Basic camera sensor. More...
#include <sensors/sensors.hh>
Inherits Sensor.
Inherited by DepthCameraSensor, and WideAngleCameraSensor.
Public Member Functions | |
CameraSensor () | |
Constructor. More... | |
virtual | ~CameraSensor () |
Destructor. More... | |
rendering::CameraPtr | Camera () const |
Returns a pointer to the rendering::Camera. More... | |
SensorCategory | Category () const |
Get the category of the sensor. More... | |
event::ConnectionPtr | ConnectUpdated (std::function< void()> _subscriber) |
Connect a signal that is triggered when the sensor is updated. More... | |
void | FillMsg (msgs::Sensor &_msg) |
fills a msgs::Sensor message. More... | |
uint32_t | Id () const |
Get the sensor's ID. More... | |
const unsigned char * | ImageData () const |
Gets the raw image data from the sensor. More... | |
unsigned int | ImageHeight () const |
Gets the height of the image in pixels. More... | |
unsigned int | ImageWidth () const |
Gets the width of the image in pixels. More... | |
virtual void | Init () override |
Initialize the camera. More... | |
virtual bool | IsActive () const override |
Returns true if sensor generation is active. More... | |
common::Time | LastMeasurementTime () const |
Return last measurement time. More... | |
common::Time | LastUpdateTime () const |
Return last update time. More... | |
virtual void | Load (const std::string &_worldName) override |
Load the sensor with default parameters. More... | |
virtual void | Load (const std::string &_worldName, sdf::ElementPtr _sdf) override |
Load the sensor with SDF parameters. More... | |
std::string | Name () const |
Get name. More... | |
double | NextRequiredTimestamp () const override |
Return the next timestamp going to be used by the sensor. More... | |
NoisePtr | Noise (const SensorNoiseType _type) const |
Get the sensor's noise model for a specified noise type. More... | |
uint32_t | ParentId () const |
Get the sensor's parent's ID. More... | |
std::string | ParentName () const |
Returns the name of the sensor parent. More... | |
virtual ignition::math::Pose3d | Pose () const |
Get the current pose. More... | |
bool | SaveFrame (const std::string &_filename) |
Saves the image to the disk. More... | |
std::string | ScopedName () const |
Get fully scoped name of the sensor. More... | |
void | SetActive (bool _value) override |
Set whether the sensor is active or not. More... | |
void | SetParent (const std::string &_name, const uint32_t _id) |
Set the sensor's parent. More... | |
virtual void | SetPose (const ignition::math::Pose3d &_pose) |
Set the current pose. More... | |
void | SetUpdateRate (const double _hz) |
Set the update rate of the sensor. More... | |
bool | StrictRate () const |
Returns true if the sensor is to follow strict update rate. More... | |
virtual std::string | Topic () const override |
Gets the topic name of the sensor. More... | |
std::string | TopicIgn () const |
Gets the ignition topic name of the sensor. More... | |
std::string | Type () const |
Get sensor type. More... | |
void | Update (bool _force) override |
Update the sensor. More... | |
double | UpdateRate () const |
Get the update rate of the sensor. More... | |
bool | Visualize () const |
Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More... | |
std::string | WorldName () const |
Returns the name of the world the sensor is in. More... | |
Protected Member Functions | |
virtual void | Fini () override |
Finalize the camera. More... | |
bool | NeedsUpdate () override |
Return true if the sensor needs to be updated. More... | |
void | PrerenderEnded () |
Handle the prerenderEnded event. More... | |
virtual void | Render () |
Handle the render event. More... | |
bool | Rendered () const |
Get the value of the rendered flag. More... | |
void | ResetLastUpdateTime () override |
reset timing related members More... | |
void | SetRendered (const bool _value) |
Set the value of the rendered flag. More... | |
virtual bool | UpdateImpl (const bool _force) override |
This gets overwritten by derived sensor types. More... | |
Protected Attributes | |
bool | active |
True if sensor generation is active. More... | |
rendering::CameraPtr | camera |
Pointer to the camera. More... | |
std::vector< event::ConnectionPtr > | connections |
All event connections. More... | |
transport::PublisherPtr | imagePub |
Publisher of image messages. More... | |
ignition::transport::Node::Publisher | imagePubIgn |
Publisher of image messages. More... | |
common::Time | lastMeasurementTime |
Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl. More... | |
common::Time | lastUpdateTime |
Time of the last update. More... | |
transport::NodePtr | node |
Node for communication. More... | |
ignition::transport::Node | nodeIgn |
Ignition transport node. More... | |
std::map< SensorNoiseType, NoisePtr > | noises |
Noise added to sensor data. More... | |
uint32_t | parentId |
The sensor's parent ID. More... | |
std::string | parentName |
Name of the parent. More... | |
std::vector< SensorPluginPtr > | plugins |
All the plugins for the sensor. More... | |
ignition::math::Pose3d | pose |
Pose of the sensor. More... | |
gazebo::rendering::ScenePtr | scene |
Pointer to the Scene. More... | |
sdf::ElementPtr | sdf |
Pointer the the SDF element for the sensor. More... | |
event::EventT< void()> | updated |
Event triggered when a sensor is updated. More... | |
common::Time | updatePeriod |
Desired time between updates, set indirectly by Sensor::SetUpdateRate. More... | |
gazebo::physics::WorldPtr | world |
Pointer to the world. More... | |
Static Protected Attributes | |
static bool | useStrictRate |
Whether to enforce strict sensor update rate, even if physics time has to slow down to wait for sensor updates to satisfy the desired rate. More... | |
Basic camera sensor.
This sensor is used for simulating standard monocular cameras
CameraSensor | ( | ) |
Constructor.
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virtual |
Destructor.
rendering::CameraPtr Camera | ( | ) | const |
Returns a pointer to the rendering::Camera.
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inherited |
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inherited |
Connect a signal that is triggered when the sensor is updated.
[in] | _subscriber | Callback that receives the signal. |
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inherited |
fills a msgs::Sensor message.
[out] | _msg | Message to fill. |
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overrideprotectedvirtual |
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inherited |
Get the sensor's ID.
const unsigned char* ImageData | ( | ) | const |
Gets the raw image data from the sensor.
unsigned int ImageHeight | ( | ) | const |
Gets the height of the image in pixels.
unsigned int ImageWidth | ( | ) | const |
Gets the width of the image in pixels.
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overridevirtual |
Initialize the camera.
Reimplemented from Sensor.
Reimplemented in WideAngleCameraSensor, and DepthCameraSensor.
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overridevirtual |
Returns true if sensor generation is active.
Reimplemented from Sensor.
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inherited |
Return last measurement time.
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inherited |
Return last update time.
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overridevirtual |
Load the sensor with default parameters.
[in] | _worldName | Name of world to load from |
Reimplemented from Sensor.
Reimplemented in WideAngleCameraSensor, and DepthCameraSensor.
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overridevirtual |
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inherited |
Get name.
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overrideprotectedvirtual |
Return true if the sensor needs to be updated.
Reimplemented from Sensor.
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overridevirtual |
Return the next timestamp going to be used by the sensor.
Reimplemented from Sensor.
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inherited |
Get the sensor's noise model for a specified noise type.
[in] | _type | Index of the noise type. Refer to SensorNoiseType enumeration for possible indices |
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inherited |
Get the sensor's parent's ID.
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inherited |
Returns the name of the sensor parent.
The parent name is set by Sensor::SetParent.
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virtualinherited |
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protected |
Handle the prerenderEnded event.
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protectedvirtual |
Handle the render event.
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protected |
Get the value of the rendered flag.
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overrideprotectedvirtual |
reset timing related members
Reimplemented from Sensor.
bool SaveFrame | ( | const std::string & | _filename | ) |
Saves the image to the disk.
[in] | _filename | The name of the file to be saved. |
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inherited |
Get fully scoped name of the sensor.
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overridevirtual |
Set whether the sensor is active or not.
[in] | _value | True if active, false if not. |
Reimplemented from Sensor.
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inherited |
Set the sensor's parent.
[in] | _name | The sensor's parent's name. |
[in] | _id | The sensor's parent's ID. |
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virtualinherited |
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protected |
Set the value of the rendered flag.
[in] | _value | New rendered value. |
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inherited |
Set the update rate of the sensor.
[in] | _hz | update rate of sensor. |
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inherited |
Returns true if the sensor is to follow strict update rate.
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overridevirtual |
std::string TopicIgn | ( | ) | const |
Gets the ignition topic name of the sensor.
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inherited |
Get sensor type.
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overridevirtual |
Update the sensor.
[in] | _force | True to force update, false otherwise. |
Reimplemented from Sensor.
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overrideprotectedvirtual |
This gets overwritten by derived sensor types.
This function is called during Sensor::Update. And in turn, Sensor::Update is called by SensorManager::Update
[in] | _force | True if update is forced, false if not |
Reimplemented from Sensor.
Reimplemented in WideAngleCameraSensor, and DepthCameraSensor.
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inherited |
Get the update rate of the sensor.
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inherited |
Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
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inherited |
Returns the name of the world the sensor is in.
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protectedinherited |
True if sensor generation is active.
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protected |
Pointer to the camera.
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protectedinherited |
All event connections.
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protected |
Publisher of image messages.
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protected |
Publisher of image messages.
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protectedinherited |
Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.
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protectedinherited |
Time of the last update.
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protectedinherited |
Node for communication.
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protectedinherited |
Ignition transport node.
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protectedinherited |
Noise added to sensor data.
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protectedinherited |
The sensor's parent ID.
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protectedinherited |
Name of the parent.
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protectedinherited |
All the plugins for the sensor.
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protectedinherited |
Pose of the sensor.
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protectedinherited |
Pointer to the Scene.
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protectedinherited |
Pointer the the SDF element for the sensor.
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protectedinherited |
Event triggered when a sensor is updated.
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protectedinherited |
Desired time between updates, set indirectly by Sensor::SetUpdateRate.
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staticprotectedinherited |
Whether to enforce strict sensor update rate, even if physics time has to slow down to wait for sensor updates to satisfy the desired rate.
static type to avoid breaking ABI and because lockstep setting is global.
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protectedinherited |
Pointer to the world.