BipedalLocomotion::Perception::Capture::RealSense class
#include <BipedalLocomotion/Perception/Capture/RealSense.h>

Realsense driver class.

The following parameters are required to initialize the class

Parameter Name	Type	Description	Mandatory	Default Value
`camera_name`	`string`	name of the camera device	No	RealSense
`frame_width`	`size_t`	image frame width	No	640
`frame_height`	`size_t`	image frame height	No	480
`fps`	`boolean`	frames per second	No	30
`stream_color`	`boolean`	flag to enable streaming BGR images	No	false
`stream_depth`	`boolean`	flag to enable streaming depth images	No	false
`stream_ir`	`boolean`	flag to enable streaming IR images	No	false
`stream_pcl`	`boolean`	flag to enable streaming pointcloud	No	false
`align_frames_to_color`	`boolean`	flag to align other images to BGR images	No	false

Base classes

class BipedalLocomotion::RobotInterface::ICameraBridge: Sensor bridge interface.
class BipedalLocomotion::RobotInterface::IPointCloudBridge: Sensor bridge interface.

Constructors, destructors, conversion operators

RealSense()
~RealSense()

Public functions

auto initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler) -> bool final: Initialize estimator.
auto isValid() const -> bool final: Determines the validity of the object retrieved with getMetadata()
auto getRGBCamerasList(std::vector<std::string>& rgbCamerasList) -> bool final: Get rgb cameras.
auto getRGBDCamerasList(std::vector<std::string>& rgbdCamerasList) -> bool final: Get RGBD cameras.
auto getPCLDevicesList(std::vector<std::string>& pclDevList) -> bool final: Get RGBD cameras.
auto getColorImage(const std::string& camName, cv::Mat& colorImg, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) -> bool final: Get color image from the camera.
auto getDepthImage(const std::string& camName, cv::Mat& depthImg, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) -> bool final: Get depth image.
auto getColorizedDepthImage(const std::string& camName, cv::Mat& depthImg, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) -> bool
auto getInfraredImage(const std::string& camName, cv::Mat& irImage, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) -> bool
auto getPointCloud(const std::string& pclDevName, pcl::PointCloud<pcl::PointXYZRGB>::Ptr coloredPointCloud, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) -> bool final
auto getMetaData() const -> const BipedalLocomotion::RobotInterface::CameraBridgeMetaData& final: Get the stored metadata.

Function documentation

bool BipedalLocomotion::Perception::Capture::RealSense::initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler) final

Initialize estimator.

Parameters
handler in	Parameters handler

bool BipedalLocomotion::Perception::Capture::RealSense::isValid() const final

Determines the validity of the object retrieved with getMetadata()

Returns	True if the object is valid, false otherwise.

bool BipedalLocomotion::Perception::Capture::RealSense::getRGBCamerasList(std::vector<std::string>& rgbCamerasList) final

Get rgb cameras.

Parameters
rgbCamerasList out	list of rgb cameras attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::Perception::Capture::RealSense::getRGBDCamerasList(std::vector<std::string>& rgbdCamerasList) final

Get RGBD cameras.

Parameters
rgbdCamerasList out	list of rgbd cameras attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::Perception::Capture::RealSense::getPCLDevicesList(std::vector<std::string>& pclDevList) final

Get RGBD cameras.

Returns	true/false in case of success/failure

bool BipedalLocomotion::Perception::Capture::RealSense::getColorImage(const std::string& camName, cv::Mat& colorImg, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) final

Get color image from the camera.

Parameters
camName in	name of the camera
colorImg out	image as cv Mat object
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::Perception::Capture::RealSense::getDepthImage(const std::string& camName, cv::Mat& depthImg, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) final

Get depth image.

Parameters
camName in	name of the camera
depthImg out	depth image as a cv Mat object
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

const BipedalLocomotion::RobotInterface::CameraBridgeMetaData& BipedalLocomotion::Perception::Capture::RealSense::getMetaData() const final

Get the stored metadata.

Returns	a const reference to the metadata