#include <gazebo_ros_prosilica.h>

Inheritance diagram for gazebo::GazeboRosProsilica:

Public Member Functions
	GazeboRosProsilica ()
	Constructor. More...

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

virtual	~GazeboRosProsilica ()
	Destructor. More...

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

Private Member Functions
void	Advertise ()

void	pollCallback (polled_camera::GetPolledImage::Request &req, polled_camera::GetPolledImage::Response &rsp, sensor_msgs::Image &image, sensor_msgs::CameraInfo &info)

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 ()

Static Private Member Functions
static void	mouse_cb (int event, int x, int y, int flags, void *param)
	does nothing for now More...

Private Attributes
event::ConnectionPtr	load_connection_

std::string	mode_

std::string	mode_param_name

polled_camera::PublicationServer	poll_srv_
	image_transport More...

std::string	pollServiceName
	ROS image topic name. More...

sensor_msgs::CameraInfo *	roiCameraInfoMsg

sensor_msgs::Image *	roiImageMsg
	ros message More...

Private Attributes inherited from gazebo::GazeboRosCameraUtils
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 44 of file gazebo_ros_prosilica.h.

Constructor & Destructor Documentation

gazebo::GazeboRosProsilica::GazeboRosProsilica ( )

Constructor.

Parameters

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

Definition at line 64 of file gazebo_ros_prosilica.cpp.

gazebo::GazeboRosProsilica::~GazeboRosProsilica ( )

virtual

Destructor.

Definition at line 70 of file gazebo_ros_prosilica.cpp.

Member Function Documentation

void gazebo::GazeboRosProsilica::Advertise ( )

private

@todo: hardcoded per prosilica_camera wiki api, make this an urdf parameter

Definition at line 93 of file gazebo_ros_prosilica.cpp.

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

Load the controller.

Parameters

node	XML config node

Definition at line 78 of file gazebo_ros_prosilica.cpp.

static void gazebo::GazeboRosProsilica::mouse_cb	(	int	event,
		int	x,
		int	y,
		int	flags,
		void *	param
	)

inlinestaticprivate

does nothing for now

Definition at line 58 of file gazebo_ros_prosilica.h.

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

protectedvirtual

Update the controller.

Todo:: : consider adding thumbnailing feature here if subscribed.

Definition at line 125 of file gazebo_ros_prosilica.cpp.

void gazebo::GazeboRosProsilica::pollCallback	(	polled_camera::GetPolledImage::Request &	req,
		polled_camera::GetPolledImage::Response &	rsp,
		sensor_msgs::Image &	image,
		sensor_msgs::CameraInfo &	info
	)

private

Todo:: Support binning (maybe just cv::resize)

Todo:: Don't adjust K, P for ROI, set CameraInfo.roi fields instead

Todo:: D parameter order is k1, k2, t1, t2, k3

Todo:: : don't bother if there are no subscribers

Todo:: : publish to ros, thumbnails and rect image in the Update call?

Definition at line 167 of file gazebo_ros_prosilica.cpp.

Member Data Documentation

event::ConnectionPtr gazebo::GazeboRosProsilica::load_connection_

private

Definition at line 87 of file gazebo_ros_prosilica.h.

std::string gazebo::GazeboRosProsilica::mode_

private

Definition at line 63 of file gazebo_ros_prosilica.h.

std::string gazebo::GazeboRosProsilica::mode_param_name

private

Definition at line 65 of file gazebo_ros_prosilica.h.

polled_camera::PublicationServer gazebo::GazeboRosProsilica::poll_srv_

private

image_transport

Definition at line 58 of file gazebo_ros_prosilica.h.

std::string gazebo::GazeboRosProsilica::pollServiceName

private

ROS image topic name.

Definition at line 84 of file gazebo_ros_prosilica.h.

sensor_msgs::CameraInfo* gazebo::GazeboRosProsilica::roiCameraInfoMsg

private

Definition at line 81 of file gazebo_ros_prosilica.h.

sensor_msgs::Image* gazebo::GazeboRosProsilica::roiImageMsg

private

ros message

construct raw stereo message

Definition at line 80 of file gazebo_ros_prosilica.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation