iCubCameraRelative.h

/*
 * Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_ICUBCAMERARELATIVE_H
#define ROBOTSIO_ICUBCAMERARELATIVE_H
 
#include <RobotsIO/Camera/iCubCamera.h>
 
namespace RobotsIO {
    namespace Camera {
        class iCubCameraRelative;
    }
}
 
 
class RobotsIO::Camera::iCubCameraRelative : public RobotsIO::Camera::iCubCamera
{
public:
 
    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 = "");
 
    ~iCubCameraRelative();
 
    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;
 
protected:
    RobotsIO::Camera::iCubCamera& get_relative_camera();
 
    const RobotsIO::Camera::iCubCamera& get_relative_camera() const;
 
private:
    const std::string log_name_ = "iCubCameraRelative";
 
    std::unique_ptr<RobotsIO::Camera::iCubCamera> left_camera_;
};
 
#endif /* ROBOTSIO_ICUBCAMERARELATIVE_H */