URRROS2CameraComponent Class Reference

ROS 2 Camera component. Uses USceneCaptureComponent2D. More...

#include <RRROS2CameraComponent.h>

Inheritance diagram for URRROS2CameraComponent:

Collaboration diagram for URRROS2CameraComponent:

Public Member Functions
	URRROS2CameraComponent ()
	Construct a new URRROS2CameraComponent object. More...
virtual void	PreInitializePublisher (UROS2NodeComponent *InROS2Node, const FString &InTopicName) override
	Initialize Data and RenderTarget, set SceneCaptureComponent parameters. More...
virtual void	SensorUpdate () override
	Update sensor data by CaptureScene and CaptureNonBlocking. More...
virtual FROSImg	GetROS2Data ()
	Update ROS 2 Msg structure from RenderRequestQueue. More...
virtual void	SetROS2Msg (UROS2GenericMsg *InMessage) override
	Set result of GetROS2Data to InMessage. More...
Public Member Functions inherited from URRROS2BaseSensorComponent
	URRROS2BaseSensorComponent ()
	Construct a new URRROS2BaseSensorComponent object. More...
virtual void	InitalizeWithROS2 (UROS2NodeComponent *InROS2Node, const FString &InPublisherName=TEXT(""), const FString &InTopicName=TEXT(""), const UROS2QoS InQoS=UROS2QoS::SensorData)
	Create and initialize publisher and start sensor update by calling. More...
virtual void	CreatePublisher (const FString &InPublisherName=TEXT(""))
	Create a Publisher with SensorPublisherClass. More...
virtual void	InitializePublisher (UROS2NodeComponent *InROS2Node, const UROS2QoS InQoS=UROS2QoS::SensorData)
	Initialize Sensorpublisher by using UROS2Publisher's methods. More...
virtual void	Run ()
	Start timer to update and publish sensor data by using SetTimer. More...
virtual void	Stop ()
	Stop timer to update and publish sensor data by using ClearTimer. More...

Public Attributes
UCameraComponent *	CameraComponent = nullptr
	Camera. Not necessary to capture but useful to see image in UE4 windows. More...
USceneCaptureComponent2D *	SceneCaptureComponent = nullptr
UTextureRenderTarget2D *	RenderTarget = nullptr
int32	Width = 640
int32	Height = 480
int32	QueueSize = 2
EROS2CameraType	CameraType = EROS2CameraType::RGB
FString	Encoding = TEXT("rgb8")
Public Attributes inherited from URRROS2BaseSensorComponent
TSubclassOf< UROS2Publisher >	SensorPublisherClass = URRROS2BaseSensorPublisher::StaticClass()
URRROS2BaseSensorPublisher *	SensorPublisher = nullptr
TSubclassOf< UROS2GenericMsg >	MsgClass = UROS2GenericMsg::StaticClass()
FString	TopicName = TEXT("sensor_data")
FString	FrameId = TEXT("sensor_frame")
int32	PublicationFrequencyHz = 30
bool	bAppendNodeNamespace = true
	Append namespace to FrameId or not. More...
bool	bIsValid = true

Protected Member Functions
void	CaptureNonBlocking ()
	Capture data by notifing task in RenderRequestQueue. More...

Protected Attributes
TQueue< FRenderRequest * >	RenderRequestQueue
FROSImg	Data
int32	QueueCount = 0
Protected Attributes inherited from URRROS2BaseSensorComponent
FTimerHandle	TimerHandle

Detailed Description

ROS 2 Camera component. Uses USceneCaptureComponent2D.

See also

USceneCaptureComponent2D

UE4 ShaderInPlugin

implementation reference: https://github.com/TimmHess/UnrealImageCapture

Todo:

Support non RGB data support.

UCLASS(ClassGroup = (Custom), Blueprintable, meta = (BlueprintSpawnableComponent))

Constructor & Destructor Documentation

URRROS2CameraComponent()

URRROS2CameraComponent::URRROS2CameraComponent

(

)

Construct a new URRROS2CameraComponent object.

Initialize SceneCaptureComponent and CameraComponent.

Member Function Documentation

CaptureNonBlocking()

void URRROS2CameraComponent::CaptureNonBlocking ( )

protected

Capture data by notifing task in RenderRequestQueue.

See also

reference https://github.com/TimmHess/UnrealImageCapture

UFUNCTION()

GetROS2Data()

virtual FROSImg URRROS2CameraComponent::GetROS2Data ( )

virtual

Update ROS 2 Msg structure from RenderRequestQueue.

Returns

FROSImg

UFUNCTION(BlueprintCallable)

PreInitializePublisher()

virtual void URRROS2CameraComponent::PreInitializePublisher ( UROS2NodeComponent *  InROS2Node, const FString &  InTopicName  )

overridevirtual

Initialize Data and RenderTarget, set SceneCaptureComponent parameters.

Parameters

InROS2Node	ROS2Node which this publisher belongs to
InTopicName

Reimplemented from URRROS2BaseSensorComponent.

SensorUpdate()

virtual void URRROS2CameraComponent::SensorUpdate ( )

overridevirtual

Update sensor data by CaptureScene and CaptureNonBlocking.

See also

CaptureScene

Todo:

Should CaptureNonBlocking called in TickComponents?

Reimplemented from URRROS2BaseSensorComponent.

SetROS2Msg()

virtual void URRROS2CameraComponent::SetROS2Msg ( UROS2GenericMsg *  InMessage )

overridevirtual

Set result of GetROS2Data to InMessage.

Parameters

InMessage

Reimplemented from URRROS2BaseSensorComponent.

Member Data Documentation

CameraComponent

UCameraComponent* URRROS2CameraComponent::CameraComponent = nullptr

Camera. Not necessary to capture but useful to see image in UE4 windows.

UPROPERTY(VisibleAnywhere, BlueprintReadWrite)

CameraType

EROS2CameraType URRROS2CameraComponent::CameraType = EROS2CameraType::RGB

UPROPERTY(EditAnywhere, BlueprintReadWrite)

Data

FROSImg URRROS2CameraComponent::Data

protected

Encoding

FString URRROS2CameraComponent::Encoding = TEXT("rgb8")

UPROPERTY(EditAnywhere, BlueprintReadWrite)

Height

int32 URRROS2CameraComponent::Height = 480

UPROPERTY(EditAnywhere, BlueprintReadWrite)

QueueCount

int32 URRROS2CameraComponent::QueueCount = 0

protected

QueueSize

int32 URRROS2CameraComponent::QueueSize = 2

UPROPERTY(EditAnywhere, BlueprintReadWrite)

RenderRequestQueue

TQueue<FRenderRequest*> URRROS2CameraComponent::RenderRequestQueue

protected

RenderTarget

UTextureRenderTarget2D* URRROS2CameraComponent::RenderTarget = nullptr

UPROPERTY(VisibleAnywhere, BlueprintReadWrite)

SceneCaptureComponent

USceneCaptureComponent2D* URRROS2CameraComponent::SceneCaptureComponent = nullptr

UPROPERTY(VisibleAnywhere, BlueprintReadWrite)

Width

int32 URRROS2CameraComponent::Width = 640

UPROPERTY(EditAnywhere, BlueprintReadWrite)

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

• /home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h