Public Member Functions | Protected Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
gazebo::GazeboRosProsilica Class Reference

#include <gazebo_ros_prosilica.h>

Inheritance diagram for gazebo::GazeboRosProsilica:
Inheritance graph

Public Member Functions

 GazeboRosProsilica ()
 Constructor. More...
void Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
 Load the controller. More...
virtual ~GazeboRosProsilica ()
 Destructor. More...

Protected Member Functions

virtual void OnNewImageFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
 Update the controller. More...

Private Member Functions

void Advertise ()
void pollCallback (polled_camera::GetPolledImage::Request &req, polled_camera::GetPolledImage::Response &rsp, sensor_msgs::Image &image, sensor_msgs::CameraInfo &info)
- Private Member Functions inherited from gazebo::GazeboRosCameraUtils
 GazeboRosCameraUtils ()
 Constructor. More...
void Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix="")
 Load the plugin. More...
void Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix, double _hack_baseline)
 Load the plugin. More...
event::ConnectionPtr OnLoad (const boost::function< void()> &)
 ~GazeboRosCameraUtils ()
 Destructor. More...
void CameraQueueThread ()
virtual bool CanTriggerCamera ()
void ImageConnect ()
void ImageDisconnect ()
void PublishCameraInfo (ros::Publisher camera_info_publisher)
 Publish CameraInfo to the ROS topic. More...
void PublishCameraInfo (common::Time &last_update_time)
void PublishCameraInfo ()
void PutCameraData (const unsigned char *_src)
 Put camera data to the ROS topic. More...
void PutCameraData (const unsigned char *_src, common::Time &last_update_time)
virtual void TriggerCamera ()

Static Private Member Functions

static void mouse_cb (int event, int x, int y, int flags, void *param)
 does nothing for now More...

Private Attributes

event::ConnectionPtr load_connection_
std::string mode_
std::string mode_param_name
polled_camera::PublicationServer poll_srv_
 image_transport More...
std::string pollServiceName
 ROS image topic name. More...
sensor_msgs::CameraInfo * roiCameraInfoMsg
sensor_msgs::Image * roiImageMsg
 ros message More...
- Private Attributes inherited from gazebo::GazeboRosCameraUtils
bool border_crop_
boost::thread callback_queue_thread_
rendering::CameraPtr camera_
boost::shared_ptr< camera_info_manager::CameraInfoManagercamera_info_manager_
ros::Publisher camera_info_pub_
 camera info More...
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. More...
double hack_baseline_
unsigned int height_
boost::shared_ptr< int > image_connect_count_
 Keep track of number of image connections. More...
boost::shared_ptr< boost::mutex > image_connect_count_lock_
 A mutex to lock access to image_connect_count_. More...
sensor_msgs::Image image_msg_
 ROS image message. More...
image_transport::Publisher image_pub_
std::string image_topic_name_
 ROS image topic name. More...
bool initialized_
 True if camera util is initialized. More...
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. More...
sensors::SensorPtr parentSensor_
 A pointer to the ROS node. A node will be instantiated if it does not exist. More...
common::Time sensor_update_time_
int skip_
std::string trigger_topic_name_
 ROS trigger topic name. More...
std::string type_
 size of image buffer More...
double update_period_
double update_rate_
 update rate of this sensor More...
boost::shared_ptr< bool > was_active_
 Keep track when we activate this camera through ros subscription, was it already active? resume state when unsubscribed. More...
unsigned int width_
physics::WorldPtr world
physics::WorldPtr world_

Detailed Description

Definition at line 44 of file gazebo_ros_prosilica.h.

Constructor & Destructor Documentation

gazebo::GazeboRosProsilica::GazeboRosProsilica ( )


parentThe parent entity, must be a Model or a Sensor

Definition at line 64 of file gazebo_ros_prosilica.cpp.

gazebo::GazeboRosProsilica::~GazeboRosProsilica ( )


Definition at line 70 of file gazebo_ros_prosilica.cpp.

Member Function Documentation

void gazebo::GazeboRosProsilica::Advertise ( )

@todo: hardcoded per prosilica_camera wiki api, make this an urdf parameter

Definition at line 93 of file gazebo_ros_prosilica.cpp.

void gazebo::GazeboRosProsilica::Load ( sensors::SensorPtr  _parent,
sdf::ElementPtr  _sdf 

Load the controller.

nodeXML config node

Definition at line 78 of file gazebo_ros_prosilica.cpp.

static void gazebo::GazeboRosProsilica::mouse_cb ( int  event,
int  x,
int  y,
int  flags,
void *  param 

does nothing for now

Definition at line 58 of file gazebo_ros_prosilica.h.

void gazebo::GazeboRosProsilica::OnNewImageFrame ( const unsigned char *  _image,
unsigned int  _width,
unsigned int  _height,
unsigned int  _depth,
const std::string &  _format 

Update the controller.

: consider adding thumbnailing feature here if subscribed.

Definition at line 125 of file gazebo_ros_prosilica.cpp.

void gazebo::GazeboRosProsilica::pollCallback ( polled_camera::GetPolledImage::Request &  req,
polled_camera::GetPolledImage::Response &  rsp,
sensor_msgs::Image &  image,
sensor_msgs::CameraInfo &  info 
Support binning (maybe just cv::resize)
Don't adjust K, P for ROI, set CameraInfo.roi fields instead
D parameter order is k1, k2, t1, t2, k3
: don't bother if there are no subscribers
: publish to ros, thumbnails and rect image in the Update call?

Definition at line 167 of file gazebo_ros_prosilica.cpp.

Member Data Documentation

event::ConnectionPtr gazebo::GazeboRosProsilica::load_connection_

Definition at line 87 of file gazebo_ros_prosilica.h.

std::string gazebo::GazeboRosProsilica::mode_

Definition at line 63 of file gazebo_ros_prosilica.h.

std::string gazebo::GazeboRosProsilica::mode_param_name

Definition at line 65 of file gazebo_ros_prosilica.h.

polled_camera::PublicationServer gazebo::GazeboRosProsilica::poll_srv_


Definition at line 58 of file gazebo_ros_prosilica.h.

std::string gazebo::GazeboRosProsilica::pollServiceName

ROS image topic name.

Definition at line 84 of file gazebo_ros_prosilica.h.

sensor_msgs::CameraInfo* gazebo::GazeboRosProsilica::roiCameraInfoMsg

Definition at line 81 of file gazebo_ros_prosilica.h.

sensor_msgs::Image* gazebo::GazeboRosProsilica::roiImageMsg

ros message

construct raw stereo message

Definition at line 80 of file gazebo_ros_prosilica.h.

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

Author(s): John Hsu
autogenerated on Tue Apr 6 2021 02:19:40