Depth Camera Aggregator Unit
============================



.. cssclass:: properties morse-section

Configuration parameters for Depth Camera Aggregator Unit
---------------------------------------------------------


You can set these properties in your scripts with ``<component>.properties(<property1>=..., <property2>=...)``.

- ``master_camera`` (string, default: ``""``)
	the name of master camera : all the points will be expressed in the frame of this camera


.. cssclass:: fields morse-section

Data fields
-----------


This sensor exports these datafields at each simulation step:

- ``timestamp`` (float, initial value: ``0.0``)
	number of seconds in simulated time
- ``points`` (memoryview, initial value: ``none``)
	List of 3D points from the depth camera. memoryview of a set of float(x,y,z). The data is of size ``(nb_points * 12)`` bytes (12=3*sizeof(float).
- ``nb_points`` (int, initial value: ``0``)
	the number of points found in the points list. It must be inferior to cam_width * cam_height

*Interface support:*

- :tag:`socket`  as a JSON-Encoded message for the DepthCamera (:py:mod:`morse.middleware.sockets.depth_camera.DepthCameraPublisher`)
- :tag:`ros`  as `sensor_msgs/PointCloud2 <http://ros.org/doc/api/sensor_msgs/html/msg/PointCloud2.html>`_ (:py:mod:`morse.middleware.ros.depth_camera.DepthCameraPublisher`)


.. cssclass:: services morse-section

Services for Depth Camera Aggregator Unit
-----------------------------------------

- ``capture(n)`` (non blocking)
    The service takes an integer an argument and dispatch the call
    to all its individual cameras. The service ends when each camera
    has terminated its work.
    
    
  - Parameters

    - ``n``: the number of call to each individual camera

- ``get_configurations()`` (blocking)
    Returns the configurations of a component (parsed from the properties).
    
    
  - Return value

    a dictionary of the current component's configurations  

- ``get_local_data()`` (blocking)
    Returns the current data stored in the sensor.
    
    
  - Return value

    a dictionary of the current sensor's data 

- ``get_properties()`` (blocking)
    Returns the properties of a component.
    
    
  - Return value

    a dictionary of the current component's properties  

- ``set_property(prop_name, prop_val)`` (blocking)
    Modify one property on a component
    
    
  - Parameters

    - ``prop_name``: the name of the property to modify (as shown the documentation)
    - ``prop_val``: the new value of the property. Note that there is no checking about the type of the value so be careful

  - Return value

    nothing 



.. cssclass:: files morse-section

Other sources of examples
+++++++++++++++++++++++++

- `Source code <../../_modules/morse/sensors/depth_camera_aggregator.html>`_
- `Unit-test <../../_modules/base/depth_camera_aggregator_testing.html>`_




*(This page has been auto-generated from MORSE module morse.sensors.depth_camera_aggregator.)*