Cameras

---

• Synchronous methods
  • create_color_frame_listener()
  • is_camera_enabled()
  • available_color_cameras()
  • delete_listener()
• Asynchronous methods
  • enable_color_camera()
  • disable_color_camera()
  • get_next_frame()
  • enable_streaming()
  • disable_streaming()
• Exceptions

1. Overview

The controller provides methods for managing cameras in the system. It enables and disables cameras, retrieves frames from them, and sets up event listeners for captured frames. The methods allow these operations to be performed both synchronously and asynchronously, with options to obtain images and timestamps. The class is versatile and can be used for both color and depth cameras, providing an abstraction layer for controlling and accessing the available cameras in the robot.

For example, Gary’s cameras are identified by the following names and could be:

Camera name	Type
head_front	RGBD
nav_bottom	RGBD
chest	RGB

2. Using the Controller

Creating the controller in your app:

from raya.application_base import RayaApplicationBase

class RayaApplication(RayaApplicationBase):
   async def setup(self):
   ...
   self.cameras = await self.enable_controller('cameras')
   ...

3. Methods

The controller class includes a set of methods to access the cameras, to obtain detailed information about each method, click on the respective name:

Synchronoys methods:

• is_camera_enabled()

• available_color_cameras()

• create_color_frame_listener()

• delete_listener()

Asynchronoys methods:

• async enable_color_camera()

• async disable_color_camera()

• async get_next_frame()

• async enable_streaming()

• async disable_streaming()

4. Full examples

The following full examples use this controller:

• Display Cameras List Example
• Create Camera Listener Example
• Create and Poll Frames from Camera Example
• Streaming Cameras Example