From 22d425634daf6643288409029128deda2d3b9138 Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Tue, 15 Nov 2022 16:06:46 +0100
Subject: [PATCH] update doc
---
armarx_robots/sensors.py | 22 +++++++++++++++++++++-
1 file changed, 21 insertions(+), 1 deletion(-)
diff --git a/armarx_robots/sensors.py b/armarx_robots/sensors.py
index 902fb471..ea291078 100644
--- a/armarx_robots/sensors.py
+++ b/armarx_robots/sensors.py
@@ -10,8 +10,13 @@ from armarx_vision.image_utils import read_images
from visionx import ReferenceFrameInterfacePrx
from functools import partial
+from typing import Any
+from typing import Dict
class Camera:
+ """
+ Convenience class for accessing the camera information and images
+ """
def __init__(self, name):
self.provider_name = name
self.images = partial(read_images, name)
@@ -19,10 +24,16 @@ class Camera:
@property
@lru_cache(1)
def proxy(self):
+ """
+ Returns the proxy of the visionx.ImageProvider
+ """
return ImageProviderInterfacePrx.get_proxy(self.provider_name)
@property
- def info(self):
+ def info(self) -> Dict[str, Any]:
+ """
+ Returns camera information such as width, height of the image
+ """
proxy = self.proxy
image_format = proxy.getImageFormat()
image_format = proxy.getImageFormat()
@@ -42,17 +53,26 @@ class Camera:
@property
@lru_cache(1)
def reference_frame_name(self):
+ """
+ Returns the frame the camera images are reported in
+ """
proxy = ReferenceFrameInterfacePrx.get_proxy(self.provider_name)
return proxy.getReferenceFrame()
@property
@lru_cache(1)
def num_images(self):
+ """
+ Returns the number of images
+ """
return self.proxy.getNumberImages()
@property
@lru_cache(1)
def calibration(self):
+ """
+ Returns the camera calibration matrix
+ """
if self.num_images == 2:
return get_stereo_calibration(self.provider_name)
else:
--
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