BipedalLocomotion::RobotInterface::ICameraBridge class
#include <BipedalLocomotion/RobotInterface/ICameraBridge.h>

Sensor bridge interface.

Derived classes

class BipedalLocomotion::Perception::Capture::RealSense: Realsense driver class.
class YarpCameraBridge: YarpCameraBridge Yarp implementation of the ICameraBridge interface Currently available interfaces.

Public types

using unique_ptr = std::unique_ptr<ICameraBridge>
using shared_ptr = std::shared_ptr<ICameraBridge>
using weak_ptr = std::weak_ptr<ICameraBridge>

Constructors, destructors, conversion operators

~ICameraBridge() defaulted virtual: Destructor.

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool pure virtual: Initialize estimator.
auto getRGBCamerasList(std::vector<std::string>& rgbCamerasList) -> bool virtual: Get rgb cameras.
auto getRGBDCamerasList(std::vector<std::string>& rgbdCamerasList) -> bool virtual: Get RGBD cameras.
auto getColorImage(const std::string& camName, cv::Mat& colorImg, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) -> bool virtual: Get color image from the camera.
auto getDepthImage(const std::string& camName, cv::Mat& depthImg, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) -> bool virtual: Get depth image.
auto getMetaData() const -> const CameraBridgeMetaData& pure virtual: Get the stored metadata.
auto isValid() const -> bool pure virtual: Determines the validity of the object retrieved with getMetadata()

Protected functions

auto populateCameraBridgeOptionsFromConfig(std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, CameraBridgeOptions& cameraBridgeOptions) -> bool virtual: Helper method to maintain CameraBridgeOptions struct by populating it from the configuration parameters.
auto populateCameraListsFromConfig(std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, const CameraBridgeOptions& cameraBridgeOptions, CameraLists& cameraLists) -> bool virtual: Helper method to maintain CameraLists struct by populating it from the configuration parameters.
auto populateCameraBridgeMetaDataFromConfig(std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, CameraBridgeMetaData& cameraBridgeMetaData) -> bool virtual: Helper method to maintain CameraBridgeMetaData struct by populating it from the configuration parameters.

Function documentation

bool BipedalLocomotion::RobotInterface::ICameraBridge::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) pure virtual

Initialize estimator.

Parameters
handler in	Parameters handler

bool BipedalLocomotion::RobotInterface::ICameraBridge::getRGBCamerasList(std::vector<std::string>& rgbCamerasList) virtual

Get rgb cameras.

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

bool BipedalLocomotion::RobotInterface::ICameraBridge::getRGBDCamerasList(std::vector<std::string>& rgbdCamerasList) virtual

Get RGBD cameras.

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

bool BipedalLocomotion::RobotInterface::ICameraBridge::getColorImage(const std::string& camName, cv::Mat& colorImg, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) virtual

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::RobotInterface::ICameraBridge::getDepthImage(const std::string& camName, cv::Mat& depthImg, std::optional<std::reference_wrapper<double>> receiveTimeInSeconds = {}) virtual

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 CameraBridgeMetaData& BipedalLocomotion::RobotInterface::ICameraBridge::getMetaData() const pure virtual

Get the stored metadata.

Returns	a const reference to the metadata

bool BipedalLocomotion::RobotInterface::ICameraBridge::isValid() const pure virtual

Determines the validity of the object retrieved with getMetadata()

Returns	True if the object is valid, false otherwise.

bool BipedalLocomotion::RobotInterface::ICameraBridge::populateCameraBridgeOptionsFromConfig(std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, CameraBridgeOptions& cameraBridgeOptions) virtual protected

Helper method to maintain CameraBridgeOptions struct by populating it from the configuration parameters.

Parameters
handler in	Parameters handler
cameraBridgeOptions in	CameraBridgeOptions to hold the bridge options for streaming sensor measurements

bool BipedalLocomotion::RobotInterface::ICameraBridge::populateCameraListsFromConfig(std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, const CameraBridgeOptions& cameraBridgeOptions, CameraLists& cameraLists) virtual protected

Helper method to maintain CameraLists struct by populating it from the configuration parameters.

Parameters
handler in	Parameters handler
cameraBridgeOptions in	configured object of CameraBridgeOptions
cameraLists in	CameraLists object holding list of connected sensor devices

bool BipedalLocomotion::RobotInterface::ICameraBridge::populateCameraBridgeMetaDataFromConfig(std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, CameraBridgeMetaData& cameraBridgeMetaData) virtual protected

Helper method to maintain CameraBridgeMetaData struct by populating it from the configuration parameters.

Parameters
handler in	Parameters handler
cameraBridgeMetaData