A camera sensor plugin for fiducial detection A fiducial is detected if its center is within the camera frustum and not occluded by other models in the view. More...
#include <FiducialCameraPlugin.hh>
Inherits SensorPlugin.
Public Types | |
typedef boost::shared_ptr < SensorPlugin > | TPtr |
plugin pointer type definition More... | |
Public Member Functions | |
FiducialCameraPlugin () | |
Constructor. More... | |
virtual | ~FiducialCameraPlugin () |
Destructor. More... | |
std::string | GetFilename () const |
Get the name of the handler. More... | |
std::string | GetHandle () const |
Get the short name of the handler. More... | |
PluginType | GetType () const |
Returns the type of the plugin. More... | |
void | Init () |
Override this method for custom plugin initialization behavior. More... | |
void | Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) |
Load function. More... | |
virtual void | OnNewFrame (const unsigned char *_image, const unsigned int _width, const unsigned int _height, const unsigned int _depth, const std::string &_format) |
Callback when a new camera frame is available. More... | |
virtual void | Reset () |
Override this method for custom plugin reset behavior. More... | |
Static Public Member Functions | |
static TPtr | Create (const std::string &_filename, const std::string &_name) |
a class method that creates a plugin from a file name. More... | |
Protected Attributes | |
std::string | filename |
Path to the shared library file. More... | |
std::string | handleName |
Short name. More... | |
PluginType | type |
Type of plugin. More... | |
A camera sensor plugin for fiducial detection A fiducial is detected if its center is within the camera frustum and not occluded by other models in the view.
The results are published to a topic, e.g. ~/camera_model_name/link_name/sensor_name/fiducial The message format is PosesStamped. The pose's x and y position fields are the image coordinates of the center of the detected fiducial, and the orientation is currently always an identity quaternion.
|
inherited |
plugin pointer type definition
Constructor.
|
virtual |
Destructor.
|
inlinestaticinherited |
a class method that creates a plugin from a file name.
It locates the shared library and loads it dynamically.
[in] | _filename | the path to the shared library. |
[in] | _name | short name of the plugin |
|
inlineinherited |
Get the name of the handler.
|
inlineinherited |
Get the short name of the handler.
|
inlineinherited |
Returns the type of the plugin.
|
virtual |
Override this method for custom plugin initialization behavior.
Reimplemented from SensorPlugin.
|
virtual |
Load function.
Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.
[in] | _sensor | Pointer the Sensor. |
[in] | _sdf | Pointer the the SDF element of the plugin. |
Implements SensorPlugin.
|
virtual |
Callback when a new camera frame is available.
[in] | _image | image data |
[in] | _width | image width |
[in] | _height | image height |
[in] | _depth | image depth |
[in] | _format | image format |
|
inlinevirtualinherited |
Override this method for custom plugin reset behavior.
|
protectedinherited |
Path to the shared library file.
|
protectedinherited |
Short name.
|
protectedinherited |
Type of plugin.
Referenced by SensorPlugin::SensorPlugin().