|
| 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...
|
|
| 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...
|
|
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...
|
|
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...
|
|
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.