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UnderwaterCameraROSPlugin

class gazebo::UnderwaterCameraROSPlugin

class gazebo::UnderwaterCameraROSPlugin
  : public DepthCameraPlugin
  : public GazeboRosCameraUtils
Summary
Members Descriptions
publicUnderwaterCameraROSPlugin() Class constructor.
public virtual~UnderwaterCameraROSPlugin() Class destructor.
public voidLoad(sensors::SensorPtr _sensor,sdf::ElementPtr _sdf) Load plugin and its configuration from sdf.
public virtual voidOnNewDepthFrame(const float * _image,unsigned int _width,unsigned int _height,unsigned int _depth,const std::string & _format)
public virtual voidOnNewRGBPointCloud(const float * _pcd,unsigned int _width,unsigned int _height,unsigned int _depth,const std::string & _format) Update the controller.
public virtual voidOnNewImageFrame(const unsigned char * _image,unsigned int _width,unsigned int _height,unsigned int _depth,const std::string & _format)
protected const float *lastDepth Temporarily store pointer to previous depth image.
protected unsigned char *lastImage Latest simulated image.
protected float *depth2rangeLUT Depth to range lookup table (LUT)
protected floatattenuation Attenuation constants per channel (RGB)
protected unsigned charbackground Background constants per channel (RGB)
protected virtual voidSimulateUnderwater(const cv::Mat & _inputImage,const cv::Mat & _inputDepth,cv::Mat & _outputImage) Add underwater light damping to image.
Members
publicUnderwaterCameraROSPlugin()

Class constructor.

public virtual~UnderwaterCameraROSPlugin()

Class destructor.

public voidLoad(sensors::SensorPtr _sensor,sdf::ElementPtr _sdf)

Load plugin and its configuration from sdf.

public virtual voidOnNewDepthFrame(const float * _image,unsigned int _width,unsigned int _height,unsigned int _depth,const std::string & _format)
public virtual voidOnNewRGBPointCloud(const float * _pcd,unsigned int _width,unsigned int _height,unsigned int _depth,const std::string & _format)

Update the controller.

public virtual voidOnNewImageFrame(const unsigned char * _image,unsigned int _width,unsigned int _height,unsigned int _depth,const std::string & _format)
protected const float *lastDepth

Temporarily store pointer to previous depth image.

protected unsigned char *lastImage

Latest simulated image.

protected float *depth2rangeLUT

Depth to range lookup table (LUT)

protected floatattenuation

Attenuation constants per channel (RGB)

protected unsigned charbackground

Background constants per channel (RGB)

protected virtual voidSimulateUnderwater(const cv::Mat & _inputImage,const cv::Mat & _inputDepth,cv::Mat & _outputImage)

Add underwater light damping to image.