Inheritance diagram for RobotsIO::Camera::Camera:

Public Member Functions
virtual bool	status () const

virtual bool	reset ()

virtual std::pair< bool, Eigen::MatrixXd >	deprojection_matrix () const

virtual std::pair< bool, RobotsIO::Camera::CameraParameters >	parameters () const

virtual std::pair< bool, Eigen::MatrixXf >	depth (const bool &blocking)=0

virtual std::pair< bool, Eigen::MatrixXd >	point_cloud (const bool &blocking, const double &maximum_depth=std::numeric_limits< double >::infinity(), const bool &use_root_frame=false, const bool &enable_colors=false)

virtual std::pair< bool, Eigen::Transform< double, 3, Eigen::Affine > >	pose (const bool &blocking)=0

virtual std::pair< bool, cv::Mat >	rgb (const bool &blocking)=0

virtual std::pair< bool, double >	time_stamp_rgb () const

virtual std::pair< bool, double >	time_stamp_depth () const

virtual std::pair< bool, Eigen::VectorXd >	auxiliary_data (const bool &blocking)

virtual std::size_t	auxiliary_data_size () const

virtual std::int32_t	frame_index () const

virtual bool	is_offline () const

virtual bool	set_frame_index (const std::int32_t &index)

virtual bool	step_frame ()

virtual bool	log_frame (const bool &log_depth=false)

virtual bool	start_log (const std::string &path)

virtual bool	stop_log ()

Public Member Functions inherited from RobotsIO::Utils::ProbeContainer
bool	is_probe (const std::string &name) const

RobotsIO::Utils::Probe &	get_probe (const std::string &name) const

void	set_probe (const std::string &name, std::unique_ptr< RobotsIO::Utils::Probe > probe)

Protected Member Functions
virtual bool	initialize ()

virtual bool	evaluate_deprojection_matrix ()

	Camera (const std::string &data_path, const std::size_t &width, const std::size_t &height, const double &fx, const double &cx, const double &fy, const double &cy)

virtual std::pair< bool, Eigen::MatrixXf >	depth_offline ()

virtual std::pair< bool, Eigen::Transform< double, 3, Eigen::Affine > >	pose_offline ()

virtual std::pair< bool, cv::Mat >	rgb_offline ()

virtual std::pair< bool, double >	time_stamp_rgb_offline () const

virtual std::pair< bool, double >	time_stamp_depth_offline () const

virtual std::pair< bool, Eigen::VectorXd >	auxiliary_data_offline ()

std::string	compose_index (const std::size_t &index)

virtual std::pair< bool, Eigen::MatrixXd >	load_data ()

Protected Attributes
bool	status_ = true

RobotsIO::Camera::CameraParameters	parameters_

Eigen::MatrixXd	deprojection_matrix_

bool	deprojection_matrix_initialized_ = false

RobotsIO::Camera::DatasetParameters	dataset_parameters_

const bool	offline_mode_ = false

Eigen::MatrixXd	data_

std::int32_t	frame_index_ = -1

std::size_t	rgb_offset_ = 0

std::size_t	depth_offset_ = 0

std::size_t	number_frames_

std::ofstream	log_

std::string	log_path_

std::int32_t	log_index_ = 0

const std::string	log_name_ = "Camera"

Protected Attributes inherited from RobotsIO::Utils::ProbeContainer
std::unordered_map< std::string, std::unique_ptr< RobotsIO::Utils::Probe > >	probes_

const std::string	log_name_ = "ProbeContainer"

Detailed Description

Definition at line 31 of file Camera.h.

Constructor & Destructor Documentation

◆ Camera() [1/2]

Camera::Camera ( )

Definition at line 28 of file Camera.cpp.

◆ ~Camera()

Camera::~Camera ( )

virtual

Definition at line 32 of file Camera.cpp.

◆ Camera() [2/2]

Camera::Camera	(	const std::string &	data_path,
		const std::size_t &	width,
		const std::size_t &	height,
		const double &	fx,
		const double &	cx,
		const double &	fy,
		const double &	cy
	)

protected

Constructor for offline playback.

Definition at line 353 of file Camera.cpp.

Member Function Documentation

◆ auxiliary_data()

std::pair< bool, VectorXd > Camera::auxiliary_data ( const bool & blocking )

virtual

Auxiliary data.

Reimplemented in RobotsIO::Camera::iCubCamera.

Definition at line 178 of file Camera.cpp.

◆ auxiliary_data_offline()

std::pair< bool, VectorXd > Camera::auxiliary_data_offline ( )

protectedvirtual

Auxiliary data for offline playback.

Definition at line 519 of file Camera.cpp.

◆ auxiliary_data_size()

std::size_t Camera::auxiliary_data_size ( ) const

virtual

Definition at line 184 of file Camera.cpp.

◆ compose_index()

std::string Camera::compose_index ( const std::size_t & index )

protected

Definition at line 539 of file Camera.cpp.

◆ deprojection_matrix()

std::pair< bool, MatrixXd > Camera::deprojection_matrix ( ) const

virtual

Camera parameters.

Reimplemented in RobotsIO::Camera::iCubCameraDepth.

Definition at line 53 of file Camera.cpp.

◆ depth()

virtual std::pair< bool, Eigen::MatrixXf > RobotsIO::Camera::Camera::depth ( const bool & blocking )

pure virtual

RGB-D and pose.

Implemented in RobotsIO::Camera::DatasetCamera, RobotsIO::Camera::iCubCamera, RobotsIO::Camera::iCubCameraDepth, and RobotsIO::Camera::YarpCamera.

◆ depth_offline()

std::pair< bool, MatrixXf > Camera::depth_offline ( )

protectedvirtual

RGB-D and pose for offline playback.

Definition at line 392 of file Camera.cpp.

◆ evaluate_deprojection_matrix()

bool Camera::evaluate_deprojection_matrix ( )

protectedvirtual

Camera parameters.

Definition at line 339 of file Camera.cpp.

◆ frame_index()

std::int32_t Camera::frame_index ( ) const

virtual

Offline playback.

Definition at line 190 of file Camera.cpp.

◆ initialize()

bool Camera::initialize ( )

protectedvirtual

Definition at line 319 of file Camera.cpp.

◆ is_offline()

bool Camera::is_offline ( ) const

virtual

Definition at line 199 of file Camera.cpp.

◆ load_data()

std::pair< bool, MatrixXd > Camera::load_data ( )

protectedvirtual

Definition at line 547 of file Camera.cpp.

◆ log_frame()

bool Camera::log_frame ( const bool & log_depth = false )

virtual

Logging.

Definition at line 241 of file Camera.cpp.

◆ parameters()

std::pair< bool, CameraParameters > Camera::parameters ( ) const

virtual

Definition at line 62 of file Camera.cpp.

◆ point_cloud()

std::pair< bool, Eigen::MatrixXd > Camera::point_cloud	(	const bool &	blocking,
		const double &	maximum_depth = `std::numeric_limits<double>::infinity()`,
		const bool &	use_root_frame = `false`,
		const bool &	enable_colors = `false`
	)

virtual

Definition at line 71 of file Camera.cpp.

◆ pose()

virtual std::pair< bool, Eigen::Transform< double, 3, Eigen::Affine > > RobotsIO::Camera::Camera::pose ( const bool & blocking )

pure virtual

Implemented in RobotsIO::Camera::iCubCameraRelative, and RobotsIO::Camera::YarpCamera.

◆ pose_offline()

std::pair< bool, Transform< double, 3, Affine > > Camera::pose_offline ( )

protectedvirtual

Definition at line 441 of file Camera.cpp.

◆ reset()

bool Camera::reset ( )

virtual

Definition at line 42 of file Camera.cpp.

◆ rgb_offline()

std::pair< bool, cv::Mat > Camera::rgb_offline ( )

protectedvirtual

Definition at line 469 of file Camera.cpp.

◆ set_frame_index()

bool Camera::set_frame_index ( const std::int32_t & index )

virtual

Definition at line 205 of file Camera.cpp.

◆ start_log()

bool Camera::start_log ( const std::string & path )

virtual

Definition at line 297 of file Camera.cpp.

◆ status()

bool Camera::status ( ) const

virtual

Definition at line 36 of file Camera.cpp.

◆ step_frame()

bool Camera::step_frame ( )

virtual

Reimplemented in RobotsIO::Camera::iCubCameraRelative.

Definition at line 216 of file Camera.cpp.

◆ stop_log()

bool Camera::stop_log ( )

virtual

Definition at line 311 of file Camera.cpp.

◆ time_stamp_depth()

std::pair< bool, double > Camera::time_stamp_depth ( ) const

virtual

Definition at line 172 of file Camera.cpp.

◆ time_stamp_depth_offline()

std::pair< bool, double > Camera::time_stamp_depth_offline ( ) const

protectedvirtual

Definition at line 506 of file Camera.cpp.

◆ time_stamp_rgb()

std::pair< bool, double > Camera::time_stamp_rgb ( ) const

virtual

Definition at line 166 of file Camera.cpp.

◆ time_stamp_rgb_offline()

std::pair< bool, double > Camera::time_stamp_rgb_offline ( ) const

protectedvirtual

Definition at line 493 of file Camera.cpp.

Member Data Documentation

◆ data_

Eigen::MatrixXd RobotsIO::Camera::Camera::data_

protected

Definition at line 150 of file Camera.h.

◆ dataset_parameters_

RobotsIO::Camera::DatasetParameters RobotsIO::Camera::Camera::dataset_parameters_

protected

Definition at line 146 of file Camera.h.

◆ deprojection_matrix_

Eigen::MatrixXd RobotsIO::Camera::Camera::deprojection_matrix_

protected

Definition at line 109 of file Camera.h.

◆ deprojection_matrix_initialized_

bool RobotsIO::Camera::Camera::deprojection_matrix_initialized_ = false

protected

Definition at line 111 of file Camera.h.

◆ depth_offset_

std::size_t RobotsIO::Camera::Camera::depth_offset_ = 0

protected

Definition at line 156 of file Camera.h.

◆ frame_index_

std::int32_t RobotsIO::Camera::Camera::frame_index_ = -1

protected

Definition at line 152 of file Camera.h.

◆ log_

std::ofstream RobotsIO::Camera::Camera::log_

protected

Definition at line 164 of file Camera.h.

◆ log_index_

std::int32_t RobotsIO::Camera::Camera::log_index_ = 0

protected

Definition at line 168 of file Camera.h.

◆ log_name_

const std::string RobotsIO::Camera::Camera::log_name_ = "Camera"

protected

Log name to be used in messages printed by the class.

Definition at line 174 of file Camera.h.

◆ log_path_

std::string RobotsIO::Camera::Camera::log_path_

protected

Definition at line 166 of file Camera.h.

◆ number_frames_

std::size_t RobotsIO::Camera::Camera::number_frames_

protected

Definition at line 158 of file Camera.h.

◆ offline_mode_

const bool RobotsIO::Camera::Camera::offline_mode_ = false

protected

Definition at line 148 of file Camera.h.

◆ parameters_

RobotsIO::Camera::CameraParameters RobotsIO::Camera::Camera::parameters_

protected

Definition at line 107 of file Camera.h.

◆ rgb_offset_

std::size_t RobotsIO::Camera::Camera::rgb_offset_ = 0

protected

Definition at line 154 of file Camera.h.

◆ status_

bool RobotsIO::Camera::Camera::status_ = true

protected

Definition at line 99 of file Camera.h.

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Camera() [1/2]

◆ ~Camera()

◆ Camera() [2/2]

Member Function Documentation

◆ auxiliary_data()

◆ auxiliary_data_offline()

◆ auxiliary_data_size()

◆ compose_index()

◆ deprojection_matrix()

◆ depth()

◆ depth_offline()

◆ evaluate_deprojection_matrix()

◆ frame_index()

◆ initialize()

◆ is_offline()

◆ load_data()

◆ log_frame()

◆ parameters()

◆ point_cloud()

◆ pose()

◆ pose_offline()

◆ reset()

◆ rgb_offline()

◆ set_frame_index()

◆ start_log()

◆ status()

◆ step_frame()

◆ stop_log()

◆ time_stamp_depth()

◆ time_stamp_depth_offline()

◆ time_stamp_rgb()

◆ time_stamp_rgb_offline()

Member Data Documentation

◆ data_

◆ dataset_parameters_

◆ deprojection_matrix_

◆ deprojection_matrix_initialized_

◆ depth_offset_

◆ frame_index_

◆ log_

◆ log_index_

◆ log_name_

◆ log_path_

◆ number_frames_

◆ offline_mode_

◆ parameters_

◆ rgb_offset_

◆ status_