Open 3D Engine ROS2 Gem API Reference 23.10.0
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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
ROS2::CameraSensor Class Referenceabstract

#include <CameraSensor.h>

Inherited by ROS2::CameraColorSensor, and ROS2::CameraDepthSensor.

Public Member Functions

 CameraSensor (const CameraSensorDescription &cameraSensorDescription, const AZ::EntityId &entityId)
 
virtual ~CameraSensor ()
 Deinitializes rendering pipeline for the camera sensor.
 
virtual void RequestMessagePublication (const AZ::Transform &cameraPose, const std_msgs::msg::Header &header)
 
const CameraSensorDescription & GetCameraSensorDescription () const
 Get the camera sensor description.
 

Protected Member Functions

void RequestFrame (const AZ::Transform &cameraPose, AZStd::function< void(const AZ::RPI::AttachmentReadback::ReadbackResult &result)> callback)
 
void SetupPasses ()
 Read and setup Atom Passes.
 

Protected Attributes

CameraSensorDescription m_cameraSensorDescription
 Type of returned data eg Color, Depth, Optical flow.
 
CameraPublishers m_cameraPublishers
 
AZ::EntityId m_entityId
 
AZ::RPI::RenderPipelinePtr m_pipeline
 
AZStd::string m_pipelineName
 

Detailed Description

Class to create camera sensor using Atom renderer It creates dedicated rendering pipeline for each camera

Constructor & Destructor Documentation

◆ CameraSensor()

ROS2::CameraSensor::CameraSensor ( const CameraSensorDescription &  cameraSensorDescription,
const AZ::EntityId &  entityId 
)

Initializes rendering pipeline for the camera sensor.

Parameters
cameraSensorDescription- camera sensor description used to create camera pipeline.
entityId- entityId for the owning sensor component.

Member Function Documentation

◆ RequestFrame()

void ROS2::CameraSensor::RequestFrame ( const AZ::Transform &  cameraPose,
AZStd::function< void(const AZ::RPI::AttachmentReadback::ReadbackResult &result)>  callback 
)
protected

Request a frame from the rendering pipeline

Parameters
cameraPose- current camera pose from which the rendering should take place
callback- callback function object that will be called when capture is ready. It's argument is readback structure containing, among other things, a captured image

◆ RequestMessagePublication()

virtual void ROS2::CameraSensor::RequestMessagePublication ( const AZ::Transform &  cameraPose,
const std_msgs::msg::Header &  header 
)
virtual

Publish Image Message frame from rendering pipeline

Parameters
cameraPose- current camera pose from which the rendering should take place
header- header with filled message information (frame, timestamp, seq)

Reimplemented in ROS2::CameraRGBDSensor.

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