Class trifinger_cameras::PyBulletTriCameraDriver¶
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class PyBulletTriCameraDriver : public robot_interfaces::SensorDriver<TriCameraObservation, TriCameraInfo>, public robot_interfaces::SensorDriver<TriCameraObservation, TriCameraInfo>¶
Driver to get rendered camera images from pyBullet.
Public Functions
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PyBulletTriCameraDriver(robot_interfaces::TriFingerTypes::BaseDataPtr robot_data, bool render_images = true, Settings settings = Settings())¶
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TriCameraInfo get_sensor_info() override¶
Get the camera parameters (image size and calibration coefficients).
Important: The calibration coefficients are only set if the driver is initialized with rendering enabled. Otherwise, they will be all zero.
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trifinger_cameras::TriCameraObservation get_observation() override¶
Get the latest observation from the three cameras.
- Returns:
TricameraObservation
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PyBulletTriCameraDriver(robot_interfaces::TriFingerTypes::BaseDataPtr robot_data, bool render_images = true, Settings settings = Settings())
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TriCameraInfo get_sensor_info() override
Get the camera parameters (image size and calibration coefficients).
Important: The calibration coefficients are only set if the driver is initialized with rendering enabled. Otherwise, they will be all zero.
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trifinger_cameras::TriCameraObservation get_observation() override
Get the latest observation from the three cameras.
- Returns:
TricameraObservation
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PyBulletTriCameraDriver(robot_interfaces::TriFingerTypes::BaseDataPtr robot_data, bool render_images = true, Settings settings = Settings())¶