Gazebo Sensors

API Reference

3.6.0
DepthCameraSensor Class Reference

Depth camera sensor class. More...

#include <DepthCameraSensor.hh>

Public Member Functions

 DepthCameraSensor ()
 constructor More...
 
virtual ~DepthCameraSensor ()
 destructor More...
 
gz::common::ConnectionPtr ConnectImageCallback (std::function< void(const gz::msgs::Image &)> _callback)
 Set a callback to be called when image frame data is generated. More...
 
virtual rendering::DepthCameraPtr DepthCamera ()
 Force the sensor to generate data. More...
 
virtual double FarClip () const
 Get image width. More...
 
virtual unsigned int ImageHeight () const override
 Get image height. More...
 
virtual unsigned int ImageWidth () const override
 Get image width. More...
 
virtual bool Init () override
 Initialize values in the sensor. More...
 
virtual bool Load (const sdf::Sensor &_sdf) override
 Load the sensor based on data from an sdf::Sensor object. More...
 
virtual bool Load (sdf::ElementPtr _sdf) override
 Load the sensor with SDF parameters. More...
 
virtual double NearClip () const
 Get image height. More...
 
void OnNewDepthFrame (const float *_scan, unsigned int _width, unsigned int _height, unsigned int, const std::string &)
 Depth data callback used to get the data from the sensor. More...
 
void OnNewRgbPointCloud (const float *_data, unsigned int _width, unsigned int _height, unsigned int, const std::string &)
 Point cloud data callback used to get the data from the sensor. More...
 
virtual void SetScene (gz::rendering::ScenePtr _scene) override
 Set the rendering scene. More...
 
virtual bool Update (const common::Time &_now) override
 Force the sensor to generate data. More...
 
- Public Member Functions inherited from CameraSensor
 CameraSensor ()
 constructor More...
 
virtual ~CameraSensor ()
 destructor More...
 
double Baseline () const
 Get baseline for stereo cameras. More...
 
gz::common::ConnectionPtr ConnectImageCallback (std::function< void(const gz::msgs::Image &)> _callback)
 Set a callback to be called when image frame data is generated. More...
 
std::string InfoTopic () const
 Topic where camera info is published. More...
 
rendering::CameraPtr RenderingCamera () const
 Get pointer to rendering camera object. More...
 
void SetBaseline (double _baseline)
 Set baseline for stereo cameras. This is used to populate the projection matrix in the camera info message. More...
 
- Public Member Functions inherited from RenderingSensor
virtual ~RenderingSensor ()
 destructor More...
 
bool ManualSceneUpdate () const
 Get whether the scene graph is updated manually. Defaults to false. More...
 
void Render ()
 Render update. This performs the actual render operation. More...
 
rendering::ScenePtr Scene () const
 Get the rendering scene. More...
 
void SetManualSceneUpdate (bool _manual)
 Set whether to update the scene graph manually. If set to true, it is expected that rendering::Scene::PreRender is called manually before calling Render() More...
 
virtual void SetScene (rendering::ScenePtr _scene)
 Set the rendering scene. More...
 
- Public Member Functions inherited from Sensor
virtual ~Sensor ()
 destructor More...
 
void AddSequence (gz::msgs::Header *_msg, const std::string &_seqKey="default")
 Add a sequence number to an gz::msgs::Header. This function can be called by a sensor that wants to add a sequence number to a sensor message in order to have improved accountability for generated sensor data. More...
 
bool EnableMetrics () const
 Get flag state for enabling performance metrics publication. More...
 
std::string FrameId () const
 FrameId. More...
 
SensorId Id () const
 Get the sensor's ID. More...
 
std::string Name () const
 Get name. More...
 
common::Time NextUpdateTime () const
 Return the next time the sensor will generate data. More...
 
std::string Parent () const
 Get parent link of the sensor. More...
 
gz::math::Pose3d Pose () const
 Get the current pose. More...
 
void PublishMetrics (const std::chrono::duration< double > &_now)
 Publishes information about the performance of the sensor. This method is called by Update(). More...
 
sdf::ElementPtr SDF () const
 Get the SDF used to load this sensor. More...
 
void SetEnableMetrics (bool _enableMetrics)
 Set flag to enable publishing performance metrics. More...
 
void SetFrameId (const std::string &_frameId)
 Set Frame ID of the sensor. More...
 
virtual void SetParent (const std::string &_parent)
 Set the parent of the sensor. More...
 
void SetPose (const gz::math::Pose3d &_pose)
 Update the pose of the sensor. More...
 
bool SetTopic (const std::string &_topic)
 Set topic where sensor data is published. More...
 
void SetUpdateRate (const double _hz)
 Set the update rate of the sensor. An update rate of zero means that the sensor is updated every cycle. It's zero by default. \detail Negative rates become zero. More...
 
std::string Topic () const
 Get topic where sensor data is published. More...
 
bool Update (const common::Time &_now, const bool _force)
 Update the sensor. More...
 
double UpdateRate () const
 Get the update rate of the sensor. More...
 

Additional Inherited Members

- Protected Member Functions inherited from CameraSensor
bool AdvertiseInfo ()
 Advertise camera info topic. More...
 
bool AdvertiseInfo (const std::string &_topic)
 Advertise camera info topic. This version takes a string that allows one to override the camera_info topic. More...
 
void PopulateInfo (const sdf::Camera *_cameraSdf)
 Populate camera info message. More...
 
void PublishInfo (const gz::common::Time &_now)
 Publish camera info message. More...
 
- Protected Member Functions inherited from RenderingSensor
 RenderingSensor ()
 constructor More...
 
void AddSensor (rendering::SensorPtr _sensor)
 Add a rendering::Sensor. Its render updates will be handled by this base class. More...
 
- Protected Member Functions inherited from Sensor
 Sensor ()
 constructor More...
 

Detailed Description

Depth camera sensor class.

This class creates depth image from an ignition rendering scene. The scene must be created in advance and given to Manager::Init(). It offers both an ignition-transport interface and a direct C++ API to access the image data. The API works by setting a callback to be called with image data.

Constructor & Destructor Documentation

◆ DepthCameraSensor()

constructor

◆ ~DepthCameraSensor()

virtual ~DepthCameraSensor ( )
virtual

destructor

Member Function Documentation

◆ ConnectImageCallback()

gz::common::ConnectionPtr ConnectImageCallback ( std::function< void(const gz::msgs::Image &)>  _callback)

Set a callback to be called when image frame data is generated.

Parameters
[in]_callbackThis callback will be called every time the camera produces image data. The Update function will be blocked while the callbacks are executed.
Remarks
Do not block inside of the callback.
Returns
A connection pointer that must remain in scope. When the connection pointer falls out of scope, the connection is broken.

◆ DepthCamera()

virtual rendering::DepthCameraPtr DepthCamera ( )
virtual

Force the sensor to generate data.

Parameters
[in]_nowThe current time
Returns
true if the update was successfull

◆ FarClip()

virtual double FarClip ( ) const
virtual

Get image width.

Returns
width of the image

◆ ImageHeight()

virtual unsigned int ImageHeight ( ) const
overridevirtual

Get image height.

Returns
height of the image

Reimplemented from CameraSensor.

◆ ImageWidth()

virtual unsigned int ImageWidth ( ) const
overridevirtual

Get image width.

Returns
width of the image

Reimplemented from CameraSensor.

◆ Init()

virtual bool Init ( )
overridevirtual

Initialize values in the sensor.

Returns
True on success

Reimplemented from CameraSensor.

◆ Load() [1/2]

virtual bool Load ( const sdf::Sensor &  _sdf)
overridevirtual

Load the sensor based on data from an sdf::Sensor object.

Parameters
[in]_sdfSDF Sensor parameters.
Returns
true if loading was successful

Reimplemented from CameraSensor.

◆ Load() [2/2]

virtual bool Load ( sdf::ElementPtr  _sdf)
overridevirtual

Load the sensor with SDF parameters.

Parameters
[in]_sdfSDF Sensor parameters.
Returns
true if loading was successful

Reimplemented from CameraSensor.

◆ NearClip()

virtual double NearClip ( ) const
virtual

Get image height.

Returns
height of the image

◆ OnNewDepthFrame()

void OnNewDepthFrame ( const float *  _scan,
unsigned int  _width,
unsigned int  _height,
unsigned int  ,
const std::string  
)

Depth data callback used to get the data from the sensor.

Parameters
[in]_scanpointer to the data from the sensor
[in]_widthwidth of the depth image
[in]_heightheight of the depth image
[in]_channelbytes used for the depth data
[in]_formatstring with the format

◆ OnNewRgbPointCloud()

void OnNewRgbPointCloud ( const float *  _data,
unsigned int  _width,
unsigned int  _height,
unsigned int  ,
const std::string  
)

Point cloud data callback used to get the data from the sensor.

Parameters
[in]_datapointer to the data from the sensor
[in]_widthwidth of the point cloud image
[in]_heightheight of the point cloud image
[in]_channelbytes used for the point cloud data
[in]_formatstring with the format

◆ SetScene()

virtual void SetScene ( gz::rendering::ScenePtr  _scene)
overridevirtual

Set the rendering scene.

Parameters
[in]_scenePointer to the scene

Reimplemented from CameraSensor.

◆ Update()

virtual bool Update ( const common::Time &  _now)
overridevirtual

Force the sensor to generate data.

Parameters
[in]_nowThe current time
Returns
true if the update was successfull

Reimplemented from CameraSensor.


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