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

#include <sensors/sensors.hh>

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

Public Member Functions

 CameraSensor ()
 Constructor.
 
virtual ~CameraSensor ()
 Destructor.
 
rendering::CameraPtr GetCamera () const
 Returns a pointer to the rendering::Camera.
 
const unsigned char * GetImageData ()
 Gets the raw image data from the sensor.
 
unsigned int GetImageHeight () const
 Gets the height of the image in pixels.
 
unsigned int GetImageWidth () const
 Gets the width of the image in pixels.
 
virtual std::string GetTopic () const
 Gets the topic name of the sensor.
 
virtual void Init ()
 Initialize the camera.
 
virtual void Load (const std::string &_worldName, sdf::ElementPtr _sdf)
 Load the sensor with SDF parameters.
 
virtual void Load (const std::string &_worldName)
 Load the sensor with default parameters.
 
bool SaveFrame (const std::string &_filename)
 Saves the image to the disk.
 
virtual void SetActive (bool _value)
 Set whether the sensor is active or not.
 
virtual void SetParent (const std::string &_name)
 Set the parent of the sensor.
 
- Public Member Functions inherited from gazebo::sensors::Sensor
 Sensor ()
 Constructor.
 
virtual ~Sensor ()
 Destructor.
 
void FillMsg (msgs::Sensor &_msg)
 fills a msgs::Sensor message.
 
common::Time GetLastUpdateTime ()
 return last update time
 
std::string GetName () const
 Get name.
 
std::string GetParentName () const
 Returns the name of the sensor parent.
 
virtual math::Pose GetPose () const
 Get the current pose.
 
std::string GetScopedName () const
 Get fully scoped name of the sensor.
 
std::string GetType () const
 Get sensor type.
 
bool GetVisualize () const
 return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF
 
std::string GetWorldName () const
 Returns the name of the world the sensor is in.
 
bool IsActive ()
 Returns true if sensor generation is active.
 
void SetUpdateRate (double _hz)
 Set the update rate of the sensor.
 
void Update (bool _force)
 Update the sensor.
 

Protected Member Functions

virtual void Fini ()
 Finalize the camera.
 
virtual void UpdateImpl (bool _force)
 Update the sensor information.
 

Additional Inherited Members

- Protected Attributes inherited from gazebo::sensors::Sensor
bool active
 True if active.
 
std::vector< event::ConnectionPtrconnections
 
common::Time lastUpdateTime
 
transport::NodePtr node
 
std::string parentName
 
std::vector< SensorPluginPtrplugins
 
math::Pose pose
 
transport::SubscriberPtr poseSub
 
sdf::ElementPtr sdf
 
common::Time updatePeriod
 
gazebo::physics::WorldPtr world
 

Constructor & Destructor Documentation

gazebo::sensors::CameraSensor::CameraSensor ( )

Constructor.

virtual gazebo::sensors::CameraSensor::~CameraSensor ( )
virtual

Destructor.

Member Function Documentation

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

Finalize the camera.

Reimplemented from gazebo::sensors::Sensor.

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

Returns a pointer to the rendering::Camera.

Returns
The Pointer to the camera sensor : nate check
const unsigned char* gazebo::sensors::CameraSensor::GetImageData ( )

Gets the raw image data from the sensor.

Returns
The pointer to the data array : nate check
unsigned int gazebo::sensors::CameraSensor::GetImageHeight ( ) const

Gets the height of the image in pixels.

Returns
The height in pixels of the image : nate check
unsigned int gazebo::sensors::CameraSensor::GetImageWidth ( ) const

Gets the width of the image in pixels.

Returns
The width in pixels of the image : nate check
virtual std::string gazebo::sensors::CameraSensor::GetTopic ( ) const
virtual

Gets the topic name of the sensor.

Returns
Topic name
Todo:
to be implemented

Reimplemented from gazebo::sensors::Sensor.

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

Initialize the camera.

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]_sdfSDF Sensor parameters
[in]_worldNameName 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]_worldNameName of world to load from

Reimplemented from gazebo::sensors::Sensor.

bool gazebo::sensors::CameraSensor::SaveFrame ( const std::string &  _filename)

Saves the image to the disk.

Parameters
[in]&_filenameThe name of the file to be saved
Returns
True if successful, false if unsuccessful : nate check
virtual void gazebo::sensors::CameraSensor::SetActive ( bool  _value)
virtual

Set whether the sensor is active or not.

Parameters
[in]_valueTrue if active, false if not

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::CameraSensor::SetParent ( const std::string &  _name)
virtual

Set the parent of the sensor.

Parameters
_nameThe name of the parent

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::CameraSensor::UpdateImpl ( bool  _force)
protectedvirtual

Update the sensor information.

Parameters
[in]_forceTrue if update is forced, false if not

Reimplemented from gazebo::sensors::Sensor.


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