Basic camera sensor. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::CameraSensor:

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

virtual	~CameraSensor ()
	Destructor. More...

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

rendering::CameraPtr	GetCamera () const GAZEBO_DEPRECATED(7.0)
	Returns a pointer to the rendering::Camera. More...

const unsigned char *	GetImageData () GAZEBO_DEPRECATED(7.0)
	Gets the raw image data from the sensor. More...

unsigned int	GetImageHeight () const GAZEBO_DEPRECATED(7.0)
	Gets the height of the image in pixels. More...

unsigned int	GetImageWidth () const GAZEBO_DEPRECATED(7.0)
	Gets the width of the image in pixels. 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 ()
	Initialize the camera. More...

virtual bool	IsActive () const
	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...

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

Public Member Functions inherited from gazebo::sensors::Sensor
	Sensor (SensorCategory _cat)
	Constructor. More...

virtual	~Sensor ()
	Destructor. 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	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 GAZEBO_DEPRECATED(7.0)
	Get the category of the sensor. More...

uint32_t	GetId () const GAZEBO_DEPRECATED(7.0)
	Get the sensor's ID. More...

common::Time	GetLastMeasurementTime () GAZEBO_DEPRECATED(7.0)
	Return last measurement time. More...

common::Time	GetLastUpdateTime () GAZEBO_DEPRECATED(7.0)
	Return last update time. More...

std::string	GetName () const GAZEBO_DEPRECATED(7.0)
	Get name. More...

NoisePtr	GetNoise (const SensorNoiseType _type) const GAZEBO_DEPRECATED(7.0)
	Get the sensor's noise model for a specified noise type. More...

uint32_t	GetParentId () const GAZEBO_DEPRECATED(7.0)
	Get the sensor's parent's ID. More...

std::string	GetParentName () const GAZEBO_DEPRECATED(7.0)
	Returns the name of the sensor parent. More...

std::string	GetScopedName () const GAZEBO_DEPRECATED(7.0)
	Get fully scoped name of the sensor. More...

virtual std::string	GetTopic () const GAZEBO_DEPRECATED(7.0)
	Returns the topic name as set in SDF. More...

std::string	GetType () const GAZEBO_DEPRECATED(7.0)
	Get sensor type. More...

double	GetUpdateRate () GAZEBO_DEPRECATED(7.0)
	Get the update rate of the sensor. More...

bool	GetVisualize () const GAZEBO_DEPRECATED(7.0)
	Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...

std::string	GetWorldName () const GAZEBO_DEPRECATED(7.0)
	Returns the name of the world the sensor is in. More...

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

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

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

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

void	ResetLastUpdateTime ()
	Reset the lastUpdateTime to zero. More...

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

virtual void	SetActive (const bool _value)
	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...

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

void	Update (const bool _force)
	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 ()
	Finalize the camera. More...

virtual bool	UpdateImpl (const 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...

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

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

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< 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...

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

rendering::CameraPtr gazebo::sensors::CameraSensor::Camera ( ) const

Returns a pointer to the rendering::Camera.

Returns: The Pointer to the camera sensor.

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

protectedvirtual

Finalize the camera.

Reimplemented from gazebo::sensors::Sensor.

Reimplemented in gazebo::sensors::WideAngleCameraSensor.

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

Returns a pointer to the rendering::Camera.

Returns: The Pointer to the camera sensor.

Deprecated:: See Camera() function

const unsigned char* gazebo::sensors::CameraSensor::GetImageData ( )

Gets the raw image data from the sensor.

Returns: The pointer to the image data array.

Deprecated:: See ImageData()

unsigned int gazebo::sensors::CameraSensor::GetImageHeight ( ) const

Gets the height of the image in pixels.

Returns: The image height in pixels.

Deprecated:: See ImageHeight()

unsigned int gazebo::sensors::CameraSensor::GetImageWidth ( ) const

Gets the width of the image in pixels.

Returns: The image width in pixels.

Deprecated:: See ImageWidth()

const unsigned char* gazebo::sensors::CameraSensor::ImageData ( ) const

Gets the raw image data from the sensor.

Returns: The pointer to the image data array.

unsigned int gazebo::sensors::CameraSensor::ImageHeight ( ) const

Gets the height of the image in pixels.

Returns: The image height in pixels.

unsigned int gazebo::sensors::CameraSensor::ImageWidth ( ) const

Gets the width of the image in pixels.

Returns: The image width in pixels.

Deprecated:: See ImageWidth()

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

virtual

Initialize the camera.

Reimplemented from gazebo::sensors::Sensor.

Reimplemented in gazebo::sensors::WideAngleCameraSensor.

virtual bool gazebo::sensors::CameraSensor::IsActive ( ) const

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

Reimplemented from gazebo::sensors::Sensor.

Reimplemented in gazebo::sensors::WideAngleCameraSensor.

bool gazebo::sensors::CameraSensor::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.

virtual std::string gazebo::sensors::CameraSensor::Topic ( ) const

virtual

Gets the topic name of the sensor.

Returns: Topic name

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::CameraSensor::UpdateImpl ( const 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] _force True if update is forced, false if not

Returns: True if the sensor was updated.

Reimplemented from gazebo::sensors::Sensor.

Reimplemented in gazebo::sensors::WideAngleCameraSensor.

Member Data Documentation

rendering::CameraPtr gazebo::sensors::CameraSensor::camera

protected

Pointer to the camera.

transport::PublisherPtr gazebo::sensors::CameraSensor::imagePub

protected

Publisher of image messages.

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

Member Function Documentation

Member Data Documentation