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

YarpCameraBridge Yarp implementation of the ICameraBridge interface Currently available interfaces.

Depth Cameras through RGBD sensor interface
Camera images through OpenCV Grabber interface

The YarpCameraBridge expects a list of device drivers through the yarp::dev::PolyDriverList object. Each PolyDriver object in the list is compared with the configured sensor names and the assumptions listed below to infer the sensor types and relevant interfaces in order to to read the relevant data.

MAJOR ASSUMPTIONS

Every sensor unit(device driver) attached to this Bridge is identified by a unique name
The images are available through a FrameGrabber interface (RGB only) and a RGBD interface (RGB and Depth).
The current internal design (read all sensors in a serial fashion) may not be suitable for a heavy measurement set

The parameters for writing the configuration file for this class is given as,

Group	Parameter	Type	Description	Mandatory
Cameras			Expects cameras to be opened either as remote frame grabber ("RemoteFrameGrabber") with IFrameGrabber interface or rgbd sensor ("RGBDSensorClient") with IRGBDSensor interface	Yes
	rgbd_cameras_list	vector of strings	list containing the devices opened as RGBDSensorClients containing the IRGBD sensor interface	Yes
	rgbd_image_width	vector of integers	list containing the image width dimensions of RGBD cameras. The list must be the same size and order as rgbd_list. If not provided, the size of the image is taken from the YarpInterface after calling `YarpCameraBridge::setDriversList`	No
	rgbd_image_height	vector of integers	list containing the image height dimensions of RGBD cameras. The list must be the same size and order as rgbd_list. If not provided the size of the image is taken from the YarpInterface after calling `YarpCameraBridge::setDriversList`	No
	rgb_cameras_list	vector of strings	list containing the devices opened as RemoteFrameGrabber devices containing the IFrameGrabber interface	Yes
	rgb_image_width	vector of integers	list containing the image width dimensions of RGB cameras. The list must be the same size and order as rgb_list. If not provided the size of the image is taken from the YarpInterface after calling `YarpCameraBridge::setDriversList`	No
	rgb_image_height	vector of integers	list containing the image height dimensions of RGB cameras. The list must be the same size and order as rgb_list. If not provided the size of the image is taken from the YarpInterface after calling `YarpCameraBridge::setDriversList`	No

Base classes

class ICameraBridge: Sensor bridge interface.

Constructors, destructors, conversion operators

YarpCameraBridge(): Constructor.
~YarpCameraBridge(): Destructor.

Public functions

auto initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler) -> bool final: Initialize estimator.
auto setDriversList(const yarp::dev::PolyDriverList& deviceDriversList) -> bool: Set the list of device drivers from which the sensor measurements need to be streamed.
auto isValid() const -> bool final: Determines the validity of the object retrieved with getMetadata()
auto get() const -> const BipedalLocomotion::RobotInterface::CameraBridgeMetaData&: Get the object.
auto getMetaData() const -> const BipedalLocomotion::RobotInterface::CameraBridgeMetaData& final: Get the stored metadata.
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 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.

Function documentation

bool BipedalLocomotion::RobotInterface::YarpCameraBridge::initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler) final

Initialize estimator.

Parameters
handler in	Parameters handler

bool BipedalLocomotion::RobotInterface::YarpCameraBridge::setDriversList(const yarp::dev::PolyDriverList& deviceDriversList)

Set the list of device drivers from which the sensor measurements need to be streamed.

Parameters
deviceDriversList	device drivers holding the pointer to sensor interfaces
Returns	True/False in case of success/failure.

bool BipedalLocomotion::RobotInterface::YarpCameraBridge::isValid() const final

Determines the validity of the object retrieved with getMetadata()

Returns	True if the object is valid, false otherwise.

const BipedalLocomotion::RobotInterface::CameraBridgeMetaData& BipedalLocomotion::RobotInterface::YarpCameraBridge::get() const

Get the object.

Returns	a const reference of the requested object.

const BipedalLocomotion::RobotInterface::CameraBridgeMetaData& BipedalLocomotion::RobotInterface::YarpCameraBridge::getMetaData() const final

Get the stored metadata.

Returns	a const reference to the metadata

bool BipedalLocomotion::RobotInterface::YarpCameraBridge::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::RobotInterface::YarpCameraBridge::getRGBDCamerasList(std::vector<std::string>& rgbdCamerasList) final

Get RGBD cameras.

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

bool BipedalLocomotion::RobotInterface::YarpCameraBridge::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::RobotInterface::YarpCameraBridge::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 gyroscope
depthImg out	depth image as cv Mat object
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure