#include <RGBDCameraPlugin.hh>

Public Member Functions
	RGBDCameraPlugin ()
	Constructs the object. More...

virtual	~RGBDCameraPlugin ()
	Destroys the object. More...

virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Loads the plugin. More...

void	onNewRGBFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Callback function for handling RGB frame updates. More...

void	onNewDepthFrame (const float *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Callback function for handling depth frame updates. More...

Private Member Functions
void	onUpdate ()
	Callback function for handling world update event. More...

void	onRequest (CameraRequestPtr &_msg)
	Callback function for handling incoming requests. More...

void	saveRenderRGB ()
	TODO. More...

void	saveRenderDepth ()
	TODO. More...

void	saveDepthFrame (const float *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format, const std::string &_filename)
	TODO. More...

void	clearQueues ()
	TODO. More...

Static Private Member Functions
static int	OgrePixelFormat (const std::string &_format)
	Get the OGRE image pixel format As seen in gazebo/rendering/Camera.cc. More...

Private Attributes
std::unique_ptr< RGBDCameraPluginPrivate >	data_ptr
	Class with private attributes. More...

physics::ModelPtr	model
	Camera model. More...

physics::WorldPtr	world
	World. More...

rendering::DepthCameraPtr	camera
	Pointer to depth camera renderer. More...

event::ConnectionPtr	updateConn
	Pointer to world update callback connection. More...

event::ConnectionPtr	newRGBFrameConn
	Pointer to RGB camera callback connection. More...

event::ConnectionPtr	newDepthFrameConn
	Pointer to depth camera callback connection. More...

std::thread	thread_rgb
	Auxiliar thread for saving RGB frames to disk. More...

std::thread	thread_depth
	Auxiliar thread for saving depth frames to disk. More...

bool	stop_thread {false}
	Flag to stop thread execution. More...

ConcurrentQueue< unsigned char * > *	rgb_queue
	Multithread safe queue for RGB data. More...

ConcurrentQueue< float * > *	depth_queue
	Multithread safe queue for depth data. More...

std::string	output_dir
	Render output directory. More...

std::string	output_prefix {""}
	Rendered output filename prefix. More...

std::string	output_ext
	Rendered output format. More...

bool	capture {false}
	Flag for capture request. More...

bool	update_pose {false}
	Flag for pose update request. More...

ignition::math::Pose3d	new_pose
	New desired pose. More...

bool	rgb_captured {false}
	Flag for RGB successfully captured. More...

bool	depth_captured {false}
	Flag for depth successfully captured. More...

Constructor & Destructor Documentation

RGBDCameraPlugin ( )

Constructs the object.

~RGBDCameraPlugin ( )

virtual

Destroys the object.

Member Function Documentation

void clearQueues ( )

private

TODO.

void Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)

virtual

Loads the plugin.

Parameters

_model	The model pointer
_sdf	The sdf element pointer

int OgrePixelFormat ( const std::string & _format )

staticprivate

Get the OGRE image pixel format As seen in gazebo/rendering/Camera.cc.

Parameters

[in] _format The Gazebo image format

Returns: Integer representation of the Ogre image format

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

Callback function for handling depth frame updates.

Parameters

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

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

Callback function for handling RGB frame updates.

Parameters

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

void onRequest ( CameraRequestPtr & _msg )

private

Callback function for handling incoming requests.

Parameters

_msg	The message

void onUpdate ( )

private

Callback function for handling world update event.

void saveDepthFrame	(	const float *	_image,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth,
		const std::string &	_format,
		const std::string &	_filename
	)

private

TODO.

void saveRenderDepth ( )

private

TODO.

void saveRenderRGB ( )

private

TODO.

Member Data Documentation

rendering::DepthCameraPtr camera

private

Pointer to depth camera renderer.

bool capture {false}

private

Flag for capture request.

std::unique_ptr<RGBDCameraPluginPrivate> data_ptr

private

Class with private attributes.

bool depth_captured {false}

private

Flag for depth successfully captured.

ConcurrentQueue<float*>* depth_queue

private

Multithread safe queue for depth data.

physics::ModelPtr model

private

Camera model.

ignition::math::Pose3d new_pose

private

New desired pose.

event::ConnectionPtr newDepthFrameConn

private

Pointer to depth camera callback connection.

event::ConnectionPtr newRGBFrameConn

private

Pointer to RGB camera callback connection.

std::string output_dir

private

Render output directory.

std::string output_ext

private

Rendered output format.

std::string output_prefix {""}

private

Rendered output filename prefix.

bool rgb_captured {false}

private

Flag for RGB successfully captured.

ConcurrentQueue<unsigned char*>* rgb_queue

private

Multithread safe queue for RGB data.

bool stop_thread {false}

private

Flag to stop thread execution.

std::thread thread_depth

private

Auxiliar thread for saving depth frames to disk.

std::thread thread_rgb

private

Auxiliar thread for saving RGB frames to disk.

bool update_pose {false}

private

Flag for pose update request.

event::ConnectionPtr updateConn

private

Pointer to world update callback connection.

physics::WorldPtr world

private

World.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation