#include <gazebo_ros_depth_camera.h>

Inheritance diagram for gazebo::GazeboRosDepthCamera:

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

	GazeboRosDepthCamera ()
	Constructor. More...

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

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

virtual void	OnNewRGBPointCloud (const float *_pcd, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format) override
	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	NormalsConnect ()
	Increase the counter which count the subscribers are connected. More...

void	NormalsDisconnect ()
	Decrease the counter which count the subscribers are connected. More...

void	PointCloudConnect ()

void	PointCloudDisconnect ()

void	PublishCameraInfo ()

void	PublishCameraInfo (common::Time &last_update_time)

void	PublishCameraInfo (ros::Publisher camera_info_publisher)
	Publish CameraInfo to the ROS topic. More...

void	ReflectanceConnect ()
	Increase the counter which count the subscribers are connected. More...

void	ReflectanceDisconnect ()
	Decrease the counter which count the subscribers are connected. More...

Private Member Functions inherited from gazebo::GazeboRosCameraUtils
	GazeboRosCameraUtils ()
	Constructor. More...

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

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

void	PublishCameraInfo (common::Time &last_update_time)

void	PublishCameraInfo (ros::Publisher camera_info_publisher)
	Publish CameraInfo to the ROS topic. More...

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_

ros::Publisher	normal_pub_

int	normals_connect_count_
	Keep track of number of connections for normals. More...

std::string	normals_topic_name_
	ROS normals topic name. More...

float *	pcd_ = nullptr
	copy of the pointcloud data, used to place normals in the world More...

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...

int	reduce_normals_
	adding one value each reduce_normals_ to the array marker More...

int	reflectance_connect_count_
	Keep track of number of connections for reflectance. More...

sensor_msgs::Image	reflectance_msg_

ros::Publisher	reflectance_pub_

std::string	reflectance_topic_name_
	ROS reflectance topic name. More...

bool	use_depth_image_16UC1_format_

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 62 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 49 of file gazebo_ros_depth_camera.cpp.

◆ ~GazeboRosDepthCamera()

gazebo::GazeboRosDepthCamera::~GazeboRosDepthCamera ( )

Destructor.

Definition at line 61 of file gazebo_ros_depth_camera.cpp.

Member Function Documentation

◆ Advertise()

void gazebo::GazeboRosDepthCamera::Advertise ( )

virtual

Advertise point cloud, depth image, normals and reflectance.

Definition at line 146 of file gazebo_ros_depth_camera.cpp.

◆ DepthImageConnect()

void gazebo::GazeboRosDepthCamera::DepthImageConnect ( )

private

Definition at line 250 of file gazebo_ros_depth_camera.cpp.

◆ DepthImageDisconnect()

void gazebo::GazeboRosDepthCamera::DepthImageDisconnect ( )

private

Definition at line 258 of file gazebo_ros_depth_camera.cpp.

◆ DepthInfoConnect()

void gazebo::GazeboRosDepthCamera::DepthInfoConnect ( )

private

Definition at line 265 of file gazebo_ros_depth_camera.cpp.

◆ DepthInfoDisconnect()

void gazebo::GazeboRosDepthCamera::DepthInfoDisconnect ( )

private

Definition at line 271 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 605 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 721 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 627 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 580 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
	)

overridevirtual

Load the plugin.

Parameters

take	in SDF root element

Definition at line 71 of file gazebo_ros_depth_camera.cpp.

◆ NormalsConnect()

void gazebo::GazeboRosDepthCamera::NormalsConnect ( )

private

Increase the counter which count the subscribers are connected.

Definition at line 221 of file gazebo_ros_depth_camera.cpp.

◆ NormalsDisconnect()

void gazebo::GazeboRosDepthCamera::NormalsDisconnect ( )

private

Decrease the counter which count the subscribers are connected.

Definition at line 240 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
	)

overrideprotectedvirtual

Update the controller.

Definition at line 278 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
	)

overrideprotectedvirtual

Update the controller.

Definition at line 446 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
	)

overrideprotectedvirtual

Update the controller.

Definition at line 331 of file gazebo_ros_depth_camera.cpp.

◆ PointCloudConnect()

void gazebo::GazeboRosDepthCamera::PointCloudConnect ( )

private

Definition at line 193 of file gazebo_ros_depth_camera.cpp.

◆ PointCloudDisconnect()

void gazebo::GazeboRosDepthCamera::PointCloudDisconnect ( )

private

Definition at line 202 of file gazebo_ros_depth_camera.cpp.

◆ PublishCameraInfo() [1/4]

void gazebo::GazeboRosCameraUtils::PublishCameraInfo

private

Definition at line 674 of file gazebo_ros_camera_utils.cpp.

◆ PublishCameraInfo() [2/4]

void gazebo::GazeboRosDepthCamera::PublishCameraInfo ( )

protectedvirtual

Definition at line 781 of file gazebo_ros_depth_camera.cpp.

◆ PublishCameraInfo() [3/4]

void gazebo::GazeboRosCameraUtils::PublishCameraInfo

private

Definition at line 665 of file gazebo_ros_camera_utils.cpp.

◆ PublishCameraInfo() [4/4]

void gazebo::GazeboRosCameraUtils::PublishCameraInfo

private

Publish CameraInfo to the ROS topic.

Definition at line 690 of file gazebo_ros_camera_utils.cpp.

◆ ReflectanceConnect()

void gazebo::GazeboRosDepthCamera::ReflectanceConnect ( )

private

Increase the counter which count the subscribers are connected.

Definition at line 212 of file gazebo_ros_depth_camera.cpp.

◆ ReflectanceDisconnect()

void gazebo::GazeboRosDepthCamera::ReflectanceDisconnect ( )

private

Decrease the counter which count the subscribers are connected.

Definition at line 230 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 188 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 180 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 131 of file gazebo_ros_depth_camera.h.

◆ depth_image_msg_

sensor_msgs::Image gazebo::GazeboRosDepthCamera::depth_image_msg_

private

Definition at line 152 of file gazebo_ros_depth_camera.h.

◆ depth_image_pub_

ros::Publisher gazebo::GazeboRosDepthCamera::depth_image_pub_

private

Definition at line 146 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 179 of file gazebo_ros_depth_camera.h.

◆ depth_info_connect_count_

int gazebo::GazeboRosDepthCamera::depth_info_connect_count_

private

Definition at line 181 of file gazebo_ros_depth_camera.h.

◆ depth_sensor_update_time_

common::Time gazebo::GazeboRosDepthCamera::depth_sensor_update_time_

private

Definition at line 187 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 134 of file gazebo_ros_depth_camera.h.

◆ load_connection_

event::ConnectionPtr gazebo::GazeboRosDepthCamera::load_connection_

private

Definition at line 190 of file gazebo_ros_depth_camera.h.

◆ normal_pub_

ros::Publisher gazebo::GazeboRosDepthCamera::normal_pub_

private

Definition at line 148 of file gazebo_ros_depth_camera.h.

◆ normals_connect_count_

int gazebo::GazeboRosDepthCamera::normals_connect_count_

private

Keep track of number of connections for normals.

Definition at line 124 of file gazebo_ros_depth_camera.h.

◆ normals_topic_name_

std::string gazebo::GazeboRosDepthCamera::normals_topic_name_

private

ROS normals topic name.

Definition at line 170 of file gazebo_ros_depth_camera.h.

◆ pcd_

float* gazebo::GazeboRosDepthCamera::pcd_ = nullptr

private

copy of the pointcloud data, used to place normals in the world

Definition at line 156 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 112 of file gazebo_ros_depth_camera.h.

◆ point_cloud_cutoff_

double gazebo::GazeboRosDepthCamera::point_cloud_cutoff_

private

Definition at line 158 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 151 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 145 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 164 of file gazebo_ros_depth_camera.h.

◆ reduce_normals_

int gazebo::GazeboRosDepthCamera::reduce_normals_

private

adding one value each reduce_normals_ to the array marker

Definition at line 161 of file gazebo_ros_depth_camera.h.

◆ reflectance_connect_count_

int gazebo::GazeboRosDepthCamera::reflectance_connect_count_

private

Keep track of number of connections for reflectance.

Definition at line 117 of file gazebo_ros_depth_camera.h.

◆ reflectance_msg_

sensor_msgs::Image gazebo::GazeboRosDepthCamera::reflectance_msg_

private

Definition at line 153 of file gazebo_ros_depth_camera.h.

◆ reflectance_pub_

ros::Publisher gazebo::GazeboRosDepthCamera::reflectance_pub_

private

Definition at line 147 of file gazebo_ros_depth_camera.h.

◆ reflectance_topic_name_

std::string gazebo::GazeboRosDepthCamera::reflectance_topic_name_

private

ROS reflectance topic name.

Definition at line 167 of file gazebo_ros_depth_camera.h.

◆ use_depth_image_16UC1_format_

bool gazebo::GazeboRosDepthCamera::use_depth_image_16UC1_format_

private

Definition at line 184 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()

◆ NormalsConnect()

◆ NormalsDisconnect()

◆ OnNewDepthFrame()

◆ OnNewImageFrame()

◆ OnNewRGBPointCloud()

◆ PointCloudConnect()

◆ PointCloudDisconnect()

◆ PublishCameraInfo() [1/4]

◆ PublishCameraInfo() [2/4]

◆ PublishCameraInfo() [3/4]

◆ PublishCameraInfo() [4/4]

◆ ReflectanceConnect()

◆ ReflectanceDisconnect()

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_

◆ normal_pub_

◆ normals_connect_count_

◆ normals_topic_name_

◆ pcd_

◆ point_cloud_connect_count_

◆ point_cloud_cutoff_

◆ point_cloud_msg_

◆ point_cloud_pub_

◆ point_cloud_topic_name_

◆ reduce_normals_

◆ reflectance_connect_count_

◆ reflectance_msg_

◆ reflectance_pub_

◆ reflectance_topic_name_

◆ use_depth_image_16UC1_format_