Basic camera sensor. More...

#include <sensors/sensors.hh>

Inherits Sensor.

Inherited by DepthCameraSensor, and WideAngleCameraSensor.

Public Member Functions
	CameraSensor ()
	Constructor. More...

virtual	~CameraSensor ()
	Destructor. More...

rendering::CameraPtr	Camera () const
	Returns a pointer to the rendering::Camera. More...

SensorCategory	Category () const
	Get the category of the sensor. More...

event::ConnectionPtr	ConnectUpdated (std::function< void()> _subscriber)
	Connect a signal that is triggered when the sensor is updated. More...

void	FillMsg (msgs::Sensor &_msg)
	fills a msgs::Sensor message. More...

uint32_t	Id () const
	Get the sensor's ID. More...

const unsigned char *	ImageData () const
	Gets the raw image data from the sensor. More...

unsigned int	ImageHeight () const
	Gets the height of the image in pixels. More...

unsigned int	ImageWidth () const
	Gets the width of the image in pixels. More...

virtual void	Init () override
	Initialize the camera. More...

virtual bool	IsActive () const override
	Returns true if sensor generation is active. More...

common::Time	LastMeasurementTime () const
	Return last measurement time. More...

common::Time	LastUpdateTime () const
	Return last update time. More...

virtual void	Load (const std::string &_worldName, sdf::ElementPtr _sdf) override
	Load the sensor with SDF parameters. More...

virtual void	Load (const std::string &_worldName) override
	Load the sensor with default parameters. More...

std::string	Name () const
	Get name. More...

double	NextRequiredTimestamp () const override
	Return the next timestamp going to be used by the sensor. More...

NoisePtr	Noise (const SensorNoiseType _type) const
	Get the sensor's noise model for a specified noise type. More...

uint32_t	ParentId () const
	Get the sensor's parent's ID. More...

std::string	ParentName () const
	Returns the name of the sensor parent. More...

virtual ignition::math::Pose3d	Pose () const
	Get the current pose. More...

bool	SaveFrame (const std::string &_filename)
	Saves the image to the disk. More...

std::string	ScopedName () const
	Get fully scoped name of the sensor. More...

void	SetActive (bool _value) override
	Set whether the sensor is active or not. More...

void	SetParent (const std::string &_name, const uint32_t _id)
	Set the sensor's parent. More...

virtual void	SetPose (const ignition::math::Pose3d &_pose)
	Set the current pose. More...

void	SetUpdateRate (const double _hz)
	Set the update rate of the sensor. More...

virtual std::string	Topic () const override
	Gets the topic name of the sensor. More...

std::string	TopicIgn () const
	Gets the ignition topic name of the sensor. More...

std::string	Type () const
	Get sensor type. More...

void	Update (bool _force) override
	Update the sensor. More...

double	UpdateRate () const
	Get the update rate of the sensor. More...

bool	Visualize () const
	Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...

std::string	WorldName () const
	Returns the name of the world the sensor is in. More...

Protected Member Functions
virtual void	Fini () override
	Finalize the camera. More...

bool	NeedsUpdate () override
	Return true if the sensor needs to be updated. More...

virtual void	Render ()
	Handle the render event. More...

bool	Rendered () const
	Get the value of the rendered flag. More...

void	ResetLastUpdateTime () override
	reset timing related members More...

void	SetRendered (const bool _value)
	Set the value of the rendered flag. More...

virtual bool	UpdateImpl (const bool _force) override
	This gets overwritten by derived sensor types. More...

Protected Attributes
bool	active
	True if sensor generation is active. More...

rendering::CameraPtr	camera
	Pointer to the camera. More...

std::vector< event::ConnectionPtr >	connections
	All event connections. More...

transport::PublisherPtr	imagePub
	Publisher of image messages. More...

ignition::transport::Node::Publisher	imagePubIgn
	Publisher of image messages. More...

common::Time	lastMeasurementTime
	Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl. More...

common::Time	lastUpdateTime
	Time of the last update. More...

transport::NodePtr	node
	Node for communication. More...

ignition::transport::Node	nodeIgn
	Ignition transport node. More...

std::map< SensorNoiseType, NoisePtr >	noises
	Noise added to sensor data. More...

uint32_t	parentId
	The sensor's parent ID. More...

std::string	parentName
	Name of the parent. More...

std::vector< SensorPluginPtr >	plugins
	All the plugins for the sensor. More...

ignition::math::Pose3d	pose
	Pose of the sensor. More...

gazebo::rendering::ScenePtr	scene
	Pointer to the Scene. More...

sdf::ElementPtr	sdf
	Pointer the the SDF element for the sensor. More...

event::EventT< void()>	updated
	Event triggered when a sensor is updated. More...

common::Time	updatePeriod
	Desired time between updates, set indirectly by Sensor::SetUpdateRate. More...

gazebo::physics::WorldPtr	world
	Pointer to the world. More...

Detailed Description

Basic camera sensor.

This sensor is used for simulating standard monocular cameras

Constructor & Destructor Documentation

◆ CameraSensor()

CameraSensor ( )

Constructor.

◆ ~CameraSensor()

virtual ~CameraSensor ( )

virtual

Destructor.

Member Function Documentation

◆ Camera()

rendering::CameraPtr Camera ( ) const

Returns a pointer to the rendering::Camera.

Returns: The Pointer to the camera sensor.

◆ Category()

SensorCategory Category ( ) const

inherited

Get the category of the sensor.

Returns: The category of the sensor.

See also: SensorCategory

◆ ConnectUpdated()

event::ConnectionPtr ConnectUpdated ( std::function< void()> _subscriber )

inherited

Connect a signal that is triggered when the sensor is updated.

Parameters

[in] _subscriber Callback that receives the signal.

Returns: A pointer to the connection. This must be kept in scope.

See also: Sensor::DisconnectUpdated

◆ FillMsg()

void FillMsg ( msgs::Sensor & _msg )

inherited

fills a msgs::Sensor message.

Parameters

[out] _msg Message to fill.

◆ Fini()

virtual void Fini ( )

overrideprotectedvirtual

Finalize the camera.

Reimplemented from Sensor.

Reimplemented in WideAngleCameraSensor.

◆ Id()

uint32_t Id ( ) const

inherited

Get the sensor's ID.

Returns: The sensor's ID.

◆ ImageData()

const unsigned char* ImageData ( ) const

Gets the raw image data from the sensor.

Returns: The pointer to the image data array.

◆ ImageHeight()

unsigned int ImageHeight ( ) const

Gets the height of the image in pixels.

Returns: The image height in pixels.

◆ ImageWidth()

unsigned int ImageWidth ( ) const

Gets the width of the image in pixels.

Returns: The image width in pixels.

◆ Init()

virtual void Init ( )

overridevirtual

Initialize the camera.

Reimplemented from Sensor.

Reimplemented in WideAngleCameraSensor, and DepthCameraSensor.

◆ IsActive()

virtual bool IsActive ( ) const

overridevirtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented from Sensor.

◆ LastMeasurementTime()

common::Time LastMeasurementTime ( ) const

inherited

Return last measurement time.

Returns: Time of last measurement.

◆ LastUpdateTime()

common::Time LastUpdateTime ( ) const

inherited

Return last update time.

Returns: Time of last update.

◆ Load() [1/2]

virtual void Load	(	const std::string &	_worldName,
		sdf::ElementPtr	_sdf
	)

overridevirtual

Load the sensor with SDF parameters.

Parameters

[in]	_sdf	SDF Sensor parameters
[in]	_worldName	Name of world to load from

Reimplemented from Sensor.

◆ Load() [2/2]

virtual void Load ( const std::string & _worldName )

overridevirtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from

Reimplemented from Sensor.

Reimplemented in DepthCameraSensor, and WideAngleCameraSensor.

◆ Name()

std::string Name ( ) const

inherited

Get name.

Returns: Name of sensor.

◆ NeedsUpdate()

bool NeedsUpdate ( )

overrideprotectedvirtual

Return true if the sensor needs to be updated.

Returns: True when sensor should be updated.

Reimplemented from Sensor.

◆ NextRequiredTimestamp()

double NextRequiredTimestamp ( ) const

overridevirtual

Return the next timestamp going to be used by the sensor.

Returns: the timestamp

Reimplemented from Sensor.

◆ Noise()

NoisePtr Noise ( const SensorNoiseType _type ) const

inherited

Get the sensor's noise model for a specified noise type.

Parameters

[in] _type Index of the noise type. Refer to SensorNoiseType enumeration for possible indices

Returns: The sensor's noise model for the given noise type

◆ ParentId()

uint32_t ParentId ( ) const

inherited

Get the sensor's parent's ID.

Returns: The sensor's parent's ID.

◆ ParentName()

std::string ParentName ( ) const

inherited

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent.

◆ Pose()

virtual ignition::math::Pose3d Pose ( ) const

virtualinherited

Get the current pose.

Returns: Current pose of the sensor.

See also: SetPose()

◆ Render()

virtual void Render ( )

protectedvirtual

Handle the render event.

◆ Rendered()

bool Rendered ( ) const

protected

Get the value of the rendered flag.

◆ ResetLastUpdateTime()

void ResetLastUpdateTime ( )

overrideprotectedvirtual

reset timing related members

Reimplemented from Sensor.

◆ SaveFrame()

bool SaveFrame ( const std::string & _filename )

Saves the image to the disk.

Parameters

[in] _filename The name of the file to be saved.

Returns: True if successful, false if unsuccessful.

◆ ScopedName()

std::string ScopedName ( ) const

inherited

Get fully scoped name of the sensor.

Returns: world_name::model_name::link_name::sensor_name.

◆ SetActive()

void SetActive ( bool _value )

overridevirtual

Set whether the sensor is active or not.

Parameters

[in] _value True if active, false if not.

Reimplemented from Sensor.

◆ SetParent()

void SetParent	(	const std::string &	_name,
		const uint32_t	_id
	)

inherited

Set the sensor's parent.

Parameters

[in]	_name	The sensor's parent's name.
[in]	_id	The sensor's parent's ID.

◆ SetPose()

virtual void SetPose ( const ignition::math::Pose3d & _pose )

virtualinherited

Set the current pose.

Parameters

[in] _pose New pose of the sensor.

See also: Pose()

◆ SetRendered()

void SetRendered ( const bool _value )

protected

Set the value of the rendered flag.

Parameters

[in] _value New rendered value.

◆ SetUpdateRate()

void SetUpdateRate ( const double _hz )

inherited

Set the update rate of the sensor.

Parameters

[in] _hz update rate of sensor.

◆ Topic()

virtual std::string Topic ( ) const

overridevirtual

Gets the topic name of the sensor.

Returns: Topic name

Reimplemented from Sensor.

◆ TopicIgn()

std::string TopicIgn ( ) const

Gets the ignition topic name of the sensor.

Returns: Ignition topic name

◆ Type()

std::string Type ( ) const

inherited

Get sensor type.

Returns: Type of sensor.

◆ Update()

void Update ( bool _force )

overridevirtual

Update the sensor.

Parameters

[in] _force True to force update, false otherwise.

Reimplemented from Sensor.

◆ UpdateImpl()

virtual bool UpdateImpl ( const bool )

overrideprotectedvirtual

This gets overwritten by derived sensor types.

This function is called during Sensor::Update. And in turn, Sensor::Update is called by SensorManager::Update

Parameters

[in] _force True if update is forced, false if not

Returns: True if the sensor was updated.

Reimplemented from Sensor.

Reimplemented in DepthCameraSensor, and WideAngleCameraSensor.

◆ UpdateRate()

double UpdateRate ( ) const

inherited

Get the update rate of the sensor.

Returns: _hz update rate of sensor. Returns 0 if unthrottled.

◆ Visualize()

bool Visualize ( ) const

inherited

Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

Returns: True if visualized, false if not.

◆ WorldName()

std::string WorldName ( ) const

inherited

Returns the name of the world the sensor is in.

Returns: Name of the world.

Member Data Documentation

◆ active

bool active

protectedinherited

True if sensor generation is active.

◆ camera

rendering::CameraPtr camera

protected

Pointer to the camera.

◆ connections

std::vector<event::ConnectionPtr> connections

protectedinherited

All event connections.

◆ imagePub

transport::PublisherPtr imagePub

protected

Publisher of image messages.

◆ imagePubIgn

ignition::transport::Node::Publisher imagePubIgn

protected

Publisher of image messages.

◆ lastMeasurementTime

common::Time lastMeasurementTime

protectedinherited

Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.

◆ lastUpdateTime

common::Time lastUpdateTime

protectedinherited

Time of the last update.

◆ node

transport::NodePtr node

protectedinherited

Node for communication.

◆ nodeIgn

ignition::transport::Node nodeIgn

protectedinherited

Ignition transport node.

◆ noises

std::map<SensorNoiseType, NoisePtr> noises

protectedinherited

Noise added to sensor data.

◆ parentId

uint32_t parentId

protectedinherited

The sensor's parent ID.

◆ parentName

std::string parentName

protectedinherited

Name of the parent.

◆ plugins

std::vector<SensorPluginPtr> plugins

protectedinherited

All the plugins for the sensor.

◆ pose

ignition::math::Pose3d pose

protectedinherited

Pose of the sensor.

◆ scene

gazebo::rendering::ScenePtr scene

protectedinherited

Pointer to the Scene.

◆ sdf

sdf::ElementPtr sdf

protectedinherited

Pointer the the SDF element for the sensor.

◆ updated

event::EventT<void()> updated

protectedinherited

Event triggered when a sensor is updated.

◆ updatePeriod

common::Time updatePeriod

protectedinherited

Desired time between updates, set indirectly by Sensor::SetUpdateRate.

◆ world

gazebo::physics::WorldPtr world

protectedinherited

Pointer to the world.

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

CameraSensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CameraSensor()

◆ ~CameraSensor()

Member Function Documentation

◆ Camera()

◆ Category()

◆ ConnectUpdated()

◆ FillMsg()

◆ Fini()

◆ Id()

◆ ImageData()

◆ ImageHeight()

◆ ImageWidth()

◆ Init()

◆ IsActive()

◆ LastMeasurementTime()

◆ LastUpdateTime()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Name()

◆ NeedsUpdate()

◆ NextRequiredTimestamp()

◆ Noise()

◆ ParentId()

◆ ParentName()

◆ Pose()

◆ Render()

◆ Rendered()

◆ ResetLastUpdateTime()

◆ SaveFrame()

◆ ScopedName()

◆ SetActive()

◆ SetParent()

◆ SetPose()

◆ SetRendered()

◆ SetUpdateRate()

◆ Topic()

◆ TopicIgn()

◆ Type()

◆ Update()

◆ UpdateImpl()

◆ UpdateRate()

◆ Visualize()

◆ WorldName()

Member Data Documentation

◆ active

◆ camera

◆ connections

◆ imagePub

◆ imagePubIgn

◆ lastMeasurementTime

◆ lastUpdateTime

◆ node

◆ nodeIgn

◆ noises

◆ parentId

◆ parentName

◆ plugins

◆ pose

◆ scene

◆ sdf

◆ updated

◆ updatePeriod

◆ world