gazebo::sensors::GvmMulticameraSensor Class Reference

Creates multiple cameras and publishes an event with synchronized images from all of these cameras. More...

#include <gvm_multicamera_sensor.h>

Inheritance diagram for gazebo::sensors::GvmMulticameraSensor:

Classes
struct	CameraData
struct	ImageData

Public Types
using	ImageDataPtr = std::shared_ptr< ImageData >
using	NewImagesFn = void(const std::vector< ImageDataPtr > &)

Public Member Functions
bool	attachToLink (const std::string &camera_name, const RefModelConfig &model_config, bool on_init=false)
event::ConnectionPtr	connectNewImages (const std::function< NewImagesFn > &callback)
rendering::CameraPtr	getCamera (const std::string &name)
std::vector< std::string >	getCameraNames () const
	GvmMulticameraSensor ()
virtual void	Init () override
void	initRos (ros::NodeHandlePtr &nh, const std::string &set_camera_service_name)
virtual bool	IsActive () const override
bool	isRecording () const
virtual void	Load (const std::string &world_name) override
void	setRecording (bool recording)
virtual	~GvmMulticameraSensor () override

Static Public Member Functions
static sensors::GvmMulticameraSensor *	newSensor ()

Private Member Functions
virtual void	Fini () override
void	Render ()
void	resetCameraVisualization (CameraData &camera)
bool	setCameraServiceCallback (gazebo_video_monitor_msgs::SetCameraRequest &req, gazebo_video_monitor_msgs::SetCameraResponse &res)
void	setCameraVisualization (CameraData &camera)
virtual bool	UpdateImpl (const bool force) override

Private Attributes
std::map< std::string, CameraData >	cameras_
std::vector< ImageDataPtr >	images_
physics::LinkPtr	link_
event::EventT< NewImagesFn >	new_images_
bool	recording_
bool	rendered_
transport::PublisherPtr	request_publisher_
transport::PublisherPtr	sensor_publisher_
ros::ServiceServer	set_camera_service_
transport::PublisherPtr	visual_publisher_

Detailed Description

Creates multiple cameras and publishes an event with synchronized images from all of these cameras.

Note

Provides a ROS interface for dynamically updating the configuration of a camera. If a model is not specified in the request, the model/link configuration defaults to the model/link to which the sensor is attached.

Expects the usual sensor configuration, but with an arbitrary number of cameras.

Definition at line 50 of file gvm_multicamera_sensor.h.

Member Typedef Documentation

ImageDataPtr

using gazebo::sensors::GvmMulticameraSensor::ImageDataPtr = std::shared_ptr<ImageData>

Definition at line 65 of file gvm_multicamera_sensor.h.

NewImagesFn

using gazebo::sensors::GvmMulticameraSensor::NewImagesFn = void(const std::vector<ImageDataPtr> &)

Definition at line 67 of file gvm_multicamera_sensor.h.

Constructor & Destructor Documentation

GvmMulticameraSensor()

gazebo::sensors::GvmMulticameraSensor::GvmMulticameraSensor

(

)

Definition at line 29 of file gvm_multicamera_sensor.cpp.

~GvmMulticameraSensor()

gazebo::sensors::GvmMulticameraSensor::~GvmMulticameraSensor ( )

overridevirtual

Definition at line 35 of file gvm_multicamera_sensor.cpp.

Member Function Documentation

attachToLink()

bool gazebo::sensors::GvmMulticameraSensor::attachToLink	(	const std::string &	camera_name,
		const RefModelConfig &	model_config,
		bool	on_init = false
	)

Definition at line 133 of file gvm_multicamera_sensor.cpp.

connectNewImages()

event::ConnectionPtr gazebo::sensors::GvmMulticameraSensor::connectNewImages

(

const std::function< NewImagesFn > &

callback

)

Definition at line 123 of file gvm_multicamera_sensor.cpp.

Fini()

void gazebo::sensors::GvmMulticameraSensor::Fini ( )

overrideprivatevirtual

Definition at line 258 of file gvm_multicamera_sensor.cpp.

getCamera()

rendering::CameraPtr gazebo::sensors::GvmMulticameraSensor::getCamera

(

const std::string &

name

)

Definition at line 128 of file gvm_multicamera_sensor.cpp.

getCameraNames()

std::vector< std::string > gazebo::sensors::GvmMulticameraSensor::getCameraNames

(

)

const

Definition at line 117 of file gvm_multicamera_sensor.cpp.

Init()

void gazebo::sensors::GvmMulticameraSensor::Init ( )

overridevirtual

Definition at line 51 of file gvm_multicamera_sensor.cpp.

initRos()

void gazebo::sensors::GvmMulticameraSensor::initRos	(	ros::NodeHandlePtr &	nh,
		const std::string &	set_camera_service_name
	)

Definition at line 106 of file gvm_multicamera_sensor.cpp.

IsActive()

bool gazebo::sensors::GvmMulticameraSensor::IsActive ( ) const

overridevirtual

Definition at line 96 of file gvm_multicamera_sensor.cpp.

isRecording()

bool gazebo::sensors::GvmMulticameraSensor::isRecording

(

)

const

Definition at line 178 of file gvm_multicamera_sensor.cpp.

Load()

void gazebo::sensors::GvmMulticameraSensor::Load ( const std::string &  world_name )

overridevirtual

Definition at line 37 of file gvm_multicamera_sensor.cpp.

newSensor()

GvmMulticameraSensor * gazebo::sensors::GvmMulticameraSensor::newSensor ( )

static

Definition at line 113 of file gvm_multicamera_sensor.cpp.

Render()

void gazebo::sensors::GvmMulticameraSensor::Render ( )

private

Definition at line 263 of file gvm_multicamera_sensor.cpp.

resetCameraVisualization()

void gazebo::sensors::GvmMulticameraSensor::resetCameraVisualization ( GvmMulticameraSensor::CameraData &  camera )

private

Definition at line 180 of file gvm_multicamera_sensor.cpp.

setCameraServiceCallback()

bool gazebo::sensors::GvmMulticameraSensor::setCameraServiceCallback ( gazebo_video_monitor_msgs::SetCameraRequest &  req, gazebo_video_monitor_msgs::SetCameraResponse &  res  )

private

Definition at line 288 of file gvm_multicamera_sensor.cpp.

setCameraVisualization()

void gazebo::sensors::GvmMulticameraSensor::setCameraVisualization ( GvmMulticameraSensor::CameraData &  camera )

private

Definition at line 201 of file gvm_multicamera_sensor.cpp.

setRecording()

void gazebo::sensors::GvmMulticameraSensor::setRecording

(

bool

recording

)

Definition at line 174 of file gvm_multicamera_sensor.cpp.

UpdateImpl()

bool gazebo::sensors::GvmMulticameraSensor::UpdateImpl ( const bool  force )

overrideprivatevirtual

Definition at line 272 of file gvm_multicamera_sensor.cpp.

Member Data Documentation

cameras_

std::map<std::string, CameraData> gazebo::sensors::GvmMulticameraSensor::cameras_

private

Definition at line 235 of file gvm_multicamera_sensor.h.

images_

std::vector<ImageDataPtr> gazebo::sensors::GvmMulticameraSensor::images_

private

Definition at line 236 of file gvm_multicamera_sensor.h.

link_

physics::LinkPtr gazebo::sensors::GvmMulticameraSensor::link_

private

Definition at line 227 of file gvm_multicamera_sensor.h.

new_images_

event::EventT<NewImagesFn> gazebo::sensors::GvmMulticameraSensor::new_images_

private

Definition at line 233 of file gvm_multicamera_sensor.h.

recording_

bool gazebo::sensors::GvmMulticameraSensor::recording_

private

Definition at line 239 of file gvm_multicamera_sensor.h.

rendered_

bool gazebo::sensors::GvmMulticameraSensor::rendered_

private

Definition at line 238 of file gvm_multicamera_sensor.h.

request_publisher_

transport::PublisherPtr gazebo::sensors::GvmMulticameraSensor::request_publisher_

private

Definition at line 231 of file gvm_multicamera_sensor.h.

sensor_publisher_

transport::PublisherPtr gazebo::sensors::GvmMulticameraSensor::sensor_publisher_

private

Definition at line 229 of file gvm_multicamera_sensor.h.

set_camera_service_

ros::ServiceServer gazebo::sensors::GvmMulticameraSensor::set_camera_service_

private

Definition at line 241 of file gvm_multicamera_sensor.h.

visual_publisher_

transport::PublisherPtr gazebo::sensors::GvmMulticameraSensor::visual_publisher_

private

Definition at line 230 of file gvm_multicamera_sensor.h.

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

• gvm_multicamera_sensor.h
• gvm_multicamera_sensor.cpp