#include <gazebo_ros_camera_utils.h>

Inheritance diagram for gazebo::GazeboRosCameraUtils:

Public Member Functions
	GazeboRosCameraUtils ()
	Constructor.
void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix="")
	Load the plugin.
void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix, double _hack_baseline)
	Load the plugin.
event::ConnectionPtr	OnLoad (const boost::function< void()> &)
	~GazeboRosCameraUtils ()
	Destructor.
Protected Member Functions
void	CameraQueueThread ()
void	ImageConnect ()
void	ImageDisconnect ()
void	PublishCameraInfo (ros::Publisher camera_info_publisher)
	Publish CameraInfo to the ROS topic.
void	PublishCameraInfo (common::Time &last_update_time)
void	PublishCameraInfo ()
void	PutCameraData (const unsigned char *_src)
	Put camera data to the ROS topic.
void	PutCameraData (const unsigned char *_src, common::Time &last_update_time)
Protected Attributes
boost::thread	callback_queue_thread_
rendering::CameraPtr	camera_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	camera_info_manager_
ros::Publisher	camera_info_pub_
	camera info
std::string	camera_info_topic_name_
ros::CallbackQueue	camera_queue_
double	cx_
double	cx_prime_
double	cy_
unsigned int	depth_
double	distortion_k1_
double	distortion_k2_
double	distortion_k3_
double	distortion_t1_
double	distortion_t2_
double	focal_length_
std::string	format_
std::string	frame_name_
	ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached.
double	hack_baseline_
unsigned int	height_
boost::shared_ptr< int >	image_connect_count_
	Keep track of number of image connections.
boost::shared_ptr< boost::mutex >	image_connect_count_lock_
	A mutex to lock access to image_connect_count_.
sensor_msgs::Image	image_msg_
	ROS image message.
image_transport::Publisher	image_pub_
std::string	image_topic_name_
	ROS image topic name.
bool	initialized_
	True if camera util is initialized.
common::Time	last_info_update_time_
common::Time	last_update_time_
boost::mutex	lock_
	A mutex to lock access to fields that are used in ROS message callbacks.
sensors::SensorPtr	parentSensor_
ros::NodeHandle *	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist.
common::Time	sensor_update_time_
int	skip_
std::string	type_
	size of image buffer
double	update_period_
double	update_rate_
	update rate of this sensor
boost::shared_ptr< bool >	was_active_
	Keep track when we activate this camera through ros subscription, was it already active? resume state when unsubscribed.
unsigned int	width_
physics::WorldPtr	world
physics::WorldPtr	world_
Private Member Functions
void	configCallback (gazebo_plugins::GazeboRosCameraConfig &config, uint32_t level)
void	InfoConnect ()
	Keep track of number of connctions for CameraInfo.
void	InfoDisconnect ()
void	Init ()
void	LoadThread ()
void	SetHFOV (const std_msgs::Float64::ConstPtr &hfov)
	: Camera modification functions
void	SetUpdateRate (const std_msgs::Float64::ConstPtr &update_rate)
Private Attributes
std::string	camera_name_
	ROS camera name.
ros::Subscriber	cameraHFOVSubscriber_
ros::Subscriber	cameraUpdateRateSubscriber_
boost::thread	deferred_load_thread_
dynamic_reconfigure::Server < gazebo_plugins::GazeboRosCameraConfig > *	dyn_srv_
image_transport::ImageTransport *	itnode_
event::EventT< void()>	load_event_
event::ConnectionPtr	newFrameConnection_
std::string	robot_namespace_
	for setting ROS name space
sdf::ElementPtr	sdf
std::string	tf_prefix_
	tf prefix
Friends
class	GazeboRosMultiCamera

Detailed Description

Definition at line 55 of file gazebo_ros_camera_utils.h.

Constructor & Destructor Documentation

gazebo::GazeboRosCameraUtils::GazeboRosCameraUtils ( )

Constructor.

Parameters:

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

Definition at line 49 of file gazebo_ros_camera_utils.cpp.

gazebo::GazeboRosCameraUtils::~GazeboRosCameraUtils ( )

Destructor.

Definition at line 73 of file gazebo_ros_camera_utils.cpp.

Member Function Documentation

void gazebo::GazeboRosCameraUtils::CameraQueueThread ( ) [protected]

take care of callback queue

Definition at line 633 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::configCallback	(	gazebo_plugins::GazeboRosCameraConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 60 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::ImageConnect ( ) [protected]

Definition at line 376 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::ImageDisconnect ( ) [protected]

Definition at line 390 of file gazebo_ros_camera_utils.cpp.

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

Keep track of number of connctions for CameraInfo.

Reimplemented in gazebo::GazeboRosDepthCamera.

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

Reimplemented in gazebo::GazeboRosDepthCamera.

void gazebo::GazeboRosCameraUtils::Init ( ) [private]

Compute camera_ parameters if set to 0

Definition at line 405 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf,
		const std::string &	_camera_name_suffix = `""`
	)

Load the plugin.

Parameters:

[in]	_parent	Take in SDF root element.
[in]	_sdf	SDF values.
[in]	_camera_name_suffix	required before calling LoadThread

Definition at line 103 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf,
		const std::string &	_camera_name_suffix,
		double	_hack_baseline
	)