#include <gazebo_ros_depth_camera.h>

Inheritance diagram for gazebo::GazeboRosDepthCamera:

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

	GazeboRosDepthCamera ()
	Constructor. More...

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

	~GazeboRosDepthCamera ()
	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
ros::Publisher	depth_image_camera_info_pub_

Private Member Functions
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	PointCloudConnect ()

void	PointCloudDisconnect ()

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 ()

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_

common::Time	last_depth_image_camera_info_update_time_

event::ConnectionPtr	load_connection_

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...

Private Attributes inherited from gazebo::GazeboRosCameraUtils
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_

Detailed Description

Definition at line 60 of file gazebo_ros_depth_camera.h.

Constructor & Destructor Documentation

◆ GazeboRosDepthCamera()

gazebo::GazeboRosDepthCamera::GazeboRosDepthCamera ( )

Constructor.

Parameters

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

Definition at line 45 of file gazebo_ros_depth_camera.cpp.

◆ ~GazeboRosDepthCamera()

gazebo::GazeboRosDepthCamera::~GazeboRosDepthCamera ( )

Destructor.

Definition at line 55 of file gazebo_ros_depth_camera.cpp.

Member Function Documentation

◆ Advertise()

void gazebo::GazeboRosDepthCamera::Advertise ( )

virtual

Advertise point cloud and depth image.

Definition at line 113 of file gazebo_ros_depth_camera.cpp.

◆ DepthImageConnect()

void gazebo::GazeboRosDepthCamera::DepthImageConnect ( )

private

Definition at line 161 of file gazebo_ros_depth_camera.cpp.

◆ DepthImageDisconnect()

void gazebo::GazeboRosDepthCamera::DepthImageDisconnect ( )

private

Definition at line 168 of file gazebo_ros_depth_camera.cpp.

◆ DepthInfoConnect()

void gazebo::GazeboRosDepthCamera::DepthInfoConnect ( )

private

Definition at line 175 of file gazebo_ros_depth_camera.cpp.

◆ DepthInfoDisconnect()

void gazebo::GazeboRosDepthCamera::DepthInfoDisconnect ( )

private

Definition at line 181 of file gazebo_ros_depth_camera.cpp.

◆ FillDepthImage()

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

private

push depth image data into ros topic

copy from depth to depth image message

Definition at line 357 of file gazebo_ros_depth_camera.cpp.

◆ FillDepthImageHelper()

bool gazebo::GazeboRosDepthCamera::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 462 of file gazebo_ros_depth_camera.cpp.

◆ FillPointCloudHelper()

bool gazebo::GazeboRosDepthCamera::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 379 of file gazebo_ros_depth_camera.cpp.

◆ FillPointdCloud()

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

private

Put camera data to the ROS topic.

copy from depth to point cloud message

Definition at line 332 of file gazebo_ros_depth_camera.cpp.

◆ InfoConnect()

void gazebo::GazeboRosDepthCamera::InfoConnect ( )

private

◆ InfoDisconnect()

void gazebo::GazeboRosDepthCamera::InfoDisconnect ( )

private

◆ Load()

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

virtual

Load the plugin.

Parameters

take	in SDF root element

Definition at line 61 of file gazebo_ros_depth_camera.cpp.

◆ OnNewDepthFrame()

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

protectedvirtual

Update the controller.

Definition at line 188 of file gazebo_ros_depth_camera.cpp.

◆ OnNewImageFrame()

void gazebo::GazeboRosDepthCamera::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 299 of file gazebo_ros_depth_camera.cpp.

◆ OnNewRGBPointCloud()

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

protectedvirtual

Update the controller.

Definition at line 229 of file gazebo_ros_depth_camera.cpp.

◆ PointCloudConnect()

void gazebo::GazeboRosDepthCamera::PointCloudConnect ( )

private

Definition at line 143 of file gazebo_ros_depth_camera.cpp.

◆ PointCloudDisconnect()

void gazebo::GazeboRosDepthCamera::PointCloudDisconnect ( )

private

Definition at line 151 of file gazebo_ros_depth_camera.cpp.

◆ PublishCameraInfo()

void gazebo::GazeboRosDepthCamera::PublishCameraInfo ( )

protectedvirtual

Definition at line 500 of file gazebo_ros_depth_camera.cpp.

Member Data Documentation

◆ depth_image_camera_info_pub_

ros::Publisher gazebo::GazeboRosDepthCamera::depth_image_camera_info_pub_

protected

Definition at line 144 of file gazebo_ros_depth_camera.h.

◆ depth_image_camera_info_topic_name_

std::string gazebo::GazeboRosDepthCamera::depth_image_camera_info_topic_name_

private

Definition at line 137 of file gazebo_ros_depth_camera.h.

◆ depth_image_connect_count_

int gazebo::GazeboRosDepthCamera::depth_image_connect_count_

private

Keep track of number of connctions for point clouds.

Definition at line 103 of file gazebo_ros_depth_camera.h.

◆ depth_image_msg_

sensor_msgs::Image gazebo::GazeboRosDepthCamera::depth_image_msg_

private

Definition at line 122 of file gazebo_ros_depth_camera.h.

◆ depth_image_pub_

ros::Publisher gazebo::GazeboRosDepthCamera::depth_image_pub_

private

Definition at line 118 of file gazebo_ros_depth_camera.h.

◆ depth_image_topic_name_

std::string gazebo::GazeboRosDepthCamera::depth_image_topic_name_

private

image where each pixel contains the depth information

Definition at line 136 of file gazebo_ros_depth_camera.h.

◆ depth_info_connect_count_

int gazebo::GazeboRosDepthCamera::depth_info_connect_count_

private

Definition at line 138 of file gazebo_ros_depth_camera.h.

◆ depth_sensor_update_time_

common::Time gazebo::GazeboRosDepthCamera::depth_sensor_update_time_

private

Definition at line 143 of file gazebo_ros_depth_camera.h.

◆ last_depth_image_camera_info_update_time_

common::Time gazebo::GazeboRosDepthCamera::last_depth_image_camera_info_update_time_

private

Definition at line 106 of file gazebo_ros_depth_camera.h.

◆ load_connection_

event::ConnectionPtr gazebo::GazeboRosDepthCamera::load_connection_

private

Definition at line 146 of file gazebo_ros_depth_camera.h.

◆ point_cloud_connect_count_

int gazebo::GazeboRosDepthCamera::point_cloud_connect_count_

private

Keep track of number of connctions for point clouds.

Definition at line 98 of file gazebo_ros_depth_camera.h.

◆ point_cloud_cutoff_

double gazebo::GazeboRosDepthCamera::point_cloud_cutoff_

private

Definition at line 124 of file gazebo_ros_depth_camera.h.

◆ point_cloud_msg_

sensor_msgs::PointCloud2 gazebo::GazeboRosDepthCamera::point_cloud_msg_

private

PointCloud2 point cloud message.

Definition at line 121 of file gazebo_ros_depth_camera.h.

◆ point_cloud_pub_

ros::Publisher gazebo::GazeboRosDepthCamera::point_cloud_pub_

private

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

Definition at line 117 of file gazebo_ros_depth_camera.h.

◆ point_cloud_topic_name_

std::string gazebo::GazeboRosDepthCamera::point_cloud_topic_name_

private

ROS image topic name.

Definition at line 127 of file gazebo_ros_depth_camera.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

Detailed Description

Constructor & Destructor Documentation

◆ GazeboRosDepthCamera()

◆ ~GazeboRosDepthCamera()

Member Function Documentation

◆ Advertise()

◆ DepthImageConnect()

◆ DepthImageDisconnect()

◆ DepthInfoConnect()

◆ DepthInfoDisconnect()

◆ FillDepthImage()

◆ FillDepthImageHelper()

◆ FillPointCloudHelper()

◆ FillPointdCloud()

◆ InfoConnect()

◆ InfoDisconnect()

◆ Load()

◆ OnNewDepthFrame()

◆ OnNewImageFrame()

◆ OnNewRGBPointCloud()

◆ PointCloudConnect()

◆ PointCloudDisconnect()

◆ PublishCameraInfo()

Member Data Documentation

◆ depth_image_camera_info_pub_

◆ depth_image_camera_info_topic_name_

◆ depth_image_connect_count_

◆ depth_image_msg_

◆ depth_image_pub_

◆ depth_image_topic_name_

◆ depth_info_connect_count_

◆ depth_sensor_update_time_

◆ last_depth_image_camera_info_update_time_

◆ load_connection_

◆ point_cloud_connect_count_

◆ point_cloud_cutoff_

◆ point_cloud_msg_

◆ point_cloud_pub_

◆ point_cloud_topic_name_