Class robot_dart::gui::magnum::sensor::Camera¶

ClassList > robot_dart > gui > magnum > sensor > Camera

Inherits the following classes: robot_dart::sensor::Sensor

Public Functions¶

Type	Name
	Camera (BaseApplication * app, size_t width, size_t height, size_t freq=30, bool draw_debug=false)
virtual void	attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) override
virtual void	attach_to_joint (dart::dynamics::Joint *, const Eigen::Isometry3d &) override
virtual void	calculate (double) override
gs::Camera &	camera ()
const gs::Camera &	camera () const
Eigen::Matrix4d	camera_extrinsic_matrix () const
Eigen::Matrix3d	camera_intrinsic_matrix () const
DepthImage	depth_array ()
GrayscaleImage	depth_image ()
void	draw_debug (bool draw=true)
bool	drawing_debug () const
Image	image ()
virtual void	init () override
void	look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1))
Magnum::Image2D *	magnum_depth_image ()
Magnum::Image2D *	magnum_image ()
GrayscaleImage	raw_depth_image ()
void	record_video (const std::string & video_fname)
virtual std::string	type () override const
	~Camera ()

Public Functions inherited from robot_dart::sensor::Sensor¶

See robot_dart::sensor::Sensor

Type	Name
	Sensor (size_t freq=40)
void	activate (bool enable=true)
bool	active () const
virtual void	attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
void	attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
virtual void	attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
void	attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
const std::string &	attached_to () const
virtual void	calculate (double) = 0
void	detach ()
size_t	frequency () const
virtual void	init () = 0
const Eigen::Isometry3d &	pose () const
void	refresh (double t)
void	set_frequency (size_t freq)
void	set_pose (const Eigen::Isometry3d & tf)
void	set_simu (RobotDARTSimu * simu)
const RobotDARTSimu *	simu () const
virtual std::string	type () const = 0
virtual	~Sensor ()

Protected Attributes¶

Type	Name
std::unique_ptr< gs::Camera >	_camera
Magnum::GL::Renderbuffer	_color
Magnum::GL::Renderbuffer	_depth
bool	_draw_debug
Magnum::PixelFormat	_format
Magnum::GL::Framebuffer	_framebuffer = {Magnum::NoCreate}
size_t	_height
BaseApplication *	_magnum_app
size_t	_width

Protected Attributes inherited from robot_dart::sensor::Sensor¶

See robot_dart::sensor::Sensor

Type	Name
bool	_active
Eigen::Isometry3d	_attached_tf
bool	_attached_to_body = = false
bool	_attached_to_joint = = false
bool	_attaching_to_body = = false
bool	_attaching_to_joint = = false
dart::dynamics::BodyNode *	_body_attached
size_t	_frequency
dart::dynamics::Joint *	_joint_attached
RobotDARTSimu *	_simu = = nullptr
Eigen::Isometry3d	_world_pose

Public Functions Documentation¶

function Camera¶

robot_dart::gui::magnum::sensor::Camera::Camera (
    BaseApplication * app,
    size_t width,
    size_t height,
    size_t freq=30,
    bool draw_debug=false
)

function attach_to_body¶

virtual void robot_dart::gui::magnum::sensor::Camera::attach_to_body (
    dart::dynamics::BodyNode * body,
    const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()
) override

Implements robot_dart::sensor::Sensor::attach_to_body

function attach_to_joint¶

inline virtual void robot_dart::gui::magnum::sensor::Camera::attach_to_joint (
    dart::dynamics::Joint *,
    const Eigen::Isometry3d &
) override

Implements robot_dart::sensor::Sensor::attach_to_joint

function calculate¶

virtual void robot_dart::gui::magnum::sensor::Camera::calculate (
    double
) override

Implements robot_dart::sensor::Sensor::calculate

function camera [½]¶

inline gs::Camera & robot_dart::gui::magnum::sensor::Camera::camera ()

function camera [2/2]¶

inline const gs::Camera & robot_dart::gui::magnum::sensor::Camera::camera () const

function camera_extrinsic_matrix¶

Eigen::Matrix4d robot_dart::gui::magnum::sensor::Camera::camera_extrinsic_matrix () const

function camera_intrinsic_matrix¶

Eigen::Matrix3d robot_dart::gui::magnum::sensor::Camera::camera_intrinsic_matrix () const

function depth_array¶

DepthImage robot_dart::gui::magnum::sensor::Camera::depth_array ()

function depth_image¶

GrayscaleImage robot_dart::gui::magnum::sensor::Camera::depth_image ()

function draw_debug¶

inline void robot_dart::gui::magnum::sensor::Camera::draw_debug (
    bool draw=true
)

function drawing_debug¶

inline bool robot_dart::gui::magnum::sensor::Camera::drawing_debug () const

function image¶

inline Image robot_dart::gui::magnum::sensor::Camera::image ()

function init¶

virtual void robot_dart::gui::magnum::sensor::Camera::init () override

Implements robot_dart::sensor::Sensor::init

function look_at¶

void robot_dart::gui::magnum::sensor::Camera::look_at (
    const Eigen::Vector3d & camera_pos,
    const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0),
    const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)
)

function magnum_depth_image¶

inline Magnum::Image2D * robot_dart::gui::magnum::sensor::Camera::magnum_depth_image ()

function magnum_image¶

inline Magnum::Image2D * robot_dart::gui::magnum::sensor::Camera::magnum_image ()

function raw_depth_image¶

GrayscaleImage robot_dart::gui::magnum::sensor::Camera::raw_depth_image ()

function record_video¶

inline void robot_dart::gui::magnum::sensor::Camera::record_video (
    const std::string & video_fname
)

function type¶

virtual std::string robot_dart::gui::magnum::sensor::Camera::type () override const

Implements robot_dart::sensor::Sensor::type

function ~Camera¶

inline robot_dart::gui::magnum::sensor::Camera::~Camera ()

Protected Attributes Documentation¶

variable _camera¶

std::unique_ptr<gs::Camera> robot_dart::gui::magnum::sensor::Camera::_camera;

variable _color¶

Magnum::GL::Renderbuffer robot_dart::gui::magnum::sensor::Camera::_color;

variable _depth¶

Magnum::GL::Renderbuffer robot_dart::gui::magnum::sensor::Camera::_depth;

variable _draw_debug¶

bool robot_dart::gui::magnum::sensor::Camera::_draw_debug;

variable _format¶

Magnum::PixelFormat robot_dart::gui::magnum::sensor::Camera::_format;

variable _framebuffer¶

Magnum::GL::Framebuffer robot_dart::gui::magnum::sensor::Camera::_framebuffer;

variable _height¶

size_t robot_dart::gui::magnum::sensor::Camera::_height;

variable _magnum_app¶

BaseApplication* robot_dart::gui::magnum::sensor::Camera::_magnum_app;

variable _width¶

size_t robot_dart::gui::magnum::sensor::Camera::_width;

The documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.hpp