Information about a monocular camera sensor. More...

#include <Camera.hh>

Public Member Functions
	Camera ()
	Constructor.

uint32_t	AntiAliasingValue () const
	Get the anti-aliasing value.

const std::string &	BoundingBoxType () const
	Get the boundingbox type.

std::string	CameraInfoTopic () const
	Get the camera info topic.

double	DepthFarClip () const
	Get the far clip distance for the depth camera.

double	DepthNearClip () const
	Get the near clip distance for the depth camera.

const gz::math::Vector2d &	DistortionCenter () const
	Get the distortion center or principal point.

double	DistortionK1 () const
	Get the radial distortion coefficient k1.

double	DistortionK2 () const
	Get the radial distortion coefficient k2.

double	DistortionK3 () const
	Get the radial distortion coefficient k3.

double	DistortionP1 () const
	Get the tangential distortion coefficient p1.

double	DistortionP2 () const
	Get the tangential distortion coefficient p2.

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.

double	FarClip () const
	Get the far clip distance.

const std::string	GZ_DEPRECATED (15) OpticalFrameId() const
	Get the name of the coordinate frame relative to which this object's camera_info message header is expressed.

bool	HasBoundingBoxType () const
	Get whether the boundingbox type was set.

bool	HasDepthCamera () const
	Get whether the depth camera was set.

bool	HasDepthFarClip () const
	Get whether the depth camera far clip distance was set.

bool	HasDepthNearClip () const
	Get whether the depth camera near clip distance was set.

bool	HasLensIntrinsics () const
	Get whether or not the camera has instrinsics values set.

bool	HasLensProjection () const
	Get whether or not the camera has projection values set.

bool	HasSegmentationType () const
	Get whether the segmentation type was set.

gz::math::Angle	HorizontalFov () const
	Get the horizontal field of view in radians.

uint32_t	ImageHeight () const
	Get the image height in pixels.

const Noise &	ImageNoise () const
	Get the image noise values.

uint32_t	ImageWidth () const
	Get the image width in pixels.

double	LensC1 () const
	Get lens custom function linear scaling constant.

double	LensC2 () const
	Get lens custom function angular scaling constant.

double	LensC3 () const
	Get lens custom function angle offset constant.

gz::math::Angle	LensCutoffAngle () const
	Get lens cutoff angle.

int	LensEnvironmentTextureSize () const
	Get environment texture size.

double	LensFocalLength () const
	Get lens custom function focal length.

const std::string &	LensFunction () const
	Get lens custom function.

double	LensIntrinsicsCx () const
	Get the lens intrinsic matrix X principal point in pixels.

double	LensIntrinsicsCy () const
	Get the lens intrinsic matrix Y principal point in pixels.

double	LensIntrinsicsFx () const
	Get the lens intrinsic matrix X focal length in pixels.

double	LensIntrinsicsFy () const
	Get the lens intrinsic matrix Y focal length in pixels.

double	LensIntrinsicsSkew () const
	Get the lens XY axis skew.

double	LensProjectionCx () const
	Get the lens projection matrix X principal point in pixels.

double	LensProjectionCy () const
	Get the lens projection matrix Y principal point in pixels.

double	LensProjectionFx () const
	Get the lens projection matrix X focal length in pixels.

double	LensProjectionFy () const
	Get the lens projection matrix Y focal length in pixels.

double	LensProjectionTx () const
	Get the lens projection matrix X translation in pixels.

double	LensProjectionTy () const
	Get the lens projection matrix Y translation in pixels.

bool	LensScaleToHfov () const
	Get lens scale to horizontal field of field.

std::string	LensType () const
	Set the name of the coordinate frame relative to which this object's camera_info is expressed.

Errors	Load (ElementPtr _sdf)
	Load the camera sensor based on an element pointer.

std::string	Name () const
	Get the name of the camera.

double	NearClip () const
	Get the near clip distance.

bool	operator!= (const Camera &_alt) const
	Return true this Camera object does not contain the same values as the passed in parameter.

bool	operator== (const Camera &_alt) const
	Return true if both Camera objects contain the same values.

PixelFormatType	PixelFormat () const
	Get the pixel format.

std::string	PixelFormatStr () const
	Get the pixel format as a string.

const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this object's pose is expressed.

const gz::math::Pose3d &	RawPose () const
	Get the pose of the camer.

bool	SaveFrames () const
	Get whether frames should be saved.

const std::string &	SaveFramesPath () const
	Get the path in which to save frames.

const std::string &	SegmentationType () const
	Get the segmentation type.

void	SetAntiAliasingValue (uint32_t _antiAliasingValue)
	Set the anti-aliasing value.

void	SetBoundingBoxType (const std::string &_type)
	Set the boundingbox type.

void	SetCameraInfoTopic (const std::string &_cameraInfoTopic)
	Set the camera info topic.

void	SetDepthFarClip (double _far)
	Set the far clip distance for the depth camera.

void	SetDepthNearClip (double _near)
	Set the near clip distance for the depth camera.

void	SetDistortionCenter (const gz::math::Vector2d &_center)
	Set the distortion center or principal point.

void	SetDistortionK1 (double _k1)
	Set the radial distortion coefficient k1.

void	SetDistortionK2 (double _k2)
	Set the radial distortion coefficient k2.

void	SetDistortionK3 (double _k3)
	Set the radial distortion coefficient k3.

void	SetDistortionP1 (double _p1)
	Set the tangential distortion coefficient p1.

void	SetDistortionP2 (double _p2)
	Set the tangential distortion coefficient p2.

void	SetFarClip (double _far)
	Set the far clip distance.

void	SetHasBoundingBoxType (bool _type)
	Set whether the boundingbox type has been specified.

void	SetHasDepthCamera (bool _camera)
	Set whether the depth camera has been specified.

void	SetHasDepthFarClip (bool _far)
	Set whether the depth camera far clip distance has been specified.

void	SetHasDepthNearClip (bool _near)
	Set whether the depth camera near clip distance has been specified.

void	SetHasSegmentationType (bool _type)
	Set whether the segmentation type has been specified.

void	SetHorizontalFov (const gz::math::Angle &_hfov)
	Set the horizontal field of view in radians.

void	SetImageHeight (uint32_t _height)
	Set the image height in pixels.

void	SetImageNoise (const Noise &_noise)
	Set the noise values related to the image.

void	SetImageWidth (uint32_t _width)
	Set the image width in pixels.

void	SetLensC1 (double _c1)
	Set lens custom function linear scaling constant.

void	SetLensC2 (double _c2)
	Set lens custom function angular scaling constant.

void	SetLensC3 (double _c3)
	Set lens custom function angle offset constant.

void	SetLensCutoffAngle (const gz::math::Angle &_angle)
	Set lens cutoff angle.

void	SetLensEnvironmentTextureSize (int _size)
	Set environment texture size.

void	SetLensFocalLength (double _f)
	Set lens custom function focal length.

void	SetLensFunction (const std::string &_fun)
	Set lens custom function.

void	SetLensIntrinsicsCx (double _cx)
	Set the lens intrinsic matrix X principal point in pixels.

void	SetLensIntrinsicsCy (double _cy)
	Set the lens intrinsic matrix Y principal point in pixels.

void	SetLensIntrinsicsFx (double _fx)
	Set the lens intrinsic matrix X focal length in pixels.

void	SetLensIntrinsicsFy (double _fy)
	Set the lens intrinsic matrix Y focal length in pixels.

void	SetLensIntrinsicsSkew (double _s)
	Set the lens XY axis skew.

void	SetLensProjectionCx (double _cx_p)
	Set the lens projection matrix X principal point in pixels.

void	SetLensProjectionCy (double _cy_p)
	Set the lens projection matrix Y principal point in pixels.

void	SetLensProjectionFx (double _fx_p)
	Set the lens projection matrix X focal length in pixels.

void	SetLensProjectionFy (double _fy_p)
	Set the lens projection matrix Y focal length in pixels.

void	SetLensProjectionTx (double _tx)
	Set the lens projection matrix X translation in pixels.

void	SetLensProjectionTy (double _ty)
	Set the lens projection matrix Y translation in pixels.

void	SetLensScaleToHfov (bool _scale)
	Set lens scale to horizontal field of field.

void	SetLensType (const std::string &_type)
	Set the lens type.

void	SetName (const std::string &_name)
	Set the name of the camera.

void	SetNearClip (double _near)
	Set the near clip distance.

void	SetPixelFormat (PixelFormatType _format)
	Set the pixel format type.

void	SetPixelFormatStr (const std::string &_fmt)
	Set the pixel format from a string.

void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this object's pose is expressed.

void	SetRawPose (const gz::math::Pose3d &_pose)
	Set the pose of the camera.

void	SetSaveFrames (bool _save)
	Set whether frames should be saved.

void	SetSaveFramesPath (const std::string &_path)
	Set the path in which to save frames.

void	SetSegmentationType (const std::string &_type)
	Set the segmentation type.

void	SetTriggered (bool _triggered)
	Set whether the camera should be triggered by a topic.

void	SetTriggerTopic (const std::string &_triggerTopic)
	Set the topic that will trigger the camera.

void	SetVisibilityMask (uint32_t _mask)
	Set the visibility mask of a camera.

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this camera.

bool	Triggered () const
	Get whether the camera is triggered by a topic.

std::string	TriggerTopic () const
	Get the topic that will trigger the camera.

uint32_t	VisibilityMask () const
	Get the visibility mask of a camera.

Static Public Member Functions
static PixelFormatType	ConvertPixelFormat (const std::string &_format)
	Convert a string to a PixelFormatType.

static std::string	ConvertPixelFormat (PixelFormatType _type)
	Convert a PixelFormatType to a string.

Detailed Description

Information about a monocular camera sensor.

Constructor & Destructor Documentation

◆ Camera()

sdf::SDF_VERSION_NAMESPACE::Camera::Camera ( )

Constructor.

Member Function Documentation

◆ AntiAliasingValue()

uint32_t sdf::SDF_VERSION_NAMESPACE::Camera::AntiAliasingValue ( ) const

Get the anti-aliasing value.

Returns: The anti-aliasing value.

◆ BoundingBoxType()

const std::string & sdf::SDF_VERSION_NAMESPACE::Camera::BoundingBoxType ( ) const

Get the boundingbox type.

Returns: The boundingbox type.

◆ CameraInfoTopic()

std::string sdf::SDF_VERSION_NAMESPACE::Camera::CameraInfoTopic ( ) const

Get the camera info topic.

Returns: Topic for the camera info

◆ ConvertPixelFormat() [1/2]

static PixelFormatType sdf::SDF_VERSION_NAMESPACE::Camera::ConvertPixelFormat ( const std::string & _format )

static

Convert a string to a PixelFormatType.

Parameters

[in] _format String equivalent of a pixel format type to convert.

Returns: The matching PixelFormatType.

◆ ConvertPixelFormat() [2/2]

static std::string sdf::SDF_VERSION_NAMESPACE::Camera::ConvertPixelFormat ( PixelFormatType _type )

static

Convert a PixelFormatType to a string.

Parameters

[in] _type Pixel format type to convert.

Returns: String equivalent of _type.

◆ DepthFarClip()

double sdf::SDF_VERSION_NAMESPACE::Camera::DepthFarClip ( ) const

Get the far clip distance for the depth camera.

Returns: The far clip depth distance.

◆ DepthNearClip()

double sdf::SDF_VERSION_NAMESPACE::Camera::DepthNearClip ( ) const

Get the near clip distance for the depth camera.

Returns: The near clip depth distance.

◆ DistortionCenter()

const gz::math::Vector2d & sdf::SDF_VERSION_NAMESPACE::Camera::DistortionCenter ( ) const

Get the distortion center or principal point.

Returns: Distortion center or principal point.

◆ DistortionK1()

double sdf::SDF_VERSION_NAMESPACE::Camera::DistortionK1 ( ) const

Get the radial distortion coefficient k1.

Returns: _k1 The k1 radial distortion.

◆ DistortionK2()

double sdf::SDF_VERSION_NAMESPACE::Camera::DistortionK2 ( ) const

Get the radial distortion coefficient k2.

Returns: _k2 The k2 radial distortion.

◆ DistortionK3()

double sdf::SDF_VERSION_NAMESPACE::Camera::DistortionK3 ( ) const

Get the radial distortion coefficient k3.

Returns: _k3 The k3 radial distortion.

◆ DistortionP1()

double sdf::SDF_VERSION_NAMESPACE::Camera::DistortionP1 ( ) const

Get the tangential distortion coefficient p1.

Returns: _p1 The p1 tangential distortion.

◆ DistortionP2()

double sdf::SDF_VERSION_NAMESPACE::Camera::DistortionP2 ( ) const

Get the tangential distortion coefficient p2.

Returns: The p2 tangential distortion.

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Camera::Element ( ) const

Get a pointer to the SDF element that was used during load.

Returns: SDF element pointer. The value will be nullptr if Load has not been called.

◆ FarClip()

double sdf::SDF_VERSION_NAMESPACE::Camera::FarClip ( ) const

Get the far clip distance.

Returns: The far clip distance.

◆ GZ_DEPRECATED()

const std::string sdf::SDF_VERSION_NAMESPACE::Camera::GZ_DEPRECATED ( 15 ) const

Get the name of the coordinate frame relative to which this object's camera_info message header is expressed.

Note: while Gazebo interprets the camera frame to be looking towards +X, other tools, such as ROS interprets this frame as looking towards +Z. The Camera sensor assumes that the color and depth images are captured at the same frame_id.

Returns: The name of the frame this camera uses in its camera_info topic.

◆ HasBoundingBoxType()

bool sdf::SDF_VERSION_NAMESPACE::Camera::HasBoundingBoxType ( ) const

Get whether the boundingbox type was set.

Returns: True if the boundingbox type was set.

◆ HasDepthCamera()

bool sdf::SDF_VERSION_NAMESPACE::Camera::HasDepthCamera ( ) const

Get whether the depth camera was set.

Returns: True if the depth camera was set.

◆ HasDepthFarClip()

bool sdf::SDF_VERSION_NAMESPACE::Camera::HasDepthFarClip ( ) const

Get whether the depth camera far clip distance was set.

Returns: True if the depth camera far clip distance was set.

◆ HasDepthNearClip()

bool sdf::SDF_VERSION_NAMESPACE::Camera::HasDepthNearClip ( ) const

Get whether the depth camera near clip distance was set.

Returns: True if the depth camera near clip distance was set.

◆ HasLensIntrinsics()

bool sdf::SDF_VERSION_NAMESPACE::Camera::HasLensIntrinsics ( ) const

Get whether or not the camera has instrinsics values set.

Returns: True if the camera has instrinsics values set, false otherwise

◆ HasLensProjection()

bool sdf::SDF_VERSION_NAMESPACE::Camera::HasLensProjection ( ) const

Get whether or not the camera has projection values set.

Returns: True if the camera has projection values set, false otherwise

◆ HasSegmentationType()

bool sdf::SDF_VERSION_NAMESPACE::Camera::HasSegmentationType ( ) const

Get whether the segmentation type was set.

Returns: True if the segmentation type was set.

◆ HorizontalFov()

gz::math::Angle sdf::SDF_VERSION_NAMESPACE::Camera::HorizontalFov ( ) const

Get the horizontal field of view in radians.

Returns: The horizontal field of view in radians.

◆ ImageHeight()

uint32_t sdf::SDF_VERSION_NAMESPACE::Camera::ImageHeight ( ) const

Get the image height in pixels.

Returns: The image height in pixels.

◆ ImageNoise()

const Noise & sdf::SDF_VERSION_NAMESPACE::Camera::ImageNoise ( ) const

Get the image noise values.

Returns: Noise values for the image.

◆ ImageWidth()

uint32_t sdf::SDF_VERSION_NAMESPACE::Camera::ImageWidth ( ) const

Get the image width in pixels.

Returns: The image width in pixels.

◆ LensC1()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensC1 ( ) const

Get lens custom function linear scaling constant.

Returns: The lens custom function linear scaling constant.

◆ LensC2()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensC2 ( ) const

Get lens custom function angular scaling constant.

Returns: The lens custom function angular scaling constant.

◆ LensC3()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensC3 ( ) const

Get lens custom function angle offset constant.

Returns: The lens custom function angle offset constant.

◆ LensCutoffAngle()

gz::math::Angle sdf::SDF_VERSION_NAMESPACE::Camera::LensCutoffAngle ( ) const

Get lens cutoff angle.

Everything outside of the specified angle will be hidden.

Returns: The lens cutoff angle.

◆ LensEnvironmentTextureSize()

int sdf::SDF_VERSION_NAMESPACE::Camera::LensEnvironmentTextureSize ( ) const

Get environment texture size.

This is the resolution of the environment cube map used to draw the world.

Returns: The lens environment texture size.

◆ LensFocalLength()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensFocalLength ( ) const

Get lens custom function focal length.

Returns: The lens custom function focal length.

◆ LensFunction()

const std::string & sdf::SDF_VERSION_NAMESPACE::Camera::LensFunction ( ) const

Get lens custom function.

Possible values are 'sin', 'tan', and 'id'.

Returns: The lens custom function.

◆ LensIntrinsicsCx()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensIntrinsicsCx ( ) const

Get the lens intrinsic matrix X principal point in pixels.

Returns: The lens intrinsic matrix X principal point in pixels.

◆ LensIntrinsicsCy()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensIntrinsicsCy ( ) const

Get the lens intrinsic matrix Y principal point in pixels.

Returns: The lens intrinsic matrix Y principal point in pixels.

◆ LensIntrinsicsFx()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensIntrinsicsFx ( ) const

Get the lens intrinsic matrix X focal length in pixels.

Returns: The lens X focal length in pixels for the intrinsic matrix.

◆ LensIntrinsicsFy()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensIntrinsicsFy ( ) const

Get the lens intrinsic matrix Y focal length in pixels.

Returns: The lens intrinsic matrix Y focal length in pixels.

◆ LensIntrinsicsSkew()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensIntrinsicsSkew ( ) const

Get the lens XY axis skew.

Returns: The lens XY axis skew.

◆ LensProjectionCx()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensProjectionCx ( ) const

Get the lens projection matrix X principal point in pixels.

Returns: The lens projection matrix X principal point in pixels.

◆ LensProjectionCy()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensProjectionCy ( ) const

Get the lens projection matrix Y principal point in pixels.

Returns: The lens projection matrix Y principal point in pixels.

◆ LensProjectionFx()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensProjectionFx ( ) const

Get the lens projection matrix X focal length in pixels.

Returns: The lens projection matrix X focal length in pixels.

◆ LensProjectionFy()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensProjectionFy ( ) const

Get the lens projection matrix Y focal length in pixels.

Returns: The lens projection matrix Y focal length in pixels.

◆ LensProjectionTx()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensProjectionTx ( ) const

Get the lens projection matrix X translation in pixels.

Returns: The lens projection matrix X translation in pixels.

◆ LensProjectionTy()

double sdf::SDF_VERSION_NAMESPACE::Camera::LensProjectionTy ( ) const

Get the lens projection matrix Y translation in pixels.

Returns: The lens projection matrix Y translation in pixels.

◆ LensScaleToHfov()

bool sdf::SDF_VERSION_NAMESPACE::Camera::LensScaleToHfov ( ) const

Get lens scale to horizontal field of field.

Returns: True if the image should be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters.

◆ LensType()

std::string sdf::SDF_VERSION_NAMESPACE::Camera::LensType ( ) const

Set the name of the coordinate frame relative to which this object's camera_info is expressed.

Parameters

[in] _frame The frame this camera uses in its camera_info topic.

Get the lens type. This is the type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90 degrees

Returns: The lens type.

◆ Load()

Errors sdf::SDF_VERSION_NAMESPACE::Camera::Load ( ElementPtr _sdf )

Load the camera sensor based on an element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in] _sdf The SDF Element pointer

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Name()

std::string sdf::SDF_VERSION_NAMESPACE::Camera::Name ( ) const

Get the name of the camera.

Returns: Name of the sensor.

◆ NearClip()

double sdf::SDF_VERSION_NAMESPACE::Camera::NearClip ( ) const

Get the near clip distance.

Returns: The near clip distance.

◆ operator!=()

bool sdf::SDF_VERSION_NAMESPACE::Camera::operator!= ( const Camera & _alt ) const

Return true this Camera object does not contain the same values as the passed in parameter.

Parameters

[_in] _alt Camera value to compare. \returen True if 'this' != _alt.

◆ operator==()

bool sdf::SDF_VERSION_NAMESPACE::Camera::operator== ( const Camera & _alt ) const

Return true if both Camera objects contain the same values.

Parameters

[_in] _alt Camera value to compare. \returen True if 'this' == _alt.

◆ PixelFormat()

PixelFormatType sdf::SDF_VERSION_NAMESPACE::Camera::PixelFormat ( ) const

Get the pixel format.

This value is set from the <format> element that is the child of <image>.

Returns: The pixel format.

◆ PixelFormatStr()

std::string sdf::SDF_VERSION_NAMESPACE::Camera::PixelFormatStr ( ) const

Get the pixel format as a string.

Returns: The pixel format string.

◆ PoseRelativeTo()

const std::string & sdf::SDF_VERSION_NAMESPACE::Camera::PoseRelativeTo ( ) const

Get the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent link.

Returns: The name of the pose relative-to frame.

◆ RawPose()

const gz::math::Pose3d & sdf::SDF_VERSION_NAMESPACE::Camera::RawPose ( ) const

Get the pose of the camer.

This is the pose of the camera as specified in SDF (<camera> <pose> ... </pose></camera>).

Returns: The pose of the link.

◆ SaveFrames()

bool sdf::SDF_VERSION_NAMESPACE::Camera::SaveFrames ( ) const

Get whether frames should be saved.

Returns: True if image frames should be saved.

◆ SaveFramesPath()

const std::string & sdf::SDF_VERSION_NAMESPACE::Camera::SaveFramesPath ( ) const

Get the path in which to save frames.

Returns: Path to save frames.

◆ SegmentationType()

const std::string & sdf::SDF_VERSION_NAMESPACE::Camera::SegmentationType ( ) const

Get the segmentation type.

Returns: The segmentation type.

◆ SetAntiAliasingValue()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetAntiAliasingValue ( uint32_t _antiAliasingValue )

Set the anti-aliasing value.

Parameters

[in] _antiAliasingValue The anti-aliasing value.

◆ SetBoundingBoxType()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetBoundingBoxType ( const std::string & _type )

Set the boundingbox type.

Parameters

[in] _type The boundingbox type.

◆ SetCameraInfoTopic()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetCameraInfoTopic ( const std::string & _cameraInfoTopic )

Set the camera info topic.

Parameters

[in] _cameraInfoTopic Topic for the camera info.

◆ SetDepthFarClip()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetDepthFarClip ( double _far )

Set the far clip distance for the depth camera.

Parameters

[in] _far The far clip depth distance.

◆ SetDepthNearClip()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetDepthNearClip ( double _near )

Set the near clip distance for the depth camera.

Parameters

[in] _near The near clip depth distance.

◆ SetDistortionCenter()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetDistortionCenter ( const gz::math::Vector2d & _center )

Set the distortion center or principal point.

Parameters

[in] _center Distortion center or principal point.

◆ SetDistortionK1()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetDistortionK1 ( double _k1 )

Set the radial distortion coefficient k1.

Parameters

[in] _k1 The k1 radial distortion.

◆ SetDistortionK2()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetDistortionK2 ( double _k2 )

Set the radial distortion coefficient k2.

Parameters

[in] _k2 The k2 radial distortion.

◆ SetDistortionK3()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetDistortionK3 ( double _k3 )

Set the radial distortion coefficient k3.

Parameters

[in] _k3 The k3 radial distortion.

◆ SetDistortionP1()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetDistortionP1 ( double _p1 )

Set the tangential distortion coefficient p1.

Parameters

[in] _p1 The p1 tangential distortion.

◆ SetDistortionP2()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetDistortionP2 ( double _p2 )

Set the tangential distortion coefficient p2.

Returns: The p2 tangential distortion.

◆ SetFarClip()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetFarClip ( double _far )

Set the far clip distance.

Parameters

[in] _far The far clip distance.

◆ SetHasBoundingBoxType()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetHasBoundingBoxType ( bool _type )

Set whether the boundingbox type has been specified.

Parameters

[in] _type True if the boundingbox type has been set in the sdf.

◆ SetHasDepthCamera()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetHasDepthCamera ( bool _camera )

Set whether the depth camera has been specified.

Parameters

[in] _camera True if the depth camera has been set in the sdf.

◆ SetHasDepthFarClip()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetHasDepthFarClip ( bool _far )

Set whether the depth camera far clip distance has been specified.

Parameters

[in] _camera True if the depth camera far clip distance has been set in the sdf.

◆ SetHasDepthNearClip()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetHasDepthNearClip ( bool _near )

Set whether the depth camera near clip distance has been specified.

Parameters

[in] _camera True if the depth camera near clip distance has been set in the sdf.

◆ SetHasSegmentationType()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetHasSegmentationType ( bool _type )

Set whether the segmentation type has been specified.

Parameters

[in] _type True if the segmentation type has been set in the sdf.

◆ SetHorizontalFov()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetHorizontalFov ( const gz::math::Angle & _hfov )

Set the horizontal field of view in radians.

Parameters

[in] _hfov The horizontal field of view in radians.

◆ SetImageHeight()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetImageHeight ( uint32_t _height )

Set the image height in pixels.

Parameters

[in] _height The image height in pixels.

◆ SetImageNoise()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetImageNoise ( const Noise & _noise )

Set the noise values related to the image.

Parameters

[in] _noise Noise values for the image.

◆ SetImageWidth()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetImageWidth ( uint32_t _width )

Set the image width in pixels.

Parameters

[in] _width The image width in pixels.

◆ SetLensC1()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensC1 ( double _c1 )

Set lens custom function linear scaling constant.

Parameters

[in] _c1 The lens custom function linear scaling constant.

◆ SetLensC2()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensC2 ( double _c2 )

Set lens custom function angular scaling constant.

Parameters

[in] _c2 The lens custom function angular scaling constant.

◆ SetLensC3()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensC3 ( double _c3 )

Set lens custom function angle offset constant.

Parameters

[in] _c3 The lens custom function angle offset constant.

◆ SetLensCutoffAngle()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensCutoffAngle ( const gz::math::Angle & _angle )

Set lens cutoff angle.

Everything outside of the specified angle will be hidden.

Parameters

[in] _angle The lens cutoff angle.

◆ SetLensEnvironmentTextureSize()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensEnvironmentTextureSize ( int _size )

Set environment texture size.

This is the resolution of the environment cube map used to draw the world.

Parameters

[in] _size The lens environment texture size.

◆ SetLensFocalLength()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensFocalLength ( double _f )

Set lens custom function focal length.

Parameters

[in] _f The lens custom function focal length.

◆ SetLensFunction()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensFunction ( const std::string & _fun )

Set lens custom function.

Parameters

[in] _fun The lens custom function. Possible values are 'sin', 'tan', and 'id'.

◆ SetLensIntrinsicsCx()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensIntrinsicsCx ( double _cx )

Set the lens intrinsic matrix X principal point in pixels.

Parameters

[in] _cx The lens intrinsic matrix X principal point in pixels.

◆ SetLensIntrinsicsCy()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensIntrinsicsCy ( double _cy )

Set the lens intrinsic matrix Y principal point in pixels.

Parameters

[in] _cy The lens intrinsic matrix Y principal point in pixels.

◆ SetLensIntrinsicsFx()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensIntrinsicsFx ( double _fx )

Set the lens intrinsic matrix X focal length in pixels.

Parameters

[in] _fx The intrinsic matrix lens X focal length in pixels.

◆ SetLensIntrinsicsFy()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensIntrinsicsFy ( double _fy )

Set the lens intrinsic matrix Y focal length in pixels.

Parameters

[in] _fy The lens intrinsic matrix Y focal length in pixels.

◆ SetLensIntrinsicsSkew()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensIntrinsicsSkew ( double _s )

Set the lens XY axis skew.

Parameters

[in] _s The lens XY axis skew.

◆ SetLensProjectionCx()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensProjectionCx ( double _cx_p )

Set the lens projection matrix X principal point in pixels.

Parameters

[in] _cx_p The lens projection matrix X principal point in pixels.

◆ SetLensProjectionCy()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensProjectionCy ( double _cy_p )

Set the lens projection matrix Y principal point in pixels.

Parameters

[in] _cy_p The lens projection matrix Y principal point in pixels.

◆ SetLensProjectionFx()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensProjectionFx ( double _fx_p )

Set the lens projection matrix X focal length in pixels.

Parameters

[in] _fx_p The lens projection matrix X focal length in pixels.

◆ SetLensProjectionFy()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensProjectionFy ( double _fy_p )

Set the lens projection matrix Y focal length in pixels.

Parameters

[in] _fy_p The lens projection matrix Y focal length in pixels.

◆ SetLensProjectionTx()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensProjectionTx ( double _tx )

Set the lens projection matrix X translation in pixels.

Parameters

[in] _tx The lens projection matrix X translation in pixels.

◆ SetLensProjectionTy()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensProjectionTy ( double _ty )

Set the lens projection matrix Y translation in pixels.

Parameters

[in] _ty The lens projection matrix Y translation in pixels.

◆ SetLensScaleToHfov()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensScaleToHfov ( bool _scale )

Set lens scale to horizontal field of field.

Parameters

[in] _scale True if the image should be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters.

◆ SetLensType()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetLensType ( const std::string & _type )

Set the lens type.

Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom.

Parameters

[in] _type The lens type.

◆ SetName()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetName ( const std::string & _name )

Set the name of the camera.

Parameters

[in] _name Name of the sensor.

◆ SetNearClip()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetNearClip ( double _near )

Set the near clip distance.

Parameters

[in] _near The near clip distance.

◆ SetPixelFormat()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetPixelFormat ( PixelFormatType _format )

Set the pixel format type.

Parameters

[in] _format The image format.

◆ SetPixelFormatStr()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetPixelFormatStr ( const std::string & _fmt )

Set the pixel format from a string.

Parameters

[in] _fmt The pixel format string.

◆ SetPoseRelativeTo()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetPoseRelativeTo ( const std::string & _frame )

Set the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent link.

Parameters

[in] _frame The name of the pose relative-to frame.

◆ SetRawPose()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetRawPose ( const gz::math::Pose3d & _pose )

Set the pose of the camera.

See also: const gz::math::Pose3d &RawPose() const

Parameters

[in] _pose The new camera pose.

◆ SetSaveFrames()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetSaveFrames ( bool _save )

Set whether frames should be saved.

Parameters

[in] _save True if image frames should be saved.

◆ SetSaveFramesPath()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetSaveFramesPath ( const std::string & _path )

Set the path in which to save frames.

Parameters

[in] _path Path to save frames.

◆ SetSegmentationType()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetSegmentationType ( const std::string & _type )

Set the segmentation type.

Parameters

[in] _type The segmentation type.

◆ SetTriggered()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetTriggered ( bool _triggered )

Set whether the camera should be triggered by a topic.

Parameters

[in] _triggered True if the camera should be triggered by a topic.

◆ SetTriggerTopic()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetTriggerTopic ( const std::string & _triggerTopic )

Set the topic that will trigger the camera.

Parameters

[in] _triggerTopic Topic for the camera trigger.

◆ SetVisibilityMask()

void sdf::SDF_VERSION_NAMESPACE::Camera::SetVisibilityMask ( uint32_t _mask )

Set the visibility mask of a camera.

Parameters

[in] _mask visibility mask

◆ ToElement()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Camera::ToElement ( ) const

Create and return an SDF element filled with data from this camera.

Note that parameter passing functionality is not captured with this function.

Returns: SDF element pointer with updated camera values.

◆ Triggered()

bool sdf::SDF_VERSION_NAMESPACE::Camera::Triggered ( ) const

Get whether the camera is triggered by a topic.

Returns: True if the camera is triggered by a topic.

◆ TriggerTopic()

std::string sdf::SDF_VERSION_NAMESPACE::Camera::TriggerTopic ( ) const

Get the topic that will trigger the camera.

Returns: Topic for the camera trigger.

◆ VisibilityMask()

uint32_t sdf::SDF_VERSION_NAMESPACE::Camera::VisibilityMask ( ) const

Get the visibility mask of a camera.

Returns: visibility mask

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

Camera.hh

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Camera()

Member Function Documentation

◆ AntiAliasingValue()

◆ BoundingBoxType()

◆ CameraInfoTopic()

◆ ConvertPixelFormat() [1/2]

◆ ConvertPixelFormat() [2/2]

◆ DepthFarClip()

◆ DepthNearClip()

◆ DistortionCenter()

◆ DistortionK1()

◆ DistortionK2()

◆ DistortionK3()

◆ DistortionP1()

◆ DistortionP2()

◆ Element()

◆ FarClip()

◆ GZ_DEPRECATED()

◆ HasBoundingBoxType()

◆ HasDepthCamera()

◆ HasDepthFarClip()

◆ HasDepthNearClip()

◆ HasLensIntrinsics()

◆ HasLensProjection()

◆ HasSegmentationType()

◆ HorizontalFov()

◆ ImageHeight()

◆ ImageNoise()

◆ ImageWidth()

◆ LensC1()

◆ LensC2()

◆ LensC3()

◆ LensCutoffAngle()

◆ LensEnvironmentTextureSize()

◆ LensFocalLength()

◆ LensFunction()

◆ LensIntrinsicsCx()

◆ LensIntrinsicsCy()

◆ LensIntrinsicsFx()

◆ LensIntrinsicsFy()

◆ LensIntrinsicsSkew()

◆ LensProjectionCx()

◆ LensProjectionCy()

◆ LensProjectionFx()

◆ LensProjectionFy()

◆ LensProjectionTx()

◆ LensProjectionTy()

◆ LensScaleToHfov()

◆ LensType()

◆ Load()

◆ Name()

◆ NearClip()

◆ operator!=()

◆ operator==()

◆ PixelFormat()

◆ PixelFormatStr()

◆ PoseRelativeTo()

◆ RawPose()

◆ SaveFrames()

◆ SaveFramesPath()

◆ SegmentationType()

◆ SetAntiAliasingValue()

◆ SetBoundingBoxType()

◆ SetCameraInfoTopic()

◆ SetDepthFarClip()

◆ SetDepthNearClip()

◆ SetDistortionCenter()

◆ SetDistortionK1()

◆ SetDistortionK2()

◆ SetDistortionK3()

◆ SetDistortionP1()

◆ SetDistortionP2()

◆ SetFarClip()

◆ SetHasBoundingBoxType()

◆ SetHasDepthCamera()

◆ SetHasDepthFarClip()