Inheritance diagram for RobotsIO::Camera::iCubCameraDepth:

Public Member Functions
	iCubCameraDepth (const std::string &robot_name, const std::string &port_prefix, const bool &use_calibration=false, const std::string &calibration_path="")

	iCubCameraDepth (const std::string &data_path_left, const std::string &data_path_right, const std::size_t &width, const std::size_t &height, const double &fx_l, const double &cx_l, const double &fy_l, const double &cy_l, const double &fx_r, const double &cx_r, const double &fy_r, const double &cy_r, const bool &load_encoders_data, const bool &use_calibration=false, const std::string &calibration_path="")

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

std::pair< bool, Eigen::MatrixXf >	depth (const bool &blocking) override

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

std::pair< bool, cv::Mat >	rgb (const bool &blocking) override

Public Member Functions inherited from RobotsIO::Camera::iCubCameraRelative
	iCubCameraRelative (const std::string &robot_name, const std::string &port_prefix, const bool &use_calibration=false, const std::string &calibration_path="")

	iCubCameraRelative (const std::string &data_path_left, const std::string &data_path_right, const std::size_t &width, const std::size_t &height, const double &fx_l, const double &cx_l, const double &fy_l, const double &cy_l, const double &fx_r, const double &cx_r, const double &fy_r, const double &cy_r, const bool &load_encoders_data, const bool &use_calibration=false, const std::string &calibration_path="")

virtual bool	status () const override

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

bool	step_frame () override

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

Public Member Functions inherited from RobotsIO::Camera::iCubCamera
	iCubCamera (const std::string &robot_name, const std::string &laterality, const std::string &port_prefix, const bool &use_calibration=false, const std::string &calibration_path="")

	iCubCamera (const std::string &data_path, const std::string &laterality, const std::size_t &width, const std::size_t &height, const double &fx, const double &cx, const double &fy, const double &cy, const bool &load_encoders_data, const bool &use_calibration=false, const std::string &calibration_path="")

bool	is_controller_available ()

yarp::dev::IGazeControl &	controller ()

std::pair< bool, Eigen::MatrixXf >	depth (const bool &blocking) override

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

std::pair< bool, cv::Mat >	rgb (const bool &blocking) override

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

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

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

std::size_t	auxiliary_data_size () const override

Public Member Functions inherited from RobotsIO::Camera::Camera
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)

Additional Inherited Members
Protected Member Functions inherited from RobotsIO::Camera::iCubCameraRelative
RobotsIO::Camera::iCubCamera &	get_relative_camera ()

const RobotsIO::Camera::iCubCamera &	get_relative_camera () const

Protected Member Functions inherited from RobotsIO::Camera::iCubCamera
std::string	laterality ()

std::pair< bool, Eigen::Transform< double, 3, Eigen::Affine > >	laterality_pose (const std::string &laterality, const bool &blocking)

void	set_laterality (const std::string &laterality)

Protected Member Functions inherited from RobotsIO::Camera::Camera
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 inherited from RobotsIO::Camera::Camera
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 26 of file iCubCameraDepth.h.

Constructor & Destructor Documentation

◆ iCubCameraDepth() [1/2]

iCubCameraDepth::iCubCameraDepth	(	const std::string &	robot_name,
		const std::string &	port_prefix,
		const bool &	use_calibration = `false`,
		const std::string &	calibration_path = `""`
	)

Definition at line 23 of file iCubCameraDepth.cpp.

◆ iCubCameraDepth() [2/2]

iCubCameraDepth::iCubCameraDepth	(	const std::string &	data_path_left,
		const std::string &	data_path_right,
		const std::size_t &	width,
		const std::size_t &	height,
		const double &	fx_l,
		const double &	cx_l,
		const double &	fy_l,
		const double &	cy_l,
		const double &	fx_r,
		const double &	cx_r,
		const double &	fy_r,
		const double &	cy_r,
		const bool &	load_encoders_data,
		const bool &	use_calibration = `false`,
		const std::string &	calibration_path = `""`
	)

Definition at line 36 of file iCubCameraDepth.cpp.

◆ ~iCubCameraDepth()

iCubCameraDepth::~iCubCameraDepth ( )

Definition at line 60 of file iCubCameraDepth.cpp.

Member Function Documentation

◆ deprojection_matrix()

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

overridevirtual

Camera parameters.

Reimplemented from RobotsIO::Camera::Camera.

Definition at line 64 of file iCubCameraDepth.cpp.

◆ depth()

std::pair< bool, Eigen::MatrixXf > iCubCameraDepth::depth ( const bool & blocking )

overridevirtual

RGB-D and pose.

Reimplemented from RobotsIO::Camera::iCubCamera.

Definition at line 71 of file iCubCameraDepth.cpp.

◆ pose()

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

overridevirtual

Reimplemented from RobotsIO::Camera::iCubCamera.

Definition at line 185 of file iCubCameraDepth.cpp.

◆ rgb()

std::pair< bool, cv::Mat > iCubCameraDepth::rgb ( const bool & blocking )

overridevirtual

Reimplemented from RobotsIO::Camera::iCubCamera.

Definition at line 192 of file iCubCameraDepth.cpp.

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ iCubCameraDepth() [1/2]

◆ iCubCameraDepth() [2/2]

◆ ~iCubCameraDepth()

Member Function Documentation

◆ deprojection_matrix()

◆ depth()

◆ pose()

◆ rgb()