Ignition Sensors

API Reference

5.0.0
LogicalCameraSensor Class Reference

Logical Camera Sensor Class. More...

#include <LogicalCameraSensor.hh>

Public Member Functions

 LogicalCameraSensor ()
 constructor More...
 
virtual ~LogicalCameraSensor ()
 destructor More...
 
double AspectRatio () const
 Get the aspect ratio, which is the width divided by height of the near or far planes. More...
 
double Far () const
 Get the far distance. This is the distance from the frustum's vertex to the farthest plane. More...
 
ignition::math::Angle HorizontalFOV () const
 Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle. More...
 
msgs::LogicalCameraImage Image () const
 Get the latest image. An image is an instance of msgs::LogicalCameraImage, which contains a list of detected models. More...
 
virtual bool Init () override
 Initialize values in the sensor. More...
 
virtual bool Load (sdf::ElementPtr _sdf) override
 Load the sensor with SDF parameters. More...
 
double Near () const
 Get the near distance. This is the distance from the frustum's vertex to the closest plane. More...
 
void SetModelPoses (std::map< std::string, math::Pose3d > &&_models)
 Set the models currently in the world. More...
 
virtual bool Update (const ignition::common::Time &_now) override
 Update the sensor and generate data. More...
 
virtual bool Update (const std::chrono::steady_clock::duration &_now) override
 Force the sensor to generate data. More...
 
- Public Member Functions inherited from Sensor
virtual ~Sensor ()
 destructor More...
 
void AddSequence (ignition::msgs::Header *_msg, const std::string &_seqKey="default")
 Add a sequence number to an ignition::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. More...
 
SensorId Id () const
 Get the sensor's ID. More...
 
virtual bool Load (const sdf::Sensor &_sdf)
 Load the sensor based on data from an sdf::Sensor object. More...
 
std::string Name () const
 Get name. More...
 
std::chrono::steady_clock::duration NextDataUpdateTime () const
 Return the next time the sensor will generate data. More...
 
ignition::common::Time NextUpdateTime () const
 Return the next time the sensor will generate data. More...
 
std::string Parent () const
 Get parent link of the sensor. More...
 
ignition::math::Pose3d Pose () const
 Get the current pose. More...
 
sdf::ElementPtr SDF () const
 Get the SDF used to load this sensor. More...
 
virtual void SetParent (const std::string &_parent)
 Set the parent of the sensor. More...
 
void SetPose (const ignition::math::Pose3d &_pose)
 Update the pose of the sensor. More...
 
bool SetTopic (const std::string &_topic)
 Set topic where sensor data is published. More...
 
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. Negative rates become zero. More...
 
std::string Topic () const
 Get topic where sensor data is published. More...
 
virtual bool Update (const common::Time &_now)=0
 Force the sensor to generate data. More...
 
bool Update (const ignition::common::Time &_now, const bool _force)
 Update the sensor. More...
 
bool Update (const std::chrono::steady_clock::duration &_now, const bool _force)
 Update the sensor. More...
 
double UpdateRate () const
 Get the update rate of the sensor. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Sensor
 Sensor ()
 constructor More...
 

Detailed Description

Logical Camera Sensor Class.

A logical camera reports locations of objects. This camera finds models within the sensor's frustum and publishes information about the models on the sensor's topic.

Constructor & Destructor Documentation

◆ LogicalCameraSensor()

constructor

◆ ~LogicalCameraSensor()

virtual ~LogicalCameraSensor ( )
virtual

destructor

Member Function Documentation

◆ AspectRatio()

double AspectRatio ( ) const

Get the aspect ratio, which is the width divided by height of the near or far planes.

Returns
The frustum's aspect ratio.

◆ Far()

double Far ( ) const

Get the far distance. This is the distance from the frustum's vertex to the farthest plane.

Returns
Far distance.

◆ HorizontalFOV()

ignition::math::Angle HorizontalFOV ( ) const

Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

Returns
The field of view.

◆ Image()

msgs::LogicalCameraImage Image ( ) const

Get the latest image. An image is an instance of msgs::LogicalCameraImage, which contains a list of detected models.

Returns
List of detected models.

◆ Init()

virtual bool Init ( )
overridevirtual

Initialize values in the sensor.

Returns
True on success

Reimplemented from Sensor.

◆ Load()

virtual bool Load ( sdf::ElementPtr  _sdf)
overridevirtual

Load the sensor with SDF parameters.

Parameters
[in]_sdfSDF Sensor parameters.
Returns
true if loading was successful

Reimplemented from Sensor.

◆ Near()

double Near ( ) const

Get the near distance. This is the distance from the frustum's vertex to the closest plane.

Returns
Near distance.

◆ SetModelPoses()

void SetModelPoses ( std::map< std::string, math::Pose3d > &&  _models)

Set the models currently in the world.

Parameters
[in]_modelsA map of model names to their world pose.

◆ Update() [1/2]

virtual bool Update ( const ignition::common::Time &  _now)
overridevirtual

Update the sensor and generate data.

Parameters
[in]_nowThe current time
Returns
true if the update was successfull

◆ Update() [2/2]

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

Force the sensor to generate data.

Parameters
[in]_nowThe current time
Returns
true if the update was successfull

Implements Sensor.


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