Ros2CameraInfoMessage#

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

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

Class implementing a sensor_msgs/msg/CameraInfo message.

Provides functionality to write ROS 2 CameraInfo messages that contain camera calibration information such as resolution, intrinsic parameters, distortion parameters, and projection matrices.

Subclassed by isaacsim::ros2::bridge::Ros2CameraInfoMessageImpl

Public Functions

virtual void writeHeader(
const double timeStamp,
const std::string &frameId,
) = 0#

Write the message header.

Sets the header fields in a ROS 2 CameraInfo message.

Parameters:

  • timeStamp – [in] Time (seconds).

  • frameId – [in] 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).

Sets the height and width fields in a ROS 2 CameraInfo message.

Parameters:

  • height – [in] Image height.

  • width – [in] Image width.

virtual void writeIntrinsicMatrix(
const double array[],
const size_t arraySize,
) = 0#

Write the intrinsic camera matrix (K).

Sets the 3x3 intrinsic camera matrix in a ROS 2 CameraInfo message.

Parameters:

  • array – [in] Flattened intrinsic camera matrix.

  • arraySize – [in] Array size.

virtual void writeProjectionMatrix(
const double array[],
const size_t arraySize,
) = 0#

Write the projection/camera matrix (P).

Sets the 3x4 projection matrix in a ROS 2 CameraInfo message.

Parameters:

  • array – [in] Flattened projection/camera matrix.

  • arraySize – [in] Array size.

virtual void writeRectificationMatrix(
const double array[],
const size_t arraySize,
) = 0#

Write the rectification matrix (R).

Sets the 3x3 rectification matrix in a ROS 2 CameraInfo message.

Parameters:

  • array – [in] Flattened rectification matrix.

  • arraySize – [in] Array size.

virtual void writeDistortionParameters(
std::vector<double> &array,
const std::string &distortionModel,
) = 0#

Write the distortion parameters (D).

Sets the distortion parameters in a ROS 2 CameraInfo message based on the specified distortion model.

Parameters:

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

  • distortionModel – [in] Distortion model.

inline void *getPtr()#

Retrieves the message pointer.

Returns the pointer to the underlying ROS 2 message if it has been properly created and initialized.

Note

This method does not perform type checking - the caller is responsible for proper casting to the appropriate message type.

Returns:

Pointer to the message or nullptr if not initialized.

virtual const void *getTypeSupportHandle() = 0#

Gets the type support handle for the message.

Returns a pointer to the ROS IDL message type support data structure. The actual type depends on the message category:

  • Topic: rosidl_message_type_support_t

  • Service: rosidl_service_type_support_t

  • Action: rosidl_action_type_support_t

Returns:

Pointer to the type support structure or nullptr.

Protected Attributes

std::vector<double> m_distortionBuffer#

Distortion Buffer (matrix data).

void *m_msg = nullptr#

Message pointer.