RGBDCameraPlugin.hh File Reference

RGBD camera Gazebo plugin. More...

#include "gazebo/common/Plugin.hh"
#include <gazebo/msgs/msgs.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/rendering/DepthCamera.hh>
#include <gazebo/sensors/sensors.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/common/Events.hh>
#include "gazebo/rendering/ogre_gazebo.h"
#include "camera_request.pb.h"
#include "camera_response.pb.h"
#include "ConcurrentQueue.hh"
#include <chrono>

Go to the source code of this file.

Classes
class	RGBDCameraPlugin

Namespaces
	RGBDCameraPlugin
	gazebo

Macros
#define	PARAM_CAMERA   "cameraName"
	Camera sensor name SDF parameter name. More...
#define	PARAM_QUEUE_SIZE   "renderQueueSize"
	Rendering queue maximum size SDF parameter name. More...
#define	PARAM_OUTPUT_DIR   "outputDir"
	Output directory parameter SDF parameter name. More...
#define	PARAM_EXTENSION   "imageFormat"
	Output extension SDF parameter name. More...
#define	PARAM_REQ_TOPIC   "requestTopic"
	Request topic SDF parameter name. More...
#define	PARAM_RES_TOPIC   "responseTopic"
	Response topic SDF parameter name. More...
#define	DEFAULT_OUTPUT_DIR   "/tmp/RGBDCameraPlugin"
	Default output directory. More...
#define	DEFAULT_EXTENSION   "png"
	Default output extension. More...
#define	DEFAULT_REQ_TOPIC   "~/grasp/rgbd"
	Default request topic. More...
#define	DEFAULT_RES_TOPIC   "~/grasp/rgbd/response"
	Default response topic. More...
#define	CAPTURE_REQUEST   grasp::msgs::CameraRequest::CAPTURE
	Request to capture frame. More...
#define	MOVE_REQUEST   grasp::msgs::CameraRequest::MOVE
	Request to update pose. More...
#define	PREFIX_REQUEST   grasp::msgs::CameraRequest::PREFIX
	Request to change image filename prefix. More...
#define	CAPTURE_RESPONSE   grasp::msgs::CameraResponse::CAPTURE
	Captured frame response. More...
#define	MOVE_RESPONSE   grasp::msgs::CameraResponse::MOVE
	Camera moved response. More...
#define	PREFIX_RESPONSE   grasp::msgs::CameraResponse::PREFIX
	Image filename prefix chnaged response. More...

Typedefs
typedef const boost::shared_ptr< const grasp::msgs::CameraRequest >	CameraRequestPtr
	Shared pointer declaration for request message type. More...
typedef const boost::shared_ptr< const grasp::msgs::CameraResponse >	CameraResponsePtr
	Shared pointer declaration for response message type. More...

Detailed Description

RGBD camera Gazebo plugin.

TODO

\author João Borrego : jsbruglie

Macro Definition Documentation

#define CAPTURE_REQUEST   grasp::msgs::CameraRequest::CAPTURE

Request to capture frame.

#define CAPTURE_RESPONSE   grasp::msgs::CameraResponse::CAPTURE

Captured frame response.

#define DEFAULT_EXTENSION   "png"

Default output extension.

#define DEFAULT_OUTPUT_DIR   "/tmp/RGBDCameraPlugin"

Default output directory.

#define DEFAULT_REQ_TOPIC   "~/grasp/rgbd"

Default request topic.

#define DEFAULT_RES_TOPIC   "~/grasp/rgbd/response"

Default response topic.

#define MOVE_REQUEST   grasp::msgs::CameraRequest::MOVE

Request to update pose.

#define MOVE_RESPONSE   grasp::msgs::CameraResponse::MOVE

Camera moved response.

#define PARAM_CAMERA   "cameraName"

Camera sensor name SDF parameter name.

#define PARAM_EXTENSION   "imageFormat"

Output extension SDF parameter name.

#define PARAM_OUTPUT_DIR   "outputDir"

Output directory parameter SDF parameter name.

#define PARAM_QUEUE_SIZE   "renderQueueSize"

Rendering queue maximum size SDF parameter name.

#define PARAM_REQ_TOPIC   "requestTopic"

Request topic SDF parameter name.

#define PARAM_RES_TOPIC   "responseTopic"

Response topic SDF parameter name.

#define PREFIX_REQUEST   grasp::msgs::CameraRequest::PREFIX

Request to change image filename prefix.

#define PREFIX_RESPONSE   grasp::msgs::CameraResponse::PREFIX

Image filename prefix chnaged response.