This is a pre-release version of the original work of GENOM-VISION project. The main author is Martin Jacquot from LAAS CNRS. The original work is available at [redmine.laas.fr](https://redmine.laas.fr/projects/genom-vision/repository/vision-idl).

camgazebo component

martin.jacquet@laas.fr 1.0 :toc: left

Ports

frame (multiple out)

Data structure struct ::or::sensor::frame frame struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

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intrinsics (out)

Data structure struct ::or::sensor::intrinsics intrinsics struct ::or::sensor::calibration calib float fx float fy float cx float cy float gamma struct ::or::sensor::distortion disto float k1 float k2 float k3 float p1 float p2

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extrinsics (out)

Data structure struct ::or::sensor::extrinsics extrinsics struct ::or::sensor::translation trans float tx float ty float tz struct ::or::sensor::rotation rot float roll float pitch float yaw

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Services

connect (activity)

Inputs string<256> topic name of gazebo world

Context In task main (frequency 1000.0 Hz) Updates port intrinsics (out)

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disconnect (activity)

Context In task main (frequency 1000.0 Hz)

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get_K (activity)

Outputs sequence< float, 5 > K

Context In task main (frequency 1000.0 Hz) Updates port intrinsics (out)

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get_D (activity)

Outputs sequence< float, 5 > D

Context In task main (frequency 1000.0 Hz) Updates port intrinsics (out)

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get_extrinsics (activity)

Outputs sequence< float, 6 > ext

Context In task main (frequency 1000.0 Hz) Updates port extrinsics (out)

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set_extrinsics (activity)

Inputs sequence< float, 6 > ext_values

Context In task main (frequency 1000.0 Hz) Updates port extrinsics (out)

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set_hfov (activity)

Inputs float hfov_val (default "1.047") Camera horizon FOV (in radians)

Context In task main (frequency 1000.0 Hz) Updates port intrinsics (out)

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set_format (activity)

Inputs unsigned short w_val (default "320") Camera pixel width unsigned short h_val (default "240") Camera pixel height unsigned short c_val (default "3") Number of image channels (1,3)

Throws exception ::camgazebo::e_io string<128> what

Context In task main (frequency 1000.0 Hz) Updates port frame (multiple out) Updates port intrinsics (out)

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set_disto (activity)

Inputs sequence< float, 5 > dist_values

Context In task main (frequency 1000.0 Hz) Updates port intrinsics (out)

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set_compression (attribute)

Inputs short compression_rate (default "-1") Image compression (0-100) ; -1 to disable compression.

Throws exception ::camgazebo::e_io string<128> what

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Tasks

main

Context Free running Updates port frame (multiple out) Updates port intrinsics (out) Updates port extrinsics (out)

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