Public Member Functions | Protected Member Functions | List of all members
gazebo::sensors::WideAngleCameraSensor Class Reference

Camera sensor with variable mapping function. More...

#include <sensors/sensors.hh>

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

Public Member Functions

 WideAngleCameraSensor ()
 Constructor. More...
 
virtual ~WideAngleCameraSensor ()=default
 Destructor. More...
 
void Init () override
 Initialize the camera. More...
 
void Load (const std::string &_worldName) override
 Load the sensor with default parameters. More...
 
- Public Member Functions inherited from gazebo::sensors::CameraSensor
 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 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...
 
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

void Fini () override
 Finalize the camera. More...
 
void OnCtrlMessage (ConstCameraLensPtr &_msg)
 Handle incoming control message. More...
 
bool UpdateImpl (const bool _force) override
 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::CameraSensor
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::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::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< SensorPluginPtrplugins
 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

Camera sensor with variable mapping function.

This sensor is used for simulating cameras with wide-angle lens

Constructor & Destructor Documentation

gazebo::sensors::WideAngleCameraSensor::WideAngleCameraSensor ( )

Constructor.

virtual gazebo::sensors::WideAngleCameraSensor::~WideAngleCameraSensor ( )
virtualdefault

Destructor.

Member Function Documentation

void gazebo::sensors::WideAngleCameraSensor::Fini ( )
overrideprotectedvirtual

Finalize the camera.

Reimplemented from gazebo::sensors::CameraSensor.

void gazebo::sensors::WideAngleCameraSensor::Init ( )
overridevirtual

Initialize the camera.

Reimplemented from gazebo::sensors::CameraSensor.

void gazebo::sensors::WideAngleCameraSensor::Load ( const std::string &  _worldName)
overridevirtual

Load the sensor with default parameters.

Parameters
[in]_worldNameName of world to load from

Reimplemented from gazebo::sensors::CameraSensor.

void gazebo::sensors::WideAngleCameraSensor::OnCtrlMessage ( ConstCameraLensPtr &  _msg)
protected

Handle incoming control message.

Parameters
[in]_msgMessage received from topic
bool gazebo::sensors::WideAngleCameraSensor::UpdateImpl ( const bool  )
overrideprotectedvirtual

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::CameraSensor.


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