$search

gazebo::GazeboRosStereoCamera Class Reference
[Ros Camera Plugin XML Reference and Example]

GazeboRosStereoCamera Controller. More...

#include <gazebo_ros_stereo_camera.h>

List of all members.

Public Member Functions

 GazeboRosStereoCamera (Entity *parent)
 Constructor.
const float * GetDepthData (unsigned int i=0)
 Get a point to the depth data.
virtual ~GazeboRosStereoCamera ()
 Destructor.

Protected Member Functions

virtual void FiniChild ()
 Finalize the controller, unadvertise topics.
virtual void InitChild ()
 Init the controller.
virtual void LoadChild (XMLConfigNode *node)
 Load the controller.
virtual void UpdateChild ()
 Update the controller.

Private Member Functions

bool fillDepthImage (sensor_msgs::PointCloud &point_cloud, uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, void *data_arg)
 helper function fill depth image
void ImageConnect ()
void ImageDisconnect ()
void InfoConnect ()
void InfoDisconnect ()
void PointCloudConnect ()
void PointCloudDisconnect ()
void PublishCameraInfo ()
 Publish CameraInfo to the ROS topic.
void PutCameraData ()
 Put camera data to the ROS topic.

Private Attributes

ros::Publisher camera_info_pub_
sensor_msgs::CameraInfo cameraInfoMsg
std::string cameraInfoTopicName
 ROS camera_info topic name.
ParamT< std::string > * cameraInfoTopicNameP
double Cx
ParamT< double > * CxP
double CxPrime
ParamT< double > * CxPrimeP
double Cy
ParamT< double > * CyP
int depth
double distortion_k1
ParamT< double > * distortion_k1P
double distortion_k2
ParamT< double > * distortion_k2P
double distortion_k3
ParamT< double > * distortion_k3P
double distortion_t1
ParamT< double > * distortion_t1P
double distortion_t2
ParamT< double > * distortion_t2P
double focal_length
ParamT< double > * focal_lengthP
std::string frameName
 ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached.
ParamT< std::string > * frameNameP
double hack_baseline
ParamT< double > * hack_baselineP
int height
 size of image buffer
ros::Publisher image_pub_
int imageConnectCount
 Keep track of number of connctions.
sensor_msgs::Image imageMsg
 ROS image message.
std::string imageTopicName
 ROS image topic name.
ParamT< std::string > * imageTopicNameP
 Parameters.
int infoConnectCount
 Keep track of number of connctions for CameraInfo.
boost::mutex lock
 A mutex to lock access to fields that are used in ROS message callbacks.
StereoCameraSensor * myParent
 A pointer to the parent camera sensor.
ros::Publisher point_cloud_pub_
int pointCloudConnectCount
 Keep track of number of connctions for point clouds.
sensor_msgs::PointCloud pointCloudMsg
 ros message
std::string pointCloudTopicName
 ROS pointCloud topic name.
ParamT< std::string > * pointCloudTopicNameP
std::string robotNamespace
ParamT< std::string > * robotNamespaceP
 for setting ROS name space
ros::NodeHandlerosnode_
 A pointer to the ROS node. A node will be instantiated if it does not exist.
int skip
std::string type
int width

Detailed Description

GazeboRosStereoCamera Controller.

Definition at line 113 of file gazebo_ros_stereo_camera.h.


Constructor & Destructor Documentation

gazebo::GazeboRosStereoCamera::GazeboRosStereoCamera ( Entity *  parent  ) 

Constructor.

Parameters:
parent The parent entity, must be a Model or a Sensor

Definition at line 62 of file gazebo_ros_stereo_camera.cpp.

gazebo::GazeboRosStereoCamera::~GazeboRosStereoCamera (  )  [virtual]

Destructor.

Definition at line 100 of file gazebo_ros_stereo_camera.cpp.


Member Function Documentation

bool gazebo::GazeboRosStereoCamera::fillDepthImage ( sensor_msgs::PointCloud point_cloud,
uint32_t  rows_arg,
uint32_t  cols_arg,
uint32_t  step_arg,
void *  data_arg 
) [private]

helper function fill depth image

RORRY'S MODIFICATION baisically just goes through the depth data and scales the [0-1] to [0-255]

Definition at line 450 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::FiniChild (  )  [protected, virtual]

Finalize the controller, unadvertise topics.

Definition at line 340 of file gazebo_ros_stereo_camera.cpp.

const float* gazebo::GazeboRosStereoCamera::GetDepthData ( unsigned int  i = 0  ) 

Get a point to the depth data.

void gazebo::GazeboRosStereoCamera::ImageConnect (  )  [private]

Definition at line 229 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::ImageDisconnect (  )  [private]

Definition at line 235 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::InfoConnect (  )  [private]

Definition at line 200 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::InfoDisconnect (  )  [private]

Definition at line 206 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::InitChild (  )  [protected, virtual]

Init the controller.

Compute camera parameters if set to 0

Definition at line 245 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::LoadChild ( XMLConfigNode *  node  )  [protected, virtual]

Load the controller.

Parameters:
node XML config node

Definition at line 125 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::PointCloudConnect (  )  [private]

Definition at line 213 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::PointCloudDisconnect (  )  [private]

Definition at line 219 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::PublishCameraInfo (  )  [private]

Publish CameraInfo to the ROS topic.

Definition at line 501 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::PutCameraData (  )  [private]

Put camera data to the ROS topic.

RORRY'S MODIFICATION

pointer to the float data

Todo:
: don't bother if there are no subscribers

copy from depth to pointCloudMsg

Definition at line 358 of file gazebo_ros_stereo_camera.cpp.

void gazebo::GazeboRosStereoCamera::UpdateChild (  )  [protected, virtual]

Update the controller.

publish CameraInfo

Definition at line 317 of file gazebo_ros_stereo_camera.cpp.


Member Data Documentation

Definition at line 169 of file gazebo_ros_stereo_camera.h.

Definition at line 174 of file gazebo_ros_stereo_camera.h.

ROS camera_info topic name.

Definition at line 203 of file gazebo_ros_stereo_camera.h.

Definition at line 179 of file gazebo_ros_stereo_camera.h.

Definition at line 216 of file gazebo_ros_stereo_camera.h.

ParamT<double>* gazebo::GazeboRosStereoCamera::CxP [private]

Definition at line 184 of file gazebo_ros_stereo_camera.h.

Definition at line 215 of file gazebo_ros_stereo_camera.h.

ParamT<double>* gazebo::GazeboRosStereoCamera::CxPrimeP [private]

Definition at line 183 of file gazebo_ros_stereo_camera.h.

Definition at line 217 of file gazebo_ros_stereo_camera.h.

ParamT<double>* gazebo::GazeboRosStereoCamera::CyP [private]

Definition at line 185 of file gazebo_ros_stereo_camera.h.

Definition at line 230 of file gazebo_ros_stereo_camera.h.

Definition at line 220 of file gazebo_ros_stereo_camera.h.

Definition at line 188 of file gazebo_ros_stereo_camera.h.

Definition at line 221 of file gazebo_ros_stereo_camera.h.

Definition at line 189 of file gazebo_ros_stereo_camera.h.

Definition at line 222 of file gazebo_ros_stereo_camera.h.

Definition at line 190 of file gazebo_ros_stereo_camera.h.

Definition at line 223 of file gazebo_ros_stereo_camera.h.

Definition at line 191 of file gazebo_ros_stereo_camera.h.

Definition at line 224 of file gazebo_ros_stereo_camera.h.

Definition at line 192 of file gazebo_ros_stereo_camera.h.

Definition at line 218 of file gazebo_ros_stereo_camera.h.

Definition at line 186 of file gazebo_ros_stereo_camera.h.

ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached.

Definition at line 206 of file gazebo_ros_stereo_camera.h.

ParamT<std::string>* gazebo::GazeboRosStereoCamera::frameNameP [private]

Definition at line 180 of file gazebo_ros_stereo_camera.h.

Definition at line 219 of file gazebo_ros_stereo_camera.h.

Definition at line 187 of file gazebo_ros_stereo_camera.h.

size of image buffer

Definition at line 230 of file gazebo_ros_stereo_camera.h.

Definition at line 169 of file gazebo_ros_stereo_camera.h.

Keep track of number of connctions.

Definition at line 144 of file gazebo_ros_stereo_camera.h.

ROS image message.

Definition at line 173 of file gazebo_ros_stereo_camera.h.

ROS image topic name.

Definition at line 199 of file gazebo_ros_stereo_camera.h.

ParamT<std::string>* gazebo::GazeboRosStereoCamera::imageTopicNameP [private]

Parameters.

Definition at line 177 of file gazebo_ros_stereo_camera.h.

Keep track of number of connctions for CameraInfo.

Definition at line 154 of file gazebo_ros_stereo_camera.h.

boost::mutex gazebo::GazeboRosStereoCamera::lock [private]

A mutex to lock access to fields that are used in ROS message callbacks.

Definition at line 227 of file gazebo_ros_stereo_camera.h.

StereoCameraSensor* gazebo::GazeboRosStereoCamera::myParent [private]

A pointer to the parent camera sensor.

RORRY'S MODIFICATION / myParent is now a StereoCameraSensor

Definition at line 165 of file gazebo_ros_stereo_camera.h.

Definition at line 169 of file gazebo_ros_stereo_camera.h.

Keep track of number of connctions for point clouds.

Definition at line 149 of file gazebo_ros_stereo_camera.h.

ros message

Definition at line 235 of file gazebo_ros_stereo_camera.h.

ROS pointCloud topic name.

Definition at line 201 of file gazebo_ros_stereo_camera.h.

Definition at line 178 of file gazebo_ros_stereo_camera.h.

Definition at line 196 of file gazebo_ros_stereo_camera.h.

ParamT<std::string>* gazebo::GazeboRosStereoCamera::robotNamespaceP [private]

for setting ROS name space

Definition at line 195 of file gazebo_ros_stereo_camera.h.

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 168 of file gazebo_ros_stereo_camera.h.

Definition at line 232 of file gazebo_ros_stereo_camera.h.

std::string gazebo::GazeboRosStereoCamera::type [private]

Definition at line 231 of file gazebo_ros_stereo_camera.h.

Definition at line 230 of file gazebo_ros_stereo_camera.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends Defines


gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Sat Mar 2 13:40:08 2013