Ros2CameraInfoMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2CameraInfoMessage

class Ros2CameraInfoMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a sensor_msgs/msg/CameraInfo message.

Public Functions

virtual void writeHeader(

const double timeStamp,

const std::string &frameId,

) = 0

Write the message header.

Parameters:

• timeStamp – Time (seconds).

• frameId – Transform frame with which this data is associated.

virtual void writeResolution(

const uint32_t height,

const uint32_t width,

) = 0

Write the image dimensions (resolution).

Parameters:

• height – Image height.

• width – Image width.

virtual void writeIntrinsicMatrix(

const double array[],

const int arraySize,

) = 0

Write the intrinsic camera matrix (K).

Parameters:

• array – Flattened intrinsic camera matrix.

• arraySize – Array size.

virtual void writeProjectionMatrix(

const double array[],

const int arraySize,

) = 0

Write the projection/camera matrix (P).

Parameters:

• array – Flattened projection/camera matrix.

• arraySize – Array size.

virtual void writeRectificationMatrix(

const double array[],

const int arraySize,

) = 0

Write the rectification matrix (R).

Parameters:

• array – Flattened rectification matrix.

• arraySize – Array size.

virtual void writeDistortionParameters(

std::vector<double> &array,

const std::string &distortionModel,

) = 0

Write the distortion parameters (D).

Parameters:

• array – Distortion parameters (size depending on the distortion model).

• distortionModel – Distortion model.

inline void *getPtr()

Get the message pointer.

Returns:

The pointer to the message if it has been created and initialized properly, otherwise nullptr.

virtual const void *getTypeSupportHandle() = 0

Get the pointer to the struct that contains the ROS IDL message type support data.

The pointer points to a ROS IDL struct if the message if founded.

Message type	ROS IDL struct
Topic (Message)	rosidl_message_type_support_t
Service	rosidl_service_type_support_t
Action	rosidl_action_type_support_t

Returns:

The pointer to the struct, otherwise nullptr.

Protected Attributes

void *m_msg = nullptr

Message pointer.