Camera client to subscribe to a camera image stream. More...

#include <auterion_sdk/camera/camera.hpp>

Public Types
using	ImageCallback = std::function< void(const Image &image)>

using	ImageFDCallback = std::function< void(const std::shared_ptr< ImageFD > &image_fd)>

Public Member Functions
	Camera (SDK &sdk, const CameraDescriptor &camera_descriptor)

void	subscribeImage (const ImageCallback &callback)

void	subscribeImageFD (const ImageFDCallback &callback)

void	subscribeCameraInfo (std::function< void(const sensor_msgs::msg::CameraInfo::SharedPtr)> callback)

bool	cameraInfoValid () const
	Determine whether a camera info message contains valid data.

std::optional< cv::Size >	getLastImageSize () const
	Returns the size of the last received image, if available.

Eigen::Vector3d	unprojectImagePoint (const cv::Point &image_point) const
	Determine the (relative) camera-frame 3D position of a point in an image.

bool	getPoseBodyCamera (Eigen::Quaterniond &q_body_camera, Eigen::Vector3d &t_body_camera) const
	Get the pose of the camera with respect to the body frame.

bool	getPoseWorldCamera (Eigen::Quaterniond &q_enu_camera, Eigen::Vector3d &t_enu_camera, const tf2::TimePoint &time=tf2::TimePointZero) const
	Get the pose of the camera with respect to the ENU world frame.

bool	getDeltaRotationWorldCamera (Eigen::Quaterniond &q_delta_world_camera, tf2::TimePoint &time_start, tf2::TimePoint &time_end)
	Calculates how much the camera has rotated between two points in time based only on gyro data.

bool	getCameraInfo (sensor_msgs::msg::CameraInfo &camera_info) const
	Get the camera information data for the camera.

const CameraDescriptor &	descriptor () const

Static Public Member Functions
static Camera	waitForCamera (SDK &sdk, const std::function< bool(const CameraDescriptor &)> &find_callback)

static Camera	waitForCamera (SDK &sdk, std::optional< auterion::CameraDescriptor > camera_descriptor=std::nullopt)

static std::optional< Camera >	open (SDK &sdk, const std::string &unique_name, const std::chrono::seconds &timeout=30s)

static std::optional< Camera >	open (SDK &sdk, const std::function< bool(const CameraDescriptor &)> &find_callback, const std::chrono::seconds &timeout=30s)

static std::optional< Camera >	openFirst (SDK &sdk, const std::chrono::seconds &timeout=30s)

Detailed Description

Camera client to subscribe to a camera image stream.

Member Function Documentation

◆ cameraInfoValid()

bool auterion::Camera::cameraInfoValid ( ) const

Determine whether a camera info message contains valid data.

Returns: True if valid distortion and intrinsic matrices are present and image size is non-zero.

◆ getCameraInfo()

bool auterion::Camera::getCameraInfo ( sensor_msgs::msg::CameraInfo & camera_info ) const

Get the camera information data for the camera.

Parameters

camera_info Camera information data.

Returns: true if the camera info is successfully retrieved, false otherwise.

◆ getDeltaRotationWorldCamera()

bool auterion::Camera::getDeltaRotationWorldCamera	(	Eigen::Quaterniond &	q_delta_world_camera,
		tf2::TimePoint &	time_start,
		tf2::TimePoint &	time_end
	)

Calculates how much the camera has rotated between two points in time based only on gyro data.

This function computes the change in orientation of the camera's optical frame between time_start and time_end, using transforms from the TF2 buffer.

The result is a quaternion (q_delta_world_camera) that represents the rotation from the camera's orientation at time_start to its orientation at time_end, relative to the world (inertial) frame.

If a transform at the requested time is not available or is invalid (e.g., a zero quaternion), the function will fall back to the latest available valid transform. If a fallback is used, the time_start and time_end values will be updated to match the actual times of the data used.

Parameters

[out]	q_delta_world_camera	The computed relative rotation from start to end time, represented as a quaternion in the world frame.
[in,out]	time_start	The start time of the rotation interval. May be updated if fallback is used.
[in,out]	time_end	The end time of the rotation interval. May be updated if fallback is used.

Returns: true if the rotation was successfully calculated, false if transform data was unavailable.

Note: If time_start and time_end are the same, no rotation is assumed and the identity quaternion is returned.

◆ getLastImageSize()

std::optional< cv::Size > auterion::Camera::getLastImageSize ( ) const

Returns the size of the last received image, if available.

This is updated with every new image and can be used to determine the current image resolution.

Returns: image size if available, std::nullopt otherwise

◆ getPoseBodyCamera()

bool auterion::Camera::getPoseBodyCamera	(	Eigen::Quaterniond &	q_body_camera,
		Eigen::Vector3d &	t_body_camera
	)		const

Get the pose of the camera with respect to the body frame.

This function retrieves the pose of the camera relative to the body frame / FMU of the vehicle. The pose is represented by a rotation quaternion and a translation vector. ROS2 coordinate frame conventions are followed. Specifically:

The body frame is defined FLU (front=x, left=y,up=z).
The quaternion represents the orientation of the camera frame w.r.t. the body frame.
The translation represents the position of the camera frame w.r.t. the body frame.

Parameters

q_body_camera	Rotation quaternion of the camera with respect to the body frame.
t_body_camera	Translation of the camera with respect to the body frame.

Returns: true if the pose is successfully retrieved, false otherwise.

◆ getPoseWorldCamera()

bool auterion::Camera::getPoseWorldCamera	(	Eigen::Quaterniond &	q_enu_camera,
		Eigen::Vector3d &	t_enu_camera,
		const tf2::TimePoint &	time = `tf2::TimePointZero`
	)		const

Get the pose of the camera with respect to the ENU world frame.

This function retrieves the pose of the camera relative to the world frame (ENU convention). The pose is represented by a rotation quaternion and a translation vector. ROS2 coordinate frame conventions are followed. Specifically:

The world frame is defined ENU.
The rotation represents the orientation of the camera frame with respect to the ENU world frame.
The translation represents the position of the camera frame with respect to the ENU world frame.

Parameters

q_enu_camera	Rotation quaternion of the camera with respect to the ENU world frame.
t_enu_camera	Translation of the camera with respect to the ENU world frame.
time	Optional parameter specifying the time point for which the pose is requested. Defaults to the earliest possible time.

Returns: true if the pose is successfully retrieved, false otherwise.

◆ subscribeImage()

void auterion::Camera::subscribeImage ( const ImageCallback & callback )

Subscribe to image updates. Note that the image is only valid for the duration of the callback.

Parameters

callback

◆ unprojectImagePoint()

Eigen::Vector3d auterion::Camera::unprojectImagePoint ( const cv::Point & image_point ) const

Determine the (relative) camera-frame 3D position of a point in an image.

Parameters

image_point A 2D point in an image.

Returns: A 3D point describing the input pixel coordinates in the camera frame (normalize such that z=1.0).

◆ waitForCamera()

static Camera auterion::Camera::waitForCamera	(	SDK &	sdk,
		const std::function< bool(const CameraDescriptor &)> &	find_callback
	)

static

Setup camera to enable registering image callbacks

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

include/auterion_sdk/camera/camera.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ cameraInfoValid()

◆ getCameraInfo()

◆ getDeltaRotationWorldCamera()

◆ getLastImageSize()

◆ getPoseBodyCamera()

◆ getPoseWorldCamera()

◆ subscribeImage()

◆ unprojectImagePoint()

◆ waitForCamera()