CameraUtils Class Reference

A custom gazebo plugin that provides an interface to programatically collect data from cameras at specific times. More...

#include <CameraUtils.hh>

Public Member Functions
	CameraUtils ()
	Constructs the object. More...
virtual	~CameraUtils ()
	Destroys the object. More...
virtual void	Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
	Loads the object. More...
void	OnNewFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Callback function for handling frame updates. More...

Protected Attributes
sensors::CameraSensorPtr	parentSensor
	Pointer to camera sensor. More...
rendering::CameraPtr	camera
	Pointer to camera object. More...
unsigned int	width
	Image width. More...
unsigned int	height
	Image height. More...
unsigned int	depth
	Image depth. More...
std::string	format
	Image format. More...
std::string	extension
	Exported image extension. More...

Private Member Functions
void	onRequest (CameraUtilsRequestPtr &_msg)
	Callback function for handling incoming requests. More...

Private Attributes
std::unique_ptr< CameraUtilsPrivate >	dataPtr
	Class with private attributes. More...
std::string	output_dir
	Directory for saving output. More...
int	saved_counter {0}
	Saved frames counter. More...
std::string	next_file_name
	File name for next capture. More...
bool	save_on_update {false}
	Internal flag for saving on next update. More...
event::ConnectionPtr	newFrameConnection
	Connects to new frame rendered event. More...

Detailed Description

A custom gazebo plugin that provides an interface to programatically collect data from cameras at specific times.

See the example usage below:

<plugin name="camera_utils" filename="libCameraUtils.so">

  <!-- Output image directory -->
  <output_dir>/tmp/camera_world</output_dir>

  <!-- Output image extension -->
  <extension>.png</extension>

</plugin>

See worlds/camera.world for a complete example.

Constructor & Destructor Documentation

CameraUtils

(

)

Constructs the object.

~CameraUtils ( )

virtual

Destroys the object.

Member Function Documentation

void Load ( sensors::SensorPtr  _sensor, sdf::ElementPtr  _sdf  )

virtual

Loads the object.

Parameters

_sensor	The camera sensor to which the plugin is attached
_sdf	The SDF element with plugin parameters

void OnNewFrame	(	const unsigned char *	_image,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth,
		const std::string &	_format
	)

Callback function for handling frame updates.

Parameters

_image	Image data
_width	Image width
_height	Image height
_depth	Image depth
_format	Image format

void onRequest ( CameraUtilsRequestPtr &  _msg )

private

Callback function for handling incoming requests.

Parameters

_msg	The message

Member Data Documentation

rendering::CameraPtr camera

protected

Pointer to camera object.

std::unique_ptr<CameraUtilsPrivate> dataPtr

private

Class with private attributes.

unsigned int depth

protected

Image depth.

std::string extension

protected

Exported image extension.

std::string format

protected

Image format.

unsigned int height

protected

Image height.

event::ConnectionPtr newFrameConnection

private

Connects to new frame rendered event.

std::string next_file_name

private

File name for next capture.

std::string output_dir

private

Directory for saving output.

sensors::CameraSensorPtr parentSensor

protected

Pointer to camera sensor.

bool save_on_update {false}

private

Internal flag for saving on next update.

int saved_counter {0}

private

Saved frames counter.

unsigned int width

protected

Image width.

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

• CameraUtils.hh
• CameraUtils.cc