Camera sensor with variable mapping function. More...
#include <sensors/sensors.hh>
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::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... | |
Camera sensor with variable mapping function.
This sensor is used for simulating cameras with wide-angle lens
| gazebo::sensors::WideAngleCameraSensor::WideAngleCameraSensor | ( | ) |
Constructor.
|
virtualdefault |
Destructor.
|
overrideprotectedvirtual |
Finalize the camera.
Reimplemented from gazebo::sensors::CameraSensor.
|
overridevirtual |
Initialize the camera.
Reimplemented from gazebo::sensors::CameraSensor.
|
overridevirtual |
Load the sensor with default parameters.
| [in] | _worldName | Name of world to load from |
Reimplemented from gazebo::sensors::CameraSensor.
|
protected |
Handle incoming control message.
| [in] | _msg | Message received from topic |
|
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
| [in] | _force | True if update is forced, false if not |
Reimplemented from gazebo::sensors::CameraSensor.