Class Camera

Inheritance Relationships

Base Types

Class Documentation

class Camera : public as2::sensors::TFStatic, protected as2::sensors::GenericSensor

Class to handle the camera sensor.

Public Functions

Camera(as2::Node *node_ptr, const std::string &prefix = "", const float pub_freq = -1.0f, bool add_sensor_measurements_base = true, const std::string &camera_link = "camera_link")

Construct a new Camera object.

Parameters:

  • node_ptr – Pointer to the node

  • prefix – ROS 2 parameter prefix. If not using ROS 2 parameters, give the camera name (e.g. “camera_front”)

  • pub_freq – Frequency to publish the data (-1 to publish every time updateData is called)

  • add_sensor_measurements_base – Add “sensor_measurements” to the topic name

  • info_name – Name of the camera info topic. Default is “camera_info”

  • camera_link – Name of the camera link frame id. Default is “camera_link”

inline Camera(const std::string &prefix, as2::Node *node_ptr, const float pub_freq = -1.0f, bool add_sensor_measurements_base = true, const std::string &camera_link = "camera_link")

Construct a new Camera object. DEPRECATED.

Parameters:

  • prefix – ROS 2 parameter prefix. If not using ROS 2 parameters, give the camera name (e.g. “camera_front”)

  • node_ptr – Pointer to the node

  • pub_freq – Frequency to publish the data (-1 to publish every time updateData is called)

  • add_sensor_measurements_base – Add “sensor_measurements” to the topic name

  • info_name – Name of the camera info topic. Default is “camera_info”

  • camera_link – Name of the camera link frame id. Default is “camera_link”

inline void setParameters(const sensor_msgs::msg::CameraInfo &camera_info, const std::string &encoding, const std::string &camera_model = "pinhole")

Set Camera parameters. DEPRECATED.

Parameters:

  • camera_info – Camera info message

  • encoding – Encoding of the camera

  • camera_model – Camera model. Default is “pinhole”

virtual ~Camera()

Destroy the Camera object.

void updateData(const sensor_msgs::msg::Image &img)

Update the data of the camera.

Parameters:

img – Image message

void updateData(const cv::Mat &img)

Update the data of the camera.

Parameters:

img – Image message

void setCameraInfo(const sensor_msgs::msg::CameraInfo &camera_info)

Set camera info parameters.

Parameters:

camera_info – Camera info message

void setCameraLinkTransform(const std::string &parent_frame_id, const float x, const float y, const float z, const float roll, const float pitch, const float yaw)

Set camera link frame transformation relative to the parent frame.

Parameters:

  • parent_frame_id – Parent frame ID (e.g. base_link)

  • x – X position (m)

  • y – Y position (m)

  • z – Z position (m)

  • roll – Roll (rad)

  • pitch – Pitch (rad)

  • yaw – Yaw (rad)

void setEncoding(const std::string &encoding)

Set camera encoding.

Parameters:

encoding – Encoding of the camera

void readCameraInfoFromROSParameters(const std::string &prefix = "")

Read camera info from ROS parameters.

Parameters:

  • node_ptr – Pointer to the node

  • prefix – ROS 2 parameter prefix. By default is “”

void readCameraTranformFromROSParameters(const std::string &prefix = "")

Read camera transform from ROS parameters.

Parameters:

  • node_ptr – Pointer to the node

  • prefix – ROS 2 parameter prefix. By default is “”