#include <gazebo_ros_camera_utils.h>

Inheritance diagram for gazebo::GazeboRosCameraUtils:

[legend]

Public Member Functions
	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...

Protected Member Functions
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 ()

Protected Attributes
bool	auto_distortion_

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_
	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_

ros::NodeHandle *	rosnode_
	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_

Private Member Functions
void	configCallback (gazebo_plugins::GazeboRosCameraConfig &config, uint32_t level)

void	InfoConnect ()
	Keep track of number of connctions for CameraInfo. More...

void	InfoDisconnect ()

void	Init ()

void	LoadThread ()

void	SetHFOV (const std_msgs::Float64::ConstPtr &hfov)
	: Camera modification functions More...

void	SetUpdateRate (const std_msgs::Float64::ConstPtr &update_rate)

void	TriggerCameraInternal (const std_msgs::Empty::ConstPtr &dummy)

Private Attributes
std::string	camera_name_
	ROS camera name. More...

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 More...

sdf::ElementPtr	sdf

std::string	tf_prefix_
	tf prefix More...

ros::Subscriber	trigger_subscriber_

Friends
class	GazeboRosMultiCamera

class	GazeboRosTriggeredMultiCamera

Detailed Description

Definition at line 57 of file gazebo_ros_camera_utils.h.

Constructor & Destructor Documentation

◆ GazeboRosCameraUtils()

gazebo::GazeboRosCameraUtils::GazeboRosCameraUtils ( )

Constructor.

Parameters

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

Definition at line 50 of file gazebo_ros_camera_utils.cpp.

◆ ~GazeboRosCameraUtils()

gazebo::GazeboRosCameraUtils::~GazeboRosCameraUtils ( )

Destructor.

Definition at line 74 of file gazebo_ros_camera_utils.cpp.

Member Function Documentation

◆ CameraQueueThread()

void gazebo::GazeboRosCameraUtils::CameraQueueThread ( )

protected

take care of callback queue

Definition at line 708 of file gazebo_ros_camera_utils.cpp.

◆ CanTriggerCamera()

bool gazebo::GazeboRosCameraUtils::CanTriggerCamera ( )

protectedvirtual

Reimplemented in gazebo::GazeboRosTriggeredCamera.

Definition at line 379 of file gazebo_ros_camera_utils.cpp.

◆ configCallback()

void gazebo::GazeboRosCameraUtils::configCallback	(	gazebo_plugins::GazeboRosCameraConfig &	config,
		uint32_t	level
	)

private

Definition at line 61 of file gazebo_ros_camera_utils.cpp.

◆ ImageConnect()

void gazebo::GazeboRosCameraUtils::ImageConnect ( )

protected

Definition at line 411 of file gazebo_ros_camera_utils.cpp.

◆ ImageDisconnect()

void gazebo::GazeboRosCameraUtils::ImageDisconnect ( )

protected

Definition at line 425 of file gazebo_ros_camera_utils.cpp.

◆ InfoConnect()

void gazebo::GazeboRosCameraUtils::InfoConnect ( )

private

Keep track of number of connctions for CameraInfo.

◆ InfoDisconnect()

void gazebo::GazeboRosCameraUtils::InfoDisconnect ( )

private

◆ Init()

void gazebo::GazeboRosCameraUtils::Init ( )

private

Compute camera_ parameters if set to 0

Definition at line 440 of file gazebo_ros_camera_utils.cpp.

◆ Load() [1/2]

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 104 of file gazebo_ros_camera_utils.cpp.

◆ Load() [2/2]

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

Load the plugin.

Parameters

[in]	_parent	Take in SDF root element.
[in]	_sdf	SDF values.
[in]	_camera_name_suffix	Suffix of the camera name.
[in]	_hack_baseline	Multiple camera baseline.

Definition at line 86 of file gazebo_ros_camera_utils.cpp.

◆ LoadThread()

void gazebo::GazeboRosCameraUtils::LoadThread ( )

private

Definition at line 273 of file gazebo_ros_camera_utils.cpp.

◆ OnLoad()

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

Definition at line 266 of file gazebo_ros_camera_utils.cpp.

◆ PublishCameraInfo() [1/3]

void gazebo::GazeboRosCameraUtils::PublishCameraInfo ( ros::Publisher camera_info_publisher )

protected

Publish CameraInfo to the ROS topic.

Definition at line 694 of file gazebo_ros_camera_utils.cpp.

◆ PublishCameraInfo() [2/3]

void gazebo::GazeboRosCameraUtils::PublishCameraInfo ( common::Time & last_update_time )

protected

Definition at line 669 of file gazebo_ros_camera_utils.cpp.

◆ PublishCameraInfo() [3/3]

void gazebo::GazeboRosCameraUtils::PublishCameraInfo ( )

protected

Definition at line 678 of file gazebo_ros_camera_utils.cpp.

◆ PutCameraData() [1/2]

void gazebo::GazeboRosCameraUtils::PutCameraData ( const unsigned char * _src )

protected

Put camera data to the ROS topic.

don't bother if there are no subscribers

Definition at line 643 of file gazebo_ros_camera_utils.cpp.

◆ PutCameraData() [2/2]

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

protected

Definition at line 636 of file gazebo_ros_camera_utils.cpp.

◆ SetHFOV()

void gazebo::GazeboRosCameraUtils::SetHFOV ( const std_msgs::Float64::ConstPtr & hfov )

private

: Camera modification functions

Definition at line 392 of file gazebo_ros_camera_utils.cpp.

◆ SetUpdateRate()

void gazebo::GazeboRosCameraUtils::SetUpdateRate ( const std_msgs::Float64::ConstPtr & update_rate )

private

Definition at line 403 of file gazebo_ros_camera_utils.cpp.

◆ TriggerCamera()

void gazebo::GazeboRosCameraUtils::TriggerCamera ( )

protectedvirtual

Reimplemented in gazebo::GazeboRosTriggeredCamera.

Definition at line 375 of file gazebo_ros_camera_utils.cpp.

◆ TriggerCameraInternal()

void gazebo::GazeboRosCameraUtils::TriggerCameraInternal ( const std_msgs::Empty::ConstPtr & dummy )

private

Definition at line 384 of file gazebo_ros_camera_utils.cpp.

Friends And Related Function Documentation

◆ GazeboRosMultiCamera

friend class GazeboRosMultiCamera

friend

Definition at line 227 of file gazebo_ros_camera_utils.h.

◆ GazeboRosTriggeredMultiCamera

friend class GazeboRosTriggeredMultiCamera

friend

Definition at line 228 of file gazebo_ros_camera_utils.h.

Member Data Documentation

◆ auto_distortion_

bool gazebo::GazeboRosCameraUtils::auto_distortion_

protected

Definition at line 160 of file gazebo_ros_camera_utils.h.

◆ border_crop_

bool gazebo::GazeboRosCameraUtils::border_crop_

protected

Definition at line 161 of file gazebo_ros_camera_utils.h.

◆ callback_queue_thread_

boost::thread gazebo::GazeboRosCameraUtils::callback_queue_thread_

protected

Definition at line 187 of file gazebo_ros_camera_utils.h.

◆ camera_

rendering::CameraPtr gazebo::GazeboRosCameraUtils::camera_

protected

Definition at line 195 of file gazebo_ros_camera_utils.h.

◆ camera_info_manager_

boost::shared_ptr<camera_info_manager::CameraInfoManager> gazebo::GazeboRosCameraUtils::camera_info_manager_

protected

Definition at line 163 of file gazebo_ros_camera_utils.h.

◆ camera_info_pub_

ros::Publisher gazebo::GazeboRosCameraUtils::camera_info_pub_

protected

camera info

Definition at line 137 of file gazebo_ros_camera_utils.h.

◆ camera_info_topic_name_

std::string gazebo::GazeboRosCameraUtils::camera_info_topic_name_

protected

Definition at line 138 of file gazebo_ros_camera_utils.h.

◆ camera_name_

std::string gazebo::GazeboRosCameraUtils::camera_name_

private

ROS camera name.

Definition at line 121 of file gazebo_ros_camera_utils.h.

◆ camera_queue_

ros::CallbackQueue gazebo::GazeboRosCameraUtils::camera_queue_

protected

Definition at line 185 of file gazebo_ros_camera_utils.h.

◆ cameraHFOVSubscriber_

ros::Subscriber gazebo::GazeboRosCameraUtils::cameraHFOVSubscriber_

private

Definition at line 174 of file gazebo_ros_camera_utils.h.

◆ cameraUpdateRateSubscriber_

ros::Subscriber gazebo::GazeboRosCameraUtils::cameraUpdateRateSubscriber_

private

Definition at line 175 of file gazebo_ros_camera_utils.h.

◆ cx_

double gazebo::GazeboRosCameraUtils::cx_

protected

Definition at line 150 of file gazebo_ros_camera_utils.h.

◆ cx_prime_

double gazebo::GazeboRosCameraUtils::cx_prime_

protected

Definition at line 149 of file gazebo_ros_camera_utils.h.

◆ cy_

double gazebo::GazeboRosCameraUtils::cy_

protected

Definition at line 151 of file gazebo_ros_camera_utils.h.

◆ deferred_load_thread_

boost::thread gazebo::GazeboRosCameraUtils::deferred_load_thread_

private

Definition at line 210 of file gazebo_ros_camera_utils.h.

◆ depth_

unsigned int gazebo::GazeboRosCameraUtils::depth_

protected

Definition at line 191 of file gazebo_ros_camera_utils.h.

◆ distortion_k1_

double gazebo::GazeboRosCameraUtils::distortion_k1_

protected

Definition at line 154 of file gazebo_ros_camera_utils.h.

◆ distortion_k2_

double gazebo::GazeboRosCameraUtils::distortion_k2_

protected

Definition at line 155 of file gazebo_ros_camera_utils.h.

◆ distortion_k3_

double gazebo::GazeboRosCameraUtils::distortion_k3_

protected

Definition at line 156 of file gazebo_ros_camera_utils.h.

◆ distortion_t1_

double gazebo::GazeboRosCameraUtils::distortion_t1_

protected

Definition at line 157 of file gazebo_ros_camera_utils.h.

◆ distortion_t2_

double gazebo::GazeboRosCameraUtils::distortion_t2_

protected

Definition at line 158 of file gazebo_ros_camera_utils.h.

◆ dyn_srv_

dynamic_reconfigure::Server<gazebo_plugins::GazeboRosCameraConfig>* gazebo::GazeboRosCameraUtils::dyn_srv_

private

Definition at line 181 of file gazebo_ros_camera_utils.h.

◆ focal_length_

double gazebo::GazeboRosCameraUtils::focal_length_

protected

Definition at line 152 of file gazebo_ros_camera_utils.h.

◆ format_

std::string gazebo::GazeboRosCameraUtils::format_

protected

Definition at line 192 of file gazebo_ros_camera_utils.h.

◆ frame_name_

std::string gazebo::GazeboRosCameraUtils::frame_name_

protected

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 143 of file gazebo_ros_camera_utils.h.

◆ hack_baseline_

double gazebo::GazeboRosCameraUtils::hack_baseline_

protected

Definition at line 153 of file gazebo_ros_camera_utils.h.

◆ height_

unsigned int gazebo::GazeboRosCameraUtils::height_

protected

Definition at line 191 of file gazebo_ros_camera_utils.h.

◆ image_connect_count_

boost::shared_ptr<int> gazebo::GazeboRosCameraUtils::image_connect_count_

protected

Keep track of number of image connections.

Definition at line 93 of file gazebo_ros_camera_utils.h.

◆ image_connect_count_lock_

boost::shared_ptr<boost::mutex> gazebo::GazeboRosCameraUtils::image_connect_count_lock_

protected

A mutex to lock access to image_connect_count_.

Definition at line 95 of file gazebo_ros_camera_utils.h.

◆ image_msg_

sensor_msgs::Image gazebo::GazeboRosCameraUtils::image_msg_

protected

ROS image message.

Definition at line 115 of file gazebo_ros_camera_utils.h.

◆ image_pub_

image_transport::Publisher gazebo::GazeboRosCameraUtils::image_pub_

protected

Definition at line 111 of file gazebo_ros_camera_utils.h.

◆ image_topic_name_

std::string gazebo::GazeboRosCameraUtils::image_topic_name_

protected

ROS image topic name.

Definition at line 127 of file gazebo_ros_camera_utils.h.

◆ initialized_

bool gazebo::GazeboRosCameraUtils::initialized_

protected

True if camera util is initialized.

Definition at line 225 of file gazebo_ros_camera_utils.h.

◆ itnode_

image_transport::ImageTransport* gazebo::GazeboRosCameraUtils::itnode_

private

Definition at line 112 of file gazebo_ros_camera_utils.h.

◆ last_info_update_time_

common::Time gazebo::GazeboRosCameraUtils::last_info_update_time_

protected

Definition at line 139 of file gazebo_ros_camera_utils.h.

◆ last_update_time_

common::Time gazebo::GazeboRosCameraUtils::last_update_time_

protected

Definition at line 147 of file gazebo_ros_camera_utils.h.

◆ load_event_

event::EventT<void()> gazebo::GazeboRosCameraUtils::load_event_

private

Definition at line 211 of file gazebo_ros_camera_utils.h.

◆ lock_

boost::mutex gazebo::GazeboRosCameraUtils::lock_

protected

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

Definition at line 168 of file gazebo_ros_camera_utils.h.

◆ newFrameConnection_

event::ConnectionPtr gazebo::GazeboRosCameraUtils::newFrameConnection_

private

Definition at line 200 of file gazebo_ros_camera_utils.h.

◆ parentSensor_

sensors::SensorPtr gazebo::GazeboRosCameraUtils::parentSensor_

protected

Definition at line 194 of file gazebo_ros_camera_utils.h.

◆ robot_namespace_

std::string gazebo::GazeboRosCameraUtils::robot_namespace_

private

for setting ROS name space

Definition at line 118 of file gazebo_ros_camera_utils.h.

◆ rosnode_

ros::NodeHandle* gazebo::GazeboRosCameraUtils::rosnode_

protected

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

Definition at line 110 of file gazebo_ros_camera_utils.h.

◆ sdf

sdf::ElementPtr gazebo::GazeboRosCameraUtils::sdf

private

Definition at line 208 of file gazebo_ros_camera_utils.h.

◆ sensor_update_time_

common::Time gazebo::GazeboRosCameraUtils::sensor_update_time_

protected

Definition at line 202 of file gazebo_ros_camera_utils.h.

◆ skip_

int gazebo::GazeboRosCameraUtils::skip_

protected

Definition at line 172 of file gazebo_ros_camera_utils.h.

◆ tf_prefix_

std::string gazebo::GazeboRosCameraUtils::tf_prefix_

private

tf prefix

Definition at line 124 of file gazebo_ros_camera_utils.h.

◆ trigger_subscriber_

ros::Subscriber gazebo::GazeboRosCameraUtils::trigger_subscriber_

private

Definition at line 219 of file gazebo_ros_camera_utils.h.

◆ trigger_topic_name_

std::string gazebo::GazeboRosCameraUtils::trigger_topic_name_

protected

ROS trigger topic name.

Definition at line 222 of file gazebo_ros_camera_utils.h.

◆ type_

std::string gazebo::GazeboRosCameraUtils::type_

protected

size of image buffer

Definition at line 171 of file gazebo_ros_camera_utils.h.

◆ update_period_

double gazebo::GazeboRosCameraUtils::update_period_

protected

Definition at line 146 of file gazebo_ros_camera_utils.h.

◆ update_rate_

double gazebo::GazeboRosCameraUtils::update_rate_

protected

update rate of this sensor

Definition at line 145 of file gazebo_ros_camera_utils.h.

◆ was_active_

boost::shared_ptr<bool> gazebo::GazeboRosCameraUtils::was_active_

protected

Keep track when we activate this camera through ros subscription, was it already active? resume state when unsubscribed.

Definition at line 102 of file gazebo_ros_camera_utils.h.

◆ width_

unsigned int gazebo::GazeboRosCameraUtils::width_

protected

Definition at line 191 of file gazebo_ros_camera_utils.h.

◆ world

physics::WorldPtr gazebo::GazeboRosCameraUtils::world

protected

Definition at line 205 of file gazebo_ros_camera_utils.h.

◆ world_

physics::WorldPtr gazebo::GazeboRosCameraUtils::world_

protected

Definition at line 198 of file gazebo_ros_camera_utils.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ GazeboRosCameraUtils()

◆ ~GazeboRosCameraUtils()

Member Function Documentation

◆ CameraQueueThread()

◆ CanTriggerCamera()

◆ configCallback()

◆ ImageConnect()

◆ ImageDisconnect()

◆ InfoConnect()

◆ InfoDisconnect()

◆ Init()

◆ Load() [1/2]

◆ Load() [2/2]

◆ LoadThread()

◆ OnLoad()

◆ PublishCameraInfo() [1/3]

◆ PublishCameraInfo() [2/3]

◆ PublishCameraInfo() [3/3]

◆ PutCameraData() [1/2]

◆ PutCameraData() [2/2]

◆ SetHFOV()

◆ SetUpdateRate()

◆ TriggerCamera()

◆ TriggerCameraInternal()

Friends And Related Function Documentation

◆ GazeboRosMultiCamera

◆ GazeboRosTriggeredMultiCamera

Member Data Documentation

◆ auto_distortion_

◆ border_crop_

◆ callback_queue_thread_

◆ camera_

◆ camera_info_manager_

◆ camera_info_pub_

◆ camera_info_topic_name_

◆ camera_name_

◆ camera_queue_

◆ cameraHFOVSubscriber_

◆ cameraUpdateRateSubscriber_

◆ cx_

◆ cx_prime_

◆ cy_

◆ deferred_load_thread_

◆ depth_

◆ distortion_k1_

◆ distortion_k2_

◆ distortion_k3_

◆ distortion_t1_

◆ distortion_t2_

◆ dyn_srv_

◆ focal_length_

◆ format_

◆ frame_name_

◆ hack_baseline_

◆ height_

◆ image_connect_count_

◆ image_connect_count_lock_

◆ image_msg_

◆ image_pub_

◆ image_topic_name_

◆ initialized_

◆ itnode_

◆ last_info_update_time_

◆ last_update_time_

◆ load_event_

◆ lock_

◆ newFrameConnection_

◆ parentSensor_

◆ robot_namespace_

◆ rosnode_

◆ sdf

◆ sensor_update_time_