Camera Sensor Class. More...

#include <CameraSensor.hh>

Public Member Functions
	CameraSensor ()
	constructor

virtual	~CameraSensor ()
	destructor

double	Baseline () const
	Get baseline for stereo cameras.

gz::common::ConnectionPtr	ConnectImageCallback (std::function< void(const gz::msgs::Image &)> _callback)
	Set a callback to be called when image frame data is generated.

virtual bool	HasConnections () const override
	Check if there are any subscribers.

virtual bool	HasImageConnections () const
	Check if there are any image subscribers.

virtual bool	HasInfoConnections () const
	Check if there are any info subscribers.

virtual unsigned int	ImageHeight () const
	Get image height.

virtual unsigned int	ImageWidth () const
	Get image width.

std::string	InfoTopic () const
	Topic where camera info is published.

virtual bool	Init () override
	Initialize values in the sensor.

virtual bool	Load (const sdf::Sensor &_sdf) override
	Load the sensor based on data from an sdf::Sensor object.

virtual bool	Load (sdf::ElementPtr _sdf) override
	Load the sensor with SDF parameters.

const std::string &	OpticalFrameId () const
	Get the camera optical frame.

virtual rendering::CameraPtr	RenderingCamera () const
	Get pointer to rendering camera object.

void	SetBaseline (double _baseline)
	Set baseline for stereo cameras. This is used to populate the projection matrix in the camera info message.

virtual void	SetScene (gz::rendering::ScenePtr _scene) override
	Set the rendering scene.

virtual bool	Update (const std::chrono::steady_clock::duration &_now) override
	Force the sensor to generate data.

virtual bool	Update (const std::chrono::steady_clock::duration &_now)=0
	Force the sensor to generate data.

bool	Update (const std::chrono::steady_clock::duration &_now, const bool _force)
	Update the sensor.

void	UpdateLensIntrinsicsAndProjection (rendering::CameraPtr _camera, sdf::Camera &_cameraSdf)
	Set camera lens intrinsics and projection based on values from SDF. If the camera SDF does not contain intrinsic or projection parameters, the camera will not be updated. Instead, the camera SDF will be updated with intrinsic and projection values computed manually from current camera intrinsic properties.

Public Member Functions inherited from RenderingSensor
virtual	~RenderingSensor ()
	destructor

bool	ManualSceneUpdate () const
	Get whether the scene graph is updated manually. Defaults to false.

void	Render ()
	Render update. This performs the actual render operation.

rendering::ScenePtr	Scene () const
	Get the rendering scene.

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()

virtual void	SetScene (rendering::ScenePtr _scene)
	Set the rendering scene.

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	destructor

void	AddSequence (gz::msgs::Header *_msg, const std::string &_seqKey="default")
	Add a sequence number to a 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.

bool	EnableMetrics () const
	Get flag state for enabling performance metrics publication.

std::string	FrameId () const
	FrameId.

bool	HasPendingTrigger () const
	Whether the sensor has a pending trigger.

SensorId	Id () const
	Get the sensor's ID.

bool	IsActive () const
	Get whether the sensor is enabled or not.

bool	IsTriggered () const
	Whether the sensor trigger mode is enabled.

std::string	Name () const
	Get name.

std::chrono::steady_clock::duration	NextDataUpdateTime () const
	Return the next time the sensor will generate data.

std::string	Parent () const
	Get parent link of the sensor.

gz::math::Pose3d	Pose () const
	Get the current pose.

void	PublishMetrics (const std::chrono::duration< double > &_now)
	Publishes information about the performance of the sensor. This method is called by Update().

sdf::ElementPtr	SDF () const
	Get the SDF used to load this sensor.

void	SetActive (bool _active)
	Enable or disable the sensor. Disabled sensors will not generate or publish data unless Update is called with the '_force' argument set to true.

void	SetEnableMetrics (bool _enableMetrics)
	Set flag to enable publishing performance metrics.

void	SetFrameId (const std::string &_frameId)
	Set Frame ID of the sensor.

void	SetNextDataUpdateTime (const std::chrono::steady_clock::duration &_time)
	Manually set the next time the sensor will generate data Useful for accomodating jumps backwards in time as well as specifying updates for non-uniformly updating sensors.

virtual void	SetParent (const std::string &_parent)
	Set the parent of the sensor.

void	SetPose (const gz::math::Pose3d &_pose)
	Update the pose of the sensor.

bool	SetTopic (const std::string &_topic)
	Set topic where sensor data is published.

bool	SetTriggered (bool _triggered, const std::string &_triggerTopic="")
	Enable or disable triggered mode. In this mode,.

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.

std::string	Topic () const
	Get topic where sensor data is published.

bool	Update (const std::chrono::steady_clock::duration &_now, const bool _force)
	Update the sensor.

double	UpdateRate () const
	Get the update rate of the sensor.

Protected Member Functions
bool	AdvertiseInfo ()
	Advertise camera info topic.

bool	AdvertiseInfo (const std::string &_topic)
	Advertise camera info topic. This version takes a string that allows one to override the camera_info topic.

void	PopulateInfo (const sdf::Camera *_cameraSdf)
	Populate camera info message.

void	PublishInfo (const std::chrono::steady_clock::duration &_now)
	Publish camera info message.

Protected Member Functions inherited from RenderingSensor
	RenderingSensor ()
	constructor

void	AddSensor (rendering::SensorPtr _sensor)
	Add a rendering::Sensor. Its render updates will be handled by this base class.

Protected Member Functions inherited from Sensor
	Sensor ()
	constructor

Detailed Description

Camera Sensor Class.

This class creates images from a Gazebo Rendering scene. The scene must be created in advance and given to Manager::Init(). It offers both a gz-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

◆ CameraSensor()

CameraSensor ( )

constructor

◆ ~CameraSensor()

virtual ~CameraSensor ( )

virtual

destructor

Member Function Documentation

◆ AdvertiseInfo() [1/2]

bool AdvertiseInfo ( )

protected

Advertise camera info topic.

Returns: True if successful.

◆ AdvertiseInfo() [2/2]

bool AdvertiseInfo ( const std::string & _topic )

protected

Advertise camera info topic. This version takes a string that allows one to override the camera_info topic.

Parameters

[in] _topic The topic on which camera info is to be published.

Returns: True if successful.

◆ Baseline()

double Baseline ( ) const

Get baseline for stereo cameras.

Returns: The distance from the 1st camera, in meters.

◆ 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] _callback This 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.

◆ HasConnections()

virtual bool HasConnections ( ) const

overridevirtual

Check if there are any subscribers.

Returns: True if there are subscribers, false otherwise

Reimplemented from Sensor.

Reimplemented in BoundingBoxCameraSensor, DepthCameraSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ HasImageConnections()

virtual bool HasImageConnections ( ) const

virtual

Check if there are any image subscribers.

Returns: True if there are image subscribers, false otherwise

◆ HasInfoConnections()

virtual bool HasInfoConnections ( ) const

virtual

Check if there are any info subscribers.

Returns: True if there are info subscribers, false otherwise

◆ ImageHeight()

virtual unsigned int ImageHeight ( ) const

virtual

Get image height.

Returns: height of the image

Reimplemented in BoundingBoxCameraSensor, DepthCameraSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ ImageWidth()

virtual unsigned int ImageWidth ( ) const

virtual

Get image width.

Returns: width of the image

Reimplemented in BoundingBoxCameraSensor, DepthCameraSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ InfoTopic()

std::string InfoTopic ( ) const

Topic where camera info is published.

Returns: Camera info topic.

◆ Init()

virtual bool Init ( )

overridevirtual

Initialize values in the sensor.

Returns: True on success

Reimplemented from Sensor.

Reimplemented in BoundingBoxCameraSensor, DepthCameraSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ Load() [1/2]

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

overridevirtual

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

Parameters

[in] _sdf SDF Sensor parameters.

Returns: true if loading was successful

Reimplemented from Sensor.

Reimplemented in BoundingBoxCameraSensor, DepthCameraSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ Load() [2/2]

virtual bool Load ( sdf::ElementPtr _sdf )

overridevirtual

Load the sensor with SDF parameters.

Parameters

[in] _sdf SDF Sensor parameters.

Returns: true if loading was successful

Reimplemented from Sensor.

Reimplemented in BoundingBoxCameraSensor, DepthCameraSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ OpticalFrameId()

const std::string & OpticalFrameId ( ) const

Get the camera optical frame.

Returns: The camera optical frame

◆ PopulateInfo()

void PopulateInfo ( const sdf::Camera * _cameraSdf )

protected

Populate camera info message.

Parameters

[in] _cameraSdf Pointer to SDF object containing camera information.

◆ PublishInfo()

void PublishInfo ( const std::chrono::steady_clock::duration & _now )

protected

Publish camera info message.

Parameters

[in] _now The current time

◆ RenderingCamera()

virtual rendering::CameraPtr RenderingCamera ( ) const

virtual

Get pointer to rendering camera object.

Returns: Camera in Gazebo Rendering.

Reimplemented in WideAngleCameraSensor.

◆ SetBaseline()

void SetBaseline ( double _baseline )

Set baseline for stereo cameras. This is used to populate the projection matrix in the camera info message.

Parameters

[in] _baseline The distance from the 1st camera, in meters.

◆ SetScene()

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

overridevirtual

Set the rendering scene.

Parameters

[in] _scene Pointer to the scene

Reimplemented in DepthCameraSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ Update() [1/3]

virtual bool Update ( const std::chrono::steady_clock::duration & _now )

overridevirtual

Force the sensor to generate data.

Parameters

[in] _now The current time

Returns: true if the update was successfull

Implements Sensor.

Reimplemented in BoundingBoxCameraSensor, DepthCameraSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ Update() [2/3]

virtual bool Update ( const std::chrono::steady_clock::duration & _now )

virtual

Force the sensor to generate data.

This method must be overridden by sensors. Subclasses should not not make a decision about whether or not they need to update. The Sensor class will make sure Update() is called at the correct time.

If a subclass wants to have a variable update rate it should call SetUpdateRate().

A subclass should return false if there was an error while updating

Parameters

[in] _now The current time

Returns: true if the update was successfull

See also: SetUpdateRate()

Implements Sensor.

Reimplemented in DepthCameraSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ Update() [3/3]

bool Update	(	const std::chrono::steady_clock::duration &	_now,
		const bool	_force
	)

Update the sensor.

This is called by the manager, and is responsible for determining if this sensor needs to generate data at this time. If so, the subclasses' Update() method will be called.

Parameters

[in]	_now	The current time
[in]	_force	Force the update to happen even if it's not time

Returns: True if the update was performed (_force was true or _now >= next_update_time or sensor had a pending trigger) and the sensor's bool Sensor::Update(std::chrono::steady_clock::time_point) function returned true. False otherwise.

Remarks: If forced the NextUpdateTime() will be unchanged.

◆ UpdateLensIntrinsicsAndProjection()

void UpdateLensIntrinsicsAndProjection	(	rendering::CameraPtr	_camera,
		sdf::Camera &	_cameraSdf
	)

Set camera lens intrinsics and projection based on values from SDF. If the camera SDF does not contain intrinsic or projection parameters, the camera will not be updated. Instead, the camera SDF will be updated with intrinsic and projection values computed manually from current camera intrinsic properties.

Parameters

[in]	_camera	Camera to set intrinsic and projection params.
[in,out]	_cameraSdf	Camera sdf with intrinisc and projection parameters.

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

CameraSensor.hh

Gazebo Sensors

API Reference

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CameraSensor()

◆ ~CameraSensor()

Member Function Documentation

◆ AdvertiseInfo() [1/2]

◆ AdvertiseInfo() [2/2]

◆ Baseline()

◆ ConnectImageCallback()

◆ HasConnections()

◆ HasImageConnections()

◆ HasInfoConnections()

◆ ImageHeight()

◆ ImageWidth()

◆ InfoTopic()

◆ Init()

◆ Load() [1/2]

◆ Load() [2/2]

◆ OpticalFrameId()

◆ PopulateInfo()

◆ PublishInfo()

◆ RenderingCamera()

◆ SetBaseline()

◆ SetScene()

◆ Update() [1/3]

◆ Update() [2/3]

◆ Update() [3/3]

◆ UpdateLensIntrinsicsAndProjection()