Ros2CameraInfoMessageImpl#

Fully qualified name: isaacsim::ros2::bridge::Ros2CameraInfoMessageImpl

class Ros2CameraInfoMessageImpl : public isaacsim::ros2::bridge::Ros2CameraInfoMessage, private isaacsim::ros2::bridge::Ros2MessageInterfaceImpl#

Implementation of ROS 2 Camera Info message.

Handles the creation and manipulation of sensor_msgs/msg/CameraInfo messages, which contain camera calibration data and image metadata.

Public Functions

Ros2CameraInfoMessageImpl()#
virtual ~Ros2CameraInfoMessageImpl()#
virtual const void *getTypeSupportHandle()#

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.

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

Writes the message header.

Parameters:

  • timeStamp – [in] Time in seconds

  • frameId – [in] Frame ID for the camera

virtual void writeResolution(
const uint32_t height,
const uint32_t width,
)#

Sets the image resolution.

Parameters:

  • height – [in] Image height in pixels

  • width – [in] Image width in pixels

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

Sets the camera intrinsic matrix.

Parameters:

  • array – [in] Flattened 3x3 intrinsic matrix

  • arraySize – [in] Size of the array (should be 9)

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

Sets the camera projection matrix.

Parameters:

  • array – [in] Flattened 3x4 projection matrix

  • arraySize – [in] Size of the array (should be 12)

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

Sets the rectification matrix.

Parameters:

  • array – [in] Flattened 3x3 rectification matrix

  • arraySize – [in] Size of the array (should be 9)

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

Sets the distortion parameters.

Parameters:

  • array – [in] Vector of distortion coefficients

  • distortionModel – [in] Name of the 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.

Protected Attributes

std::vector<double> m_distortionBuffer#

Distortion Buffer (matrix data).

void *m_msg = nullptr#

Message pointer.