ROS2::CameraSensor Class Reference

#include <CameraSensor.h>

Inherited by ROS2::CameraColorSensor, and ROS2::CameraDepthSensor.

Public Member Functions
	CameraSensor (const CameraSensorDescription &cameraSensorDescription)
virtual	~CameraSensor ()
	Deinitializes rendering pipeline for the camera sensor.
void	RequestMessagePublication (std::shared_ptr< rclcpp::Publisher< sensor_msgs::msg::Image >> publisher, const AZ::Transform &cameraPose, const std_msgs::msg::Header &header)
const CameraSensorDescription &	GetCameraSensorDescription () const
	Get the camera sensor description.

Protected Member Functions
void	SetupPasses ()
	Type of returned data eg Color, Depth, Optical flow. More...

Detailed Description

Class to create camera sensor using Atom renderer It creates dedicated rendering pipeline for each camera

Constructor & Destructor Documentation

ROS2::CameraSensor::CameraSensor

(

const CameraSensorDescription &

cameraSensorDescription

)

Initializes rendering pipeline for the camera sensor

Parameters

cameraSensorDescription

- camera sensor description used to create camera pipeline

Member Function Documentation

void ROS2::CameraSensor::RequestMessagePublication	(	std::shared_ptr< rclcpp::Publisher< sensor_msgs::msg::Image >>	publisher,
		const AZ::Transform &	cameraPose,
		const std_msgs::msg::Header &	header
	)

Publish Image Message frame from rendering pipeline

Parameters

publisher	- ROS2 publisher to publish image in future
header	- header with filled message information (frame, timestamp, seq)
cameraPose	- current camera pose from which the rendering should take place

void ROS2::CameraSensor::SetupPasses ( )

protected

Type of returned data eg Color, Depth, Optical flow.

Read and setup Atom Passes

---

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

• Gems/ROS2/Code/Source/Camera/CameraSensor.h