A camera sensor that reports locations of objects instead of rendering a scene. More...
#include <sensors/sensors.hh>
Public Member Functions | |
| LogicalCameraSensor () | |
| Constructor. More... | |
| virtual | ~LogicalCameraSensor () |
| Destructor. More... | |
| double | AspectRatio () const |
| Get the aspect ratio, which is the width divided by height of the near or far planes. More... | |
| double | Far () const |
| Get the far distance. More... | |
| virtual std::string | GetTopic () const |
| Returns the topic name as set in SDF. More... | |
| ignition::math::Angle | HorizontalFOV () const |
| Get the horizontal field of view. More... | |
| msgs::LogicalCameraImage | Image () const |
| Get the latest image. 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, sdf::ElementPtr _sdf) |
| Load the sensor with SDF parameters. More... | |
| virtual void | Load (const std::string &_worldName) |
| Load the sensor with default parameters. More... | |
| double | Near () const |
| Get the near distance. 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 GAZEBO_DEPRECATED(6.0) |
| Get the sensor's noise model. More... | |
| NoisePtr | GetNoise (const SensorNoiseType _type) const |
| Get the sensor's noise model for a specified noise type. 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 GAZEBO_DEPRECATED(6.0) |
| 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 ignition::math::Pose3d | Pose () const |
| Get the current pose. 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::map< int, NoisePtr > | noises |
| Noise added to sensor data The key maps to a SensorNoiseType, and is kept as an int value for backward compatibilty with Gazebo 5&6. 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... | |
| 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... | |
A camera sensor that reports locations of objects instead of rendering a scene.
This camera finds models in the sensor's vicinity, and transmits information about the models on the sensor's topic.
| gazebo::sensors::LogicalCameraSensor::LogicalCameraSensor | ( | ) |
Constructor.
|
virtual |
Destructor.
| double gazebo::sensors::LogicalCameraSensor::AspectRatio | ( | ) | const |
Get the aspect ratio, which is the width divided by height of the near or far planes.
| double gazebo::sensors::LogicalCameraSensor::Far | ( | ) | const |
Get the far distance.
This is the distance from the frustum's vertex to the farthest plane.
|
protectedvirtual |
Finalize the sensor.
Reimplemented from gazebo::sensors::Sensor.
|
virtual |
Returns the topic name as set in SDF.
Reimplemented from gazebo::sensors::Sensor.
| ignition::math::Angle gazebo::sensors::LogicalCameraSensor::HorizontalFOV | ( | ) | const |
Get the horizontal field of view.
The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.
| msgs::LogicalCameraImage gazebo::sensors::LogicalCameraSensor::Image | ( | ) | const |
Get the latest image.
An image is an instance of msgs::LogicalCameraImage, which contains a list of detected models.
|
virtual |
Initialize the sensor.
Reimplemented from gazebo::sensors::Sensor.
|
virtual |
Returns true if sensor generation is active.
Reimplemented from gazebo::sensors::Sensor.
|
virtual |
Load the sensor with SDF parameters.
| [in] | _sdf | SDF Sensor parameters. |
| [in] | _worldName | Name of world to load from. |
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.
| double gazebo::sensors::LogicalCameraSensor::Near | ( | ) | const |
Get the near distance.
This is the distance from the frustum's vertex to the closest plane.
|
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.