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gazebo::sensors::CameraSensor Class Reference

Basic camera sensor. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::CameraSensor:
Inheritance graph
[legend]

Public Member Functions

 CameraSensor ()
 Constructor. More...
 
virtual ~CameraSensor ()
 Destructor. More...
 
rendering::CameraPtr GetCamera () const
 Returns a pointer to the rendering::Camera. More...
 
const unsigned char * GetImageData ()
 Gets the raw image data from the sensor. More...
 
unsigned int GetImageHeight () const
 Gets the height of the image in pixels. More...
 
unsigned int GetImageWidth () const
 Gets the width of the image in pixels. More...
 
virtual std::string GetTopic () const
 Gets the topic name of the sensor. More...
 
virtual void Init ()
 Initialize the camera. More...
 
virtual bool IsActive ()
 Returns true if sensor generation is active. More...
 
virtual void Load (const std::string &_worldName, sdf::ElementPtr _sdf)
 Load the sensor with SDF parameters. More...
 
virtual void Load (const std::string &_worldName)
 Load the sensor with default parameters. More...
 
bool SaveFrame (const std::string &_filename)
 Saves the image 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...
 
NoisePtr GetNoise (unsigned int _index=0) const
 Get the sensor's noise model. 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...
 
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 camera. More...
 
virtual bool UpdateImpl (bool _force)
 This gets overwritten by derived sensor types. More...
 
- Protected Member Functions inherited from gazebo::sensors::Sensor
bool NeedsUpdate ()
 Return true if the sensor needs to be updated. 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...
 
transport::NodePtr node
 Node for communication. More...
 
std::vector< NoisePtrnoises
 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< 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

Basic camera sensor.

This sensor is used for simulating standard monocular cameras

Constructor & Destructor Documentation

gazebo::sensors::CameraSensor::CameraSensor ( )

Constructor.

virtual gazebo::sensors::CameraSensor::~CameraSensor ( )
virtual

Destructor.

Member Function Documentation

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

Finalize the camera.

Reimplemented from gazebo::sensors::Sensor.

rendering::CameraPtr gazebo::sensors::CameraSensor::GetCamera ( ) const
inline

Returns a pointer to the rendering::Camera.

Returns
The Pointer to the camera sensor.
const unsigned char* gazebo::sensors::CameraSensor::GetImageData ( )

Gets the raw image data from the sensor.

Returns
The pointer to the image data array.
unsigned int gazebo::sensors::CameraSensor::GetImageHeight ( ) const

Gets the height of the image in pixels.

Returns
The image height in pixels.
unsigned int gazebo::sensors::CameraSensor::GetImageWidth ( ) const

Gets the width of the image in pixels.

Returns
The image width in pixels.
virtual std::string gazebo::sensors::CameraSensor::GetTopic ( ) const
virtual

Gets the topic name of the sensor.

Returns
Topic name
Todo:
to be implemented

Reimplemented from gazebo::sensors::Sensor.

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

Initialize the camera.

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::CameraSensor::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::CameraSensor::Load ( const std::string &  _worldName,
sdf::ElementPtr  _sdf 
)
virtual

Load the sensor with SDF parameters.

Parameters
[in]_sdfSDF Sensor parameters
[in]_worldNameName of world to load from

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::CameraSensor::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::CameraSensor::SaveFrame ( const std::string &  _filename)

Saves the image to the disk.

Parameters
[in]_filenameThe name of the file to be saved.
Returns
True if successful, false if unsuccessful.
virtual bool gazebo::sensors::CameraSensor::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
Returns
True if the sensor was updated.

Reimplemented from gazebo::sensors::Sensor.


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