Class trifinger_cameras::TriCameraDriver

class TriCameraDriver : public robot_interfaces::SensorDriver<TriCameraObservation, TriCameraInfo>, public robot_interfaces::SensorDriver<TriCameraObservation, TriCameraInfo>

Driver to create three instances of the PylonDriver and get observations from them.

Public Functions

TriCameraDriver(const std::string &device_id_1, const std::string &device_id_2, const std::string &device_id_3, bool downsample_images = true, Settings settings = Settings())
Parameters:

  • device_id_1 – device user id of first camera

  • device_id_2 – likewise, the 2nd’s

  • device_id_3 – and the 3rd’s

  • downsample_images – If set to true (default), images are downsampled to half their original size.

  • settings – Settings for the cameras.

TriCameraDriver(const std::filesystem::path &camera_calibration_file_1, const std::filesystem::path &camera_calibration_file_2, const std::filesystem::path &camera_calibration_file_3, bool downsample_images = true, Settings settings = Settings())
Parameters:

  • camera_calibration_file_1 – Calibration file of first camera

  • camera_calibration_file_2 – likewise, the 2nd’s

  • camera_calibration_file_3 – and the 3rd’s

  • downsample_images – If set to true (default), images are downsampled to half their original size.

  • settings – Settings for the cameras.

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 calibration files (see constructor). Otherwise, they will be all zero.

TriCameraObservation get_observation() override

Get the latest observation from the three cameras.

Returns:

TricameraObservation

TriCameraDriver(const std::string &device_id_1, const std::string &device_id_2, const std::string &device_id_3, bool downsample_images = true, Settings settings = Settings())
Parameters:

  • device_id_1 – device user id of first camera

  • device_id_2 – likewise, the 2nd’s

  • device_id_3 – and the 3rd’s

  • downsample_images – If set to true (default), images are downsampled to half their original size.

  • settings – Settings for the cameras.

TriCameraDriver(const std::filesystem::path &camera_calibration_file_1, const std::filesystem::path &camera_calibration_file_2, const std::filesystem::path &camera_calibration_file_3, bool downsample_images = true, Settings settings = Settings())
Parameters:

  • camera_calibration_file_1 – Calibration file of first camera

  • camera_calibration_file_2 – likewise, the 2nd’s

  • camera_calibration_file_3 – and the 3rd’s

  • downsample_images – If set to true (default), images are downsampled to half their original size.

  • settings – Settings for the cameras.

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 calibration files (see constructor). Otherwise, they will be all zero.

TriCameraObservation get_observation() override

Get the latest observation from the three cameras.

Returns:

TricameraObservation

Public Members

std::chrono::milliseconds rate

Rate at which images are acquired.