auterion::CameraProvider Class Reference

Building block for a camera driver. More...

#include <auterion_sdk/camera/camera_provider.hpp>

Public Member Functions
	CameraProvider (SDK &sdk, const std::string &device_driver, const std::string &device_identifier, const CameraDescriptor &camera_descriptor)
bool	configureImage (int width, int height, ImageHeader::Encoding encoding, int step=0)
uint8_t *	getImageBuffer (int plane=0)
void	publishImageBuffer (const rclcpp::Time &timestamp)
bool	hasImageSubscribers () const
void	publishCameraInfo (const sensor_msgs::msg::CameraInfo &info) const
void	updateExtrinsics (const Eigen::Vector3d &translation, const Eigen::Quaterniond &rotation, const rclcpp::Time &timestamp)
	Update the camera extrinsics. More...
void	updateExtrinsics (const Eigen::Vector3d &translation, const Eigen::Quaterniond &rotation)
	Update the camera extrinsics using the current time. More...

Detailed Description

Building block for a camera driver.

A camera driver can use this class to register a camera and publish images. A client can then use Camera to enumerate and subscribe to images.

Constructor & Destructor Documentation

CameraProvider()

auterion::CameraProvider::CameraProvider	(	SDK &	sdk,
		const std::string &	device_driver,
		const std::string &	device_identifier,
		const CameraDescriptor &	camera_descriptor
	)

Create a new camera provider. The {device_driver, device_identifier} pair is expected to be unique in the whole system.

Parameters

sdk
device_driver	Name of the driver, e.g. "video4linux", must not include ':', ',' or '/'
device_identifier	e.g. "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:8:1.0-video-index0"
camera_descriptor	Describes camera properties. As much information as available should be provided. unique_name will be set internally.

Member Function Documentation

configureImage()

bool auterion::CameraProvider::configureImage	(	int	width,
		int	height,
		ImageHeader::Encoding	encoding,
		int	step = 0
	)

Configure the image. Call this before the first call to getImageBuffer(). This can also be called later on, e.g. when the image size changes.

Parameters

width	Image width in pixels
height	Image height in pixels
encoding	Image encoding
step	Full row length in bytes (for the first plane). The value should include the padding bytes at the end of each row, if any. If the parameter is set to 0, no padding is assumed

Returns

true on success

getImageBuffer()

uint8_t* auterion::CameraProvider::getImageBuffer

(

int

plane = 0

)

Get an unused image buffer. The steps for publishing an image are:

• call getImageBuffer()
• fill in the buffer with the image
• call publishImageBuffer()

  Parameters

  plane

  Image plane if image has multiple planes, e.g. for I420: 0=Y, 1=U, 2=V

  Returns

  pointer to a buffer, at least the size of step * height

hasImageSubscribers()

bool auterion::CameraProvider::hasImageSubscribers

(

)

const

Check if there are any image subscribers. It can be used to bypass image copy and publication in case there are not subscribers. configureImage() must still be called in any case.

publishCameraInfo()

void auterion::CameraProvider::publishCameraInfo

(

const sensor_msgs::msg::CameraInfo &

info

)

const

Publish a new camera info message. Thread-safe: yes

publishImageBuffer()

void auterion::CameraProvider::publishImageBuffer

(

const rclcpp::Time &

timestamp

)

Publish the image buffer that was previously returned in getImageBuffer().

Parameters

timestamp

image capture timestamp

updateExtrinsics() [1/2]

void auterion::CameraProvider::updateExtrinsics	(	const Eigen::Vector3d &	translation,
		const Eigen::Quaterniond &	rotation
	)

Update the camera extrinsics using the current time.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Behaves like the timestamped version, but uses current time internally.

Thread-safe: yes

updateExtrinsics() [2/2]

void auterion::CameraProvider::updateExtrinsics	(	const Eigen::Vector3d &	translation,
		const Eigen::Quaterniond &	rotation,
		const rclcpp::Time &	timestamp
	)

Update the camera extrinsics.

This represents the translation and rotation from the body FMU frame (xyz = FLU) to the camera image frame (xyz = RDF). This method requires the camera to have a dynamic mount orientation, i.e. CameraDescriptor::MountOrientation::Dynamic.

Extrinsics are published as a TF2 transform on method call, but also periodically.

Parameters

translation	Translation vector from the FMU to the camera frame [m]
rotation	Rotation quaternion from the FMU to the camera frame
timestamp	Timestamp of the extrinsics update

Thread-safe: yes

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

• include/auterion_sdk/camera/camera_provider.hpp