Class GvmMulticameraSensor

• Defined in File gvm_multicamera_sensor.h

Nested Relationships

Nested Types

• Struct GvmMulticameraSensor::CameraData

• Struct GvmMulticameraSensor::ImageData

Inheritance Relationships

Base Type

• public Sensor

Class Documentation

class GvmMulticameraSensor : public Sensor

Creates multiple cameras and publishes an event with synchronized images from all of these cameras.

Note

Provides a ROS interface for dynamically updating the configuration of a camera. If a model is not specified in the request, the model/link configuration defaults to the model/link to which the sensor is attached.

Note

Expects the usual sensor configuration, but with an arbitrary number of cameras.

Public Types

using ImageDataPtr = std::shared_ptr<ImageData>

using NewImagesFn = void(const std::vector<ImageDataPtr>&)

Public Functions

GvmMulticameraSensor()

virtual ~GvmMulticameraSensor() override

virtual void Load(const std::string &world_name) override

virtual void Init() override

virtual bool IsActive() const override

void initRos(const rclcpp::Node::SharedPtr &node, const std::string &set_camera_service_name)

std::vector<std::string> getCameraNames() const

event::ConnectionPtr connectNewImages(const std::function<NewImagesFn> &callback)

rendering::CameraPtr getCamera(const std::string &name)

bool attachToLink(const std::string &camera_name, const RefModelConfig &model_config, bool on_init = false)

void setRecording(bool recording)

bool isRecording() const

Public Static Functions

static sensors::GvmMulticameraSensor *newSensor()

struct ImageData

Public Functions

inline ImageData(const std::string &name)

inline size_t getStep() const

Public Members

const std::string name

const unsigned char *data = nullptr

int width = 0

int height = 0

int depth = 0

std::string format