Multiple camera sensor. More...
#include <sensors/sensors.hh>
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... | |
| 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... | |
| 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... | |
| 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 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::ConnectionPtr > | connections |
| 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< 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... | |
| 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... | |
Multiple camera sensor.
This sensor type can create one or more synchronized cameras.
| gazebo::sensors::MultiCameraSensor::MultiCameraSensor | ( | ) |
Constructor.
|
virtual |
Destructor.
|
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.
| [in] | _index | Index of the camera to get |
| unsigned int gazebo::sensors::MultiCameraSensor::GetCameraCount | ( | ) | const |
Get the number of cameras.
| const unsigned char* gazebo::sensors::MultiCameraSensor::GetImageData | ( | unsigned int | _index | ) |
Gets the raw image data from the sensor.
| [in] | _index | Index of the camera |
| unsigned int gazebo::sensors::MultiCameraSensor::GetImageHeight | ( | unsigned int | _index | ) | const |
Gets the height of the image in pixels.
| [in] | _index | Index of the camera |
| unsigned int gazebo::sensors::MultiCameraSensor::GetImageWidth | ( | unsigned int | _index | ) | const |
Gets the width of the image in pixels.
| [in] | _index | Index of the camera |
|
virtual |
Returns the topic name as set in SDF.
Reimplemented from gazebo::sensors::Sensor.
|
virtual |
Initialize the sensor.
Reimplemented from gazebo::sensors::Sensor.
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virtual |
Returns true if sensor generation is active.
Reimplemented from gazebo::sensors::Sensor.
|
virtual |
Load the sensor with default parameters.
| [in] | _worldName | Name 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.
| [in] | _filenames | The name of the files for each camera. |
|
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
| [in] | _force | True if update is forced, false if not |
Reimplemented from gazebo::sensors::Sensor.