void OnNewFrame ( const unsigned char *  _image, const unsigned int  _width, const unsigned int  _height, const unsigned int  _depth, const std::string &  _format  )

virtual

Callback when a new camera frame is available.

Parameters

[in]	_image	image data
[in]	_width	image width
[in]	_height	image height
[in]	_depth	image depth
[in]	_format	image format

Reset()

virtual void Reset ( )

inlinevirtualinherited

Override this method for custom plugin reset behavior.

Member Data Documentation

filename

std::string filename

protectedinherited

Path to the shared library file.

handleName

std::string handleName

protectedinherited

Short name.

type

PluginType type

protectedinherited

Type of plugin.

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The documentation for this class was generated from the following file:

• FiducialCameraPlugin.hh