Implementation of camera sensors that runs pipeline which produces color image and readbacks a depth image from pipeline. More...

#include <CameraSensor.h>

Public Member Functions
	CameraRGBDSensor (const CameraSensorDescription &cameraSensorDescription, const AZ::EntityId &entityId)

void	RequestMessagePublication (const AZ::Transform &cameraPose, const std_msgs::msg::Header &header) override

Public Member Functions inherited from ROS2::CameraColorSensor
	CameraColorSensor (const CameraSensorDescription &cameraSensorDescription, const AZ::EntityId &entityId)

Public Member Functions inherited from ROS2::CameraSensor
	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.

Additional Inherited Members
Protected Member Functions inherited from ROS2::CameraSensor
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 inherited from ROS2::CameraSensor
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

Implementation of camera sensors that runs pipeline which produces color image and readbacks a depth image from pipeline.

Member Function Documentation

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

overridevirtual

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 from ROS2::CameraSensor.

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