#include <gazebo_noisydepth_plugin.h>

Inheritance diagram for gazebo::GazeboNoisyDepth:

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

	GazeboNoisyDepth ()

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

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

	~GazeboNoisyDepth ()

Protected Member Functions
virtual void	OnNewImageFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)

Private Member Functions
void	DepthImageConnect ()

void	DepthImageDisconnect ()

void	DepthInfoConnect ()

void	DepthInfoDisconnect ()

void	FillDepthImage (const float *_src)

bool	FillDepthImageHelper (const uint32_t rows_arg, const uint32_t cols_arg, const uint32_t step_arg, const float data_arg, sensor_msgs::Image image_msg)

virtual void	PublishCameraInfo ()

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
ros::Publisher	depth_image_camera_info_pub_

std::string	depth_image_camera_info_topic_name_

int	depth_image_connect_count_

sensor_msgs::Image	depth_image_msg_

ros::Publisher	depth_image_pub_

std::string	depth_image_topic_name_

int	depth_info_connect_count_

common::Time	depth_sensor_update_time_

common::Time	last_depth_image_camera_info_update_time_

event::ConnectionPtr	load_connection_

std::unique_ptr< DepthNoiseModel >	noise_model

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_

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 59 of file gazebo_noisydepth_plugin.h.

Constructor & Destructor Documentation

◆ GazeboNoisyDepth()

gazebo::GazeboNoisyDepth::GazeboNoisyDepth ( )

Definition at line 40 of file gazebo_noisydepth_plugin.cpp.

◆ ~GazeboNoisyDepth()

gazebo::GazeboNoisyDepth::~GazeboNoisyDepth ( )

Definition at line 46 of file gazebo_noisydepth_plugin.cpp.

Member Function Documentation

◆ Advertise()

void gazebo::GazeboNoisyDepth::Advertise ( )

virtual

Advertise depth image.

Definition at line 157 of file gazebo_noisydepth_plugin.cpp.

◆ DepthImageConnect()

void gazebo::GazeboNoisyDepth::DepthImageConnect ( )

private

Definition at line 177 of file gazebo_noisydepth_plugin.cpp.

◆ DepthImageDisconnect()

void gazebo::GazeboNoisyDepth::DepthImageDisconnect ( )

private

Definition at line 182 of file gazebo_noisydepth_plugin.cpp.

◆ DepthInfoConnect()

void gazebo::GazeboNoisyDepth::DepthInfoConnect ( )

private

Definition at line 186 of file gazebo_noisydepth_plugin.cpp.

◆ DepthInfoDisconnect()

void gazebo::GazeboNoisyDepth::DepthInfoDisconnect ( )

private

Definition at line 190 of file gazebo_noisydepth_plugin.cpp.

◆ FillDepthImage()

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

private

Definition at line 244 of file gazebo_noisydepth_plugin.cpp.

◆ FillDepthImageHelper()

bool gazebo::GazeboNoisyDepth::FillDepthImageHelper	(	const uint32_t	rows_arg,
		const uint32_t	cols_arg,
		const uint32_t	step_arg,
		const float *	data_arg,
		sensor_msgs::Image *	image_msg
	)

private

Definition at line 259 of file gazebo_noisydepth_plugin.cpp.

◆ Load()

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

virtual

Load the plugin.

Parameters

take	in SDF root element

Definition at line 48 of file gazebo_noisydepth_plugin.cpp.

◆ OnNewDepthFrame()

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

virtual

Definition at line 194 of file gazebo_noisydepth_plugin.cpp.

◆ OnNewImageFrame()

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

protectedvirtual

Definition at line 219 of file gazebo_noisydepth_plugin.cpp.

◆ PublishCameraInfo()

void gazebo::GazeboNoisyDepth::PublishCameraInfo ( )

privatevirtual

Definition at line 284 of file gazebo_noisydepth_plugin.cpp.

Member Data Documentation

◆ depth_image_camera_info_pub_

ros::Publisher gazebo::GazeboNoisyDepth::depth_image_camera_info_pub_

private

Definition at line 99 of file gazebo_noisydepth_plugin.h.

◆ depth_image_camera_info_topic_name_

std::string gazebo::GazeboNoisyDepth::depth_image_camera_info_topic_name_

private

Definition at line 105 of file gazebo_noisydepth_plugin.h.

◆ depth_image_connect_count_

int gazebo::GazeboNoisyDepth::depth_image_connect_count_

private

Definition at line 101 of file gazebo_noisydepth_plugin.h.

◆ depth_image_msg_

sensor_msgs::Image gazebo::GazeboNoisyDepth::depth_image_msg_

private

Definition at line 109 of file gazebo_noisydepth_plugin.h.

◆ depth_image_pub_

ros::Publisher gazebo::GazeboNoisyDepth::depth_image_pub_

private

Definition at line 98 of file gazebo_noisydepth_plugin.h.

◆ depth_image_topic_name_

std::string gazebo::GazeboNoisyDepth::depth_image_topic_name_

private

Definition at line 104 of file gazebo_noisydepth_plugin.h.

◆ depth_info_connect_count_

int gazebo::GazeboNoisyDepth::depth_info_connect_count_

private

Definition at line 102 of file gazebo_noisydepth_plugin.h.

◆ depth_sensor_update_time_

common::Time gazebo::GazeboNoisyDepth::depth_sensor_update_time_

private

Definition at line 107 of file gazebo_noisydepth_plugin.h.

◆ last_depth_image_camera_info_update_time_

common::Time gazebo::GazeboNoisyDepth::last_depth_image_camera_info_update_time_

private

Definition at line 108 of file gazebo_noisydepth_plugin.h.

◆ load_connection_

event::ConnectionPtr gazebo::GazeboNoisyDepth::load_connection_

private

Definition at line 95 of file gazebo_noisydepth_plugin.h.

◆ noise_model

std::unique_ptr<DepthNoiseModel> gazebo::GazeboNoisyDepth::noise_model

private

Definition at line 96 of file gazebo_noisydepth_plugin.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GazeboNoisyDepth()

◆ ~GazeboNoisyDepth()

Member Function Documentation

◆ Advertise()

◆ DepthImageConnect()

◆ DepthImageDisconnect()

◆ DepthInfoConnect()

◆ DepthInfoDisconnect()

◆ FillDepthImage()

◆ FillDepthImageHelper()

◆ Load()

◆ OnNewDepthFrame()

◆ OnNewImageFrame()

◆ 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_

◆ noise_model