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gazebo::sensors::MultiCameraSensor Class Reference

Multiple camera sensor. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::MultiCameraSensor:
Inheritance graph
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Public Member Functions

 MultiCameraSensor ()
 Constructor. More...
 
virtual ~MultiCameraSensor ()
 Destructor. More...
 
rendering::CameraPtr GetCamera (unsigned int _index) const
 Returns a pointer to a rendering::Camera. More...
 
unsigned int GetCameraCount () const
 Get the number of cameras. More...
 
const unsigned char * GetImageData (unsigned int _index)
 Gets the raw image data from the sensor. More...
 
unsigned int GetImageHeight (unsigned int _index) const
 Gets the height of the image in pixels. More...
 
unsigned int GetImageWidth (unsigned int _index) const
 Gets the width of the image in pixels. More...
 
virtual std::string GetTopic () const
 Returns the topic name as set in SDF. More...
 
virtual void Init ()
 Initialize the sensor. More...
 
virtual bool IsActive ()
 Returns true if sensor generation is active. More...
 
virtual void Load (const std::string &_worldName)
 Load the sensor with default parameters. More...
 
bool SaveFrame (const std::vector< std::string > &_filenames)
 Saves the camera image(s) to the disk. More...
 
- Public Member Functions inherited from gazebo::sensors::Sensor
 Sensor (SensorCategory _cat)
 Constructor. More...
 
virtual ~Sensor ()
 Destructor. More...
 
template<typename T >
event::ConnectionPtr ConnectUpdated (T _subscriber)
 Connect a signal that is triggered when the sensor is updated. More...
 
void DisconnectUpdated (event::ConnectionPtr &_c)
 Disconnect from a the updated signal. More...
 
void FillMsg (msgs::Sensor &_msg)
 fills a msgs::Sensor message. More...
 
SensorCategory GetCategory () const
 Get the category of the sensor. More...
 
uint32_t GetId () const
 Get the sensor's ID. More...
 
common::Time GetLastMeasurementTime ()
 Return last measurement time. More...
 
common::Time GetLastUpdateTime ()
 Return last update time. More...
 
std::string GetName () const
 Get name. More...
 
uint32_t GetParentId () const
 Get the sensor's parent's ID. More...
 
std::string GetParentName () const
 Returns the name of the sensor parent. More...
 
virtual math::Pose GetPose () const
 Get the current pose. More...
 
std::string GetScopedName () const
 Get fully scoped name of the sensor. More...
 
std::string GetType () const
 Get sensor type. More...
 
double GetUpdateRate ()
 Get the update rate of the sensor. More...
 
bool GetVisualize () const
 Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...
 
std::string GetWorldName () const
 Returns the name of the world the sensor is in. More...
 
virtual void Load (const std::string &_worldName, sdf::ElementPtr _sdf)
 Load the sensor with SDF parameters. More...
 
void ResetLastUpdateTime ()
 Reset the lastUpdateTime to zero. More...
 
virtual void SetActive (bool _value)
 Set whether the sensor is active or not. More...
 
virtual void SetParent (const std::string &_name) GAZEBO_DEPRECATED(2.0)
 Set the parent of the sensor. More...
 
void SetParent (const std::string &_name, uint32_t _id)
 Set the sensor's parent. More...
 
void SetUpdateRate (double _hz)
 Set the update rate of the sensor. More...
 
void Update (bool _force)
 Update the sensor. More...
 

Protected Member Functions

virtual void Fini ()
 Finalize the sensor. More...
 
virtual void UpdateImpl (bool _force)
 This gets overwritten by derived sensor types. More...
 

Additional Inherited Members

- Protected Attributes inherited from gazebo::sensors::Sensor
bool active
 True if sensor generation is active. More...
 
std::vector< event::ConnectionPtrconnections
 All event connections. 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...
 
boost::mutex mutexLastUpdateTime
 Mutex to protect resetting lastUpdateTime. More...
 
transport::NodePtr node
 Node for communication. More...
 
uint32_t parentId
 The sensor's parent ID. More...
 
std::string parentName
 Name of the parent. More...
 
std::vector< SensorPluginPtrplugins
 All the plugins for the sensor. More...
 
math::Pose pose
 Pose of the sensor. More...
 
transport::SubscriberPtr poseSub
 Subscribe to pose updates. More...
 
gazebo::rendering::ScenePtr scene
 Pointer to the Scene. More...
 
sdf::ElementPtr sdf
 Pointer the the SDF element for the sensor. 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

Multiple camera sensor.

This sensor type can create one or more synchronized cameras.

Constructor & Destructor Documentation

gazebo::sensors::MultiCameraSensor::MultiCameraSensor ( )

Constructor.

virtual gazebo::sensors::MultiCameraSensor::~MultiCameraSensor ( )
virtual

Destructor.

Member Function Documentation

virtual void gazebo::sensors::MultiCameraSensor::Fini ( )
protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

rendering::CameraPtr gazebo::sensors::MultiCameraSensor::GetCamera ( unsigned int  _index) const

Returns a pointer to a rendering::Camera.

Parameters
[in]_indexIndex of the camera to get
Returns
The Pointer to the camera sensor.
See Also
MultiCameraSensor::GetCameraCount
unsigned int gazebo::sensors::MultiCameraSensor::GetCameraCount ( ) const

Get the number of cameras.

Returns
The number of cameras.
const unsigned char* gazebo::sensors::MultiCameraSensor::GetImageData ( unsigned int  _index)

Gets the raw image data from the sensor.

Parameters
[in]_indexIndex of the camera
Returns
The pointer to the image data array.
See Also
MultiCameraSensor::GetCameraCount
unsigned int gazebo::sensors::MultiCameraSensor::GetImageHeight ( unsigned int  _index) const

Gets the height of the image in pixels.

Parameters
[in]_indexIndex of the camera
Returns
The image height in pixels.
See Also
MultiCameraSensor::GetCameraCount
unsigned int gazebo::sensors::MultiCameraSensor::GetImageWidth ( unsigned int  _index) const

Gets the width of the image in pixels.

Parameters
[in]_indexIndex of the camera
Returns
The image width in pixels.
See Also
MultiCameraSensor::GetCameraCount
virtual std::string gazebo::sensors::MultiCameraSensor::GetTopic ( ) const
virtual

Returns the topic name as set in SDF.

Returns
Topic name.

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::MultiCameraSensor::Init ( )
virtual

Initialize the sensor.

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::MultiCameraSensor::IsActive ( )
virtual

Returns true if sensor generation is active.

Returns
True if active, false if not.

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::MultiCameraSensor::Load ( const std::string &  _worldName)
virtual

Load the sensor with default parameters.

Parameters
[in]_worldNameName of world to load from.

Reimplemented from gazebo::sensors::Sensor.

bool gazebo::sensors::MultiCameraSensor::SaveFrame ( const std::vector< std::string > &  _filenames)

Saves the camera image(s) to the disk.

Parameters
[in]_filenamesThe name of the files for each camera.
Returns
True if successful, false if unsuccessful.
See Also
MultiCameraSensor::GetCameraCount
virtual void gazebo::sensors::MultiCameraSensor::UpdateImpl ( bool  )
protectedvirtual

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]_forceTrue if update is forced, false if not

Reimplemented from gazebo::sensors::Sensor.


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