simulation.utils.urdf.camera module¶

Class definitions of tags used to define cameras.

Summary¶

Classes:

`CameraClip`
`CameraDefinition`
`CameraImage`
`CameraPlugin`
`CameraProperties`
`CameraSensor`
`DepthCamera`
`DepthCameraPlugin`
`DepthCameraProperties`
`MonoCamera`
`MonoCameraPlugin`

Reference¶

class CameraProperties(horizontal_fov: float, update_rate: float, image_width: float, image_height: float, image_format: float, clip_near: float, clip_far: float, image_topic: str, info_topic: str, frame_name: str, optical_center_x: float = None, optical_center_y: float = None)[source]¶

Bases: object

horizontal_fov: float¶

update_rate: float¶

image_width: float¶

image_height: float¶

image_format: float¶

clip_near: float¶

clip_far: float¶

image_topic: str¶

info_topic: str¶

frame_name: str¶

optical_center_x: float = None¶

optical_center_y: float = None¶

class DepthCameraProperties(horizontal_fov: float, update_rate: float, image_width: float, image_height: float, image_format: float, clip_near: float, clip_far: float, image_topic: str, info_topic: str, frame_name: str, optical_center_x: float = None, optical_center_y: float = None, point_cloud_cutoff: float = None, point_cloud_topic_name: str = None)[source]¶

Bases: simulation.utils.urdf.camera.CameraProperties

point_cloud_cutoff: float = None¶

point_cloud_topic_name: str = None¶

horizontal_fov: float¶

update_rate: float¶

image_width: float¶

image_height: float¶

image_format: float¶

clip_near: float¶

clip_far: float¶

image_topic: str¶

info_topic: str¶

frame_name: str¶

class CameraPlugin(name: simulation.utils.urdf.core.Attribute, filename: simulation.utils.urdf.core.Attribute, alwaysOn: float = 1, updateRate: float = 0, frameName: str = None, cameraName: str = None, CxPrime: float = None, Cx: float = None, Cy: float = None)[source]¶

Bases: simulation.utils.urdf.gazebo.Plugin

alwaysOn: float = 1¶

updateRate: float = 0¶

frameName: str = None¶

cameraName: str = None¶

CxPrime: float = None¶

Cx: float = None¶

Cy: float = None¶

name: simulation.utils.urdf.core.Attribute¶

filename: simulation.utils.urdf.core.Attribute¶

class MonoCameraPlugin(name: simulation.utils.urdf.core.Attribute = 'camera_plugin', filename: simulation.utils.urdf.core.Attribute = 'libgazebo_ros_camera.so', alwaysOn: float = 1, updateRate: float = 0, frameName: str = None, cameraName: str = None, CxPrime: float = None, Cx: float = None, Cy: float = None, imageTopicName: str = None, cameraInfoTopicName: str = None)[source]¶

Bases: simulation.utils.urdf.camera.CameraPlugin

name: simulation.utils.urdf.core.Attribute = 'camera_plugin'¶

filename: simulation.utils.urdf.core.Attribute = 'libgazebo_ros_camera.so'¶

imageTopicName: str = None¶

cameraInfoTopicName: str = None¶

class DepthCameraPlugin(name: simulation.utils.urdf.core.Attribute = 'camera_plugin', filename: simulation.utils.urdf.core.Attribute = 'libgazebo_ros_openni_kinect.so', alwaysOn: float = 1, updateRate: float = 0, frameName: str = None, cameraName: str = None, CxPrime: float = None, Cx: float = None, Cy: float = None, depthImageTopicName: str = None, depthImageCameraInfoTopicName: str = None, pointCloudTopicName: str = None, pointCloudCutoff: float = None)[source]¶