auterion::Camera Class Reference

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)>

Public Member Functions
	Camera (SDK &sdk, const CameraDescriptor &camera_descriptor)
void	subscribeImage (const ImageCallback &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. More...
std::optional< cv::Size >	getLastImageSize () const
	Returns the last image size based on the camera image message. More...
Eigen::Vector3d	unprojectImagePoint (const cv::Point &image_point) const
	Determine the (relative) camera-frame 3D position of a point in an image. More...
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. More...
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. More...
bool	getCameraInfo (sensor_msgs::msg::CameraInfo &camera_info) const
	Get the camera information data for the camera. More...
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.

getLastImageSize()

std::optional<cv::Size> auterion::Camera::getLastImageSize

(

)

const

Returns the last image size based on the camera image message.

Returns

image size.

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