Depth Camera Aggregator Unit¶
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
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:
socket
as a JSON-Encoded message for the DepthCamera (morse.middleware.sockets.depth_camera.DepthCameraPublisher
)ros
as sensor_msgs/PointCloud2 (morse.middleware.ros.depth_camera.DepthCameraPublisher
)
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
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.sensors.depth_camera_aggregator.)