#include <gazebo_ros_image_sonar.hh>

Inheritance diagram for gazebo::GazeboRosImageSonar:

Public Member Functions
virtual void	Advertise ()
	Advertise point cloud and depth image. More...

	GazeboRosImageSonar ()
	Constructor. More...

virtual void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin. More...

	~GazeboRosImageSonar ()
	Destructor. More...

Protected Member Functions
virtual void	OnNewDepthFrame (const float *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Update the controller. More...

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

virtual void	OnNewRGBPointCloud (const float *_pcd, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Update the controller. More...

virtual void	PublishCameraInfo ()

Protected Attributes
std::vector< int >	angle_nbr_indices_

std::vector< std::vector< int > >	angle_range_indices_

unsigned int	depth

ros::Publisher	depth_image_camera_info_pub_

rendering::DepthCameraPtr	depthCamera

cv::Mat	dist_matrix_

std::string	format

unsigned int	height

sensors::DepthCameraSensorPtr	parentSensor

unsigned int	width

Private Member Functions
void	ApplyMedianFilter (cv::Mat &scan)

void	ApplySmoothing (cv::Mat &scan, float fov)

void	ApplySpeckleNoise (cv::Mat &scan, float fov)

cv::Mat	ComputeNormalImage (cv::Mat &depth)

void	ComputeSonarImage (const float *_src)
	push depth image data into ros topic More...

cv::Mat	ConstructScanImage (cv::Mat &depth, cv::Mat &SNR)

cv::Mat	ConstructSonarImage (cv::Mat &depth, cv::Mat &normals)

cv::Mat	ConstructVisualScanImage (cv::Mat &raw_scan)

void	DepthImageConnect ()

void	DepthImageDisconnect ()

void	DepthInfoConnect ()

void	DepthInfoDisconnect ()

void	FillDepthImage (const float *_src)
	push depth image data into ros topic More...

bool	FillDepthImageHelper (sensor_msgs::Image &image_msg, uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, void *data_arg)

bool	FillPointCloudHelper (sensor_msgs::PointCloud2 &point_cloud_msg, uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, void *data_arg)

void	FillPointdCloud (const float *_src)
	Put camera data to the ROS topic. More...

void	InfoConnect ()

void	InfoDisconnect ()

void	MultibeamImageConnect ()

void	MultibeamImageDisconnect ()

void	NormalImageConnect ()

void	NormalImageDisconnect ()

void	PointCloudConnect ()

void	PointCloudDisconnect ()

void	RawSonarImageConnect ()

void	RawSonarImageDisconnect ()

void	SonarImageConnect ()

void	SonarImageDisconnect ()

Private Member Functions inherited from gazebo::GazeboRosCameraUtils
	GazeboRosCameraUtils ()

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

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

event::ConnectionPtr	OnLoad (const boost::function< void()> &)

	~GazeboRosCameraUtils ()

void	CameraQueueThread ()

virtual bool	CanTriggerCamera ()

void	ImageConnect ()

void	ImageDisconnect ()

void	PublishCameraInfo ()

void	PublishCameraInfo (ros::Publisher camera_info_publisher)

void	PublishCameraInfo (common::Time &last_update_time)

void	PutCameraData (const unsigned char *_src)

void	PutCameraData (const unsigned char *_src, common::Time &last_update_time)

virtual void	TriggerCamera ()

Private Attributes
std::string	depth_image_camera_info_topic_name_

int	depth_image_connect_count_
	Keep track of number of connctions for point clouds. More...

sensor_msgs::Image	depth_image_msg_

ros::Publisher	depth_image_pub_

std::string	depth_image_topic_name_
	image where each pixel contains the depth information More...

int	depth_info_connect_count_

common::Time	depth_sensor_update_time_

std::default_random_engine	generator

common::Time	last_depth_image_camera_info_update_time_

event::ConnectionPtr	load_connection_

sensor_msgs::Image	multibeam_image_msg_

ros::Publisher	multibeam_image_pub_

event::ConnectionPtr	newDepthFrameConnection

event::ConnectionPtr	newImageFrameConnection

event::ConnectionPtr	newRGBPointCloudConnection

sensor_msgs::Image	normal_image_msg_

ros::Publisher	normal_image_pub_

int	point_cloud_connect_count_
	Keep track of number of connctions for point clouds. More...

double	point_cloud_cutoff_

sensor_msgs::PointCloud2	point_cloud_msg_
	PointCloud2 point cloud message. More...

ros::Publisher	point_cloud_pub_
	A pointer to the ROS node. A node will be instantiated if it does not exist. More...

std::string	point_cloud_topic_name_
	ROS image topic name. More...

sensor_msgs::Image	raw_sonar_image_msg_

ros::Publisher	raw_sonar_image_pub_

sensor_msgs::Image	sonar_image_msg_

ros::Publisher	sonar_image_pub_

Private Attributes inherited from gazebo::GazeboRosCameraUtils
bool	border_crop_

boost::thread	callback_queue_thread_

rendering::CameraPtr	camera_

boost::shared_ptr< camera_info_manager::CameraInfoManager >	camera_info_manager_

ros::Publisher	camera_info_pub_

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_

double	hack_baseline_

unsigned int	height_

boost::shared_ptr< int >	image_connect_count_

boost::shared_ptr< boost::mutex >	image_connect_count_lock_

sensor_msgs::Image	image_msg_

image_transport::Publisher	image_pub_

std::string	image_topic_name_

bool	initialized_

common::Time	last_info_update_time_

common::Time	last_update_time_

boost::mutex	lock_

sensors::SensorPtr	parentSensor_

ros::NodeHandle *	rosnode_

common::Time	sensor_update_time_

int	skip_

std::string	trigger_topic_name_

std::string	type_

double	update_period_

double	update_rate_

boost::shared_ptr< bool >	was_active_

unsigned int	width_

physics::WorldPtr	world

physics::WorldPtr	world_

Detailed Description

Definition at line 73 of file gazebo_ros_image_sonar.hh.

Constructor & Destructor Documentation

gazebo::GazeboRosImageSonar::GazeboRosImageSonar ( )

Constructor.

Parameters

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

Definition at line 60 of file gazebo_ros_image_sonar.cpp.

gazebo::GazeboRosImageSonar::~GazeboRosImageSonar ( )

Destructor.

Definition at line 69 of file gazebo_ros_image_sonar.cpp.

Member Function Documentation

void gazebo::GazeboRosImageSonar::Advertise ( )

virtual

Advertise point cloud and depth image.

Definition at line 171 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::ApplyMedianFilter ( cv::Mat & scan )

private

Definition at line 838 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::ApplySmoothing	(	cv::Mat &	scan,
		float	fov
	)

private

Definition at line 770 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::ApplySpeckleNoise	(	cv::Mat &	scan,
		float	fov
	)

private

Definition at line 754 of file gazebo_ros_image_sonar.cpp.

cv::Mat gazebo::GazeboRosImageSonar::ComputeNormalImage ( cv::Mat & depth )

private

Definition at line 635 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::ComputeSonarImage ( const float * _src )

private

push depth image data into ros topic

Definition at line 972 of file gazebo_ros_image_sonar.cpp.

cv::Mat gazebo::GazeboRosImageSonar::ConstructScanImage	(	cv::Mat &	depth,
		cv::Mat &	SNR
	)

private

Definition at line 851 of file gazebo_ros_image_sonar.cpp.

cv::Mat gazebo::GazeboRosImageSonar::ConstructSonarImage	(	cv::Mat &	depth,
		cv::Mat &	normals
	)

private

Definition at line 707 of file gazebo_ros_image_sonar.cpp.

cv::Mat gazebo::GazeboRosImageSonar::ConstructVisualScanImage ( cv::Mat & raw_scan )

private

Definition at line 909 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::DepthImageConnect ( )

private

Definition at line 251 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::DepthImageDisconnect ( )

private

Definition at line 258 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::DepthInfoConnect ( )

private

Definition at line 321 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::DepthInfoDisconnect ( )

private

Definition at line 327 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::FillDepthImage ( const float * _src )

private

push depth image data into ros topic

copy from depth to depth image message

Definition at line 492 of file gazebo_ros_image_sonar.cpp.

bool gazebo::GazeboRosImageSonar::FillDepthImageHelper	(	sensor_msgs::Image &	image_msg,
		uint32_t	rows_arg,
		uint32_t	cols_arg,
		uint32_t	step_arg,
		void *	data_arg
	)

private

Definition at line 597 of file gazebo_ros_image_sonar.cpp.

bool gazebo::GazeboRosImageSonar::FillPointCloudHelper	(	sensor_msgs::PointCloud2 &	point_cloud_msg,
		uint32_t	rows_arg,
		uint32_t	cols_arg,
		uint32_t	step_arg,
		void *	data_arg
	)

private

Definition at line 514 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::FillPointdCloud ( const float * _src )

private

Put camera data to the ROS topic.

copy from depth to point cloud message

Definition at line 467 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::InfoConnect ( )

private

void gazebo::GazeboRosImageSonar::InfoDisconnect ( )

private

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

virtual

Load the plugin.

Parameters

take	in SDF root element

Definition at line 81 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::MultibeamImageConnect ( )

private

Definition at line 279 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::MultibeamImageDisconnect ( )

private

Definition at line 286 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::NormalImageConnect ( )

private

Definition at line 265 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::NormalImageDisconnect ( )

private

Definition at line 272 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::OnNewDepthFrame	(	const float *	_image,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth,
		const std::string &	_format
	)

protectedvirtual

Update the controller.

Definition at line 334 of file gazebo_ros_image_sonar.cpp.

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

protectedvirtual

Update the controller.

Definition at line 438 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::OnNewRGBPointCloud	(	const float *	_pcd,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth,
		const std::string &	_format
	)

protectedvirtual

Update the controller.

Definition at line 372 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::PointCloudConnect ( )

private

Definition at line 233 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::PointCloudDisconnect ( )

private

Definition at line 241 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::PublishCameraInfo ( )

protectedvirtual

Definition at line 1012 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::RawSonarImageConnect ( )

private

Definition at line 307 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::RawSonarImageDisconnect ( )

private

Definition at line 314 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::SonarImageConnect ( )

private

Definition at line 293 of file gazebo_ros_image_sonar.cpp.

void gazebo::GazeboRosImageSonar::SonarImageDisconnect ( )

private

Definition at line 300 of file gazebo_ros_image_sonar.cpp.

Member Data Documentation

std::vector<int> gazebo::GazeboRosImageSonar::angle_nbr_indices_

protected

Definition at line 195 of file gazebo_ros_image_sonar.hh.

std::vector<std::vector<int> > gazebo::GazeboRosImageSonar::angle_range_indices_

protected

Definition at line 194 of file gazebo_ros_image_sonar.hh.

unsigned int gazebo::GazeboRosImageSonar::depth

protected

Definition at line 189 of file gazebo_ros_image_sonar.hh.

ros::Publisher gazebo::GazeboRosImageSonar::depth_image_camera_info_pub_

protected

Definition at line 184 of file gazebo_ros_image_sonar.hh.

std::string gazebo::GazeboRosImageSonar::depth_image_camera_info_topic_name_

private

Definition at line 177 of file gazebo_ros_image_sonar.hh.

int gazebo::GazeboRosImageSonar::depth_image_connect_count_

private

Keep track of number of connctions for point clouds.

Definition at line 126 of file gazebo_ros_image_sonar.hh.

sensor_msgs::Image gazebo::GazeboRosImageSonar::depth_image_msg_

private

Definition at line 157 of file gazebo_ros_image_sonar.hh.

ros::Publisher gazebo::GazeboRosImageSonar::depth_image_pub_

private

Definition at line 149 of file gazebo_ros_image_sonar.hh.

std::string gazebo::GazeboRosImageSonar::depth_image_topic_name_

private

image where each pixel contains the depth information

Definition at line 176 of file gazebo_ros_image_sonar.hh.

int gazebo::GazeboRosImageSonar::depth_info_connect_count_

private

Definition at line 178 of file gazebo_ros_image_sonar.hh.

common::Time gazebo::GazeboRosImageSonar::depth_sensor_update_time_

private

Definition at line 183 of file gazebo_ros_image_sonar.hh.

rendering::DepthCameraPtr gazebo::GazeboRosImageSonar::depthCamera

protected

Definition at line 198 of file gazebo_ros_image_sonar.hh.

cv::Mat gazebo::GazeboRosImageSonar::dist_matrix_

protected

Definition at line 193 of file gazebo_ros_image_sonar.hh.

std::string gazebo::GazeboRosImageSonar::format

protected

Definition at line 190 of file gazebo_ros_image_sonar.hh.

std::default_random_engine gazebo::GazeboRosImageSonar::generator

private

Definition at line 167 of file gazebo_ros_image_sonar.hh.

unsigned int gazebo::GazeboRosImageSonar::height

protected

Definition at line 189 of file gazebo_ros_image_sonar.hh.

common::Time gazebo::GazeboRosImageSonar::last_depth_image_camera_info_update_time_

private

Definition at line 137 of file gazebo_ros_image_sonar.hh.

event::ConnectionPtr gazebo::GazeboRosImageSonar::load_connection_

private

Definition at line 186 of file gazebo_ros_image_sonar.hh.

sensor_msgs::Image gazebo::GazeboRosImageSonar::multibeam_image_msg_

private

Definition at line 159 of file gazebo_ros_image_sonar.hh.

ros::Publisher gazebo::GazeboRosImageSonar::multibeam_image_pub_

private

Definition at line 151 of file gazebo_ros_image_sonar.hh.

event::ConnectionPtr gazebo::GazeboRosImageSonar::newDepthFrameConnection

private

Definition at line 200 of file gazebo_ros_image_sonar.hh.

event::ConnectionPtr gazebo::GazeboRosImageSonar::newImageFrameConnection

private

Definition at line 202 of file gazebo_ros_image_sonar.hh.

event::ConnectionPtr gazebo::GazeboRosImageSonar::newRGBPointCloudConnection

private

Definition at line 201 of file gazebo_ros_image_sonar.hh.

sensor_msgs::Image gazebo::GazeboRosImageSonar::normal_image_msg_

private

Definition at line 158 of file gazebo_ros_image_sonar.hh.

ros::Publisher gazebo::GazeboRosImageSonar::normal_image_pub_

private

Definition at line 150 of file gazebo_ros_image_sonar.hh.

sensors::DepthCameraSensorPtr gazebo::GazeboRosImageSonar::parentSensor

protected

Definition at line 197 of file gazebo_ros_image_sonar.hh.

int gazebo::GazeboRosImageSonar::point_cloud_connect_count_

private

Keep track of number of connctions for point clouds.

Definition at line 121 of file gazebo_ros_image_sonar.hh.

double gazebo::GazeboRosImageSonar::point_cloud_cutoff_

private

Definition at line 163 of file gazebo_ros_image_sonar.hh.

sensor_msgs::PointCloud2 gazebo::GazeboRosImageSonar::point_cloud_msg_

private

PointCloud2 point cloud message.

Definition at line 156 of file gazebo_ros_image_sonar.hh.

ros::Publisher gazebo::GazeboRosImageSonar::point_cloud_pub_

private

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

Definition at line 148 of file gazebo_ros_image_sonar.hh.

std::string gazebo::GazeboRosImageSonar::point_cloud_topic_name_

private

ROS image topic name.

Definition at line 166 of file gazebo_ros_image_sonar.hh.

sensor_msgs::Image gazebo::GazeboRosImageSonar::raw_sonar_image_msg_

private

Definition at line 161 of file gazebo_ros_image_sonar.hh.

ros::Publisher gazebo::GazeboRosImageSonar::raw_sonar_image_pub_

private

Definition at line 153 of file gazebo_ros_image_sonar.hh.

sensor_msgs::Image gazebo::GazeboRosImageSonar::sonar_image_msg_

private

Definition at line 160 of file gazebo_ros_image_sonar.hh.

ros::Publisher gazebo::GazeboRosImageSonar::sonar_image_pub_

private

Definition at line 152 of file gazebo_ros_image_sonar.hh.

unsigned int gazebo::GazeboRosImageSonar::width

protected

Definition at line 189 of file gazebo_ros_image_sonar.hh.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation