move _colored_point_cloud() to RGBDCamera

airo-camera-toolkit/airo_camera_toolkit/interfaces.py

@@ -104,6 +104,20 @@ def get_depth_image(self) -> NumpyIntImageType:
         self._grab_images()
         return self._retrieve_depth_image()
 
+    @abc.abstractmethod
+    def _retrieve_depth_map(self) -> NumpyDepthMapType:
+        """Returns the current depth map in the memory buffer."""
+        raise NotImplementedError
+
+    @abc.abstractmethod
+    def _retrieve_depth_image(self) -> NumpyIntImageType:
+        """Returns the current depth image in the memory buffer."""
+        raise NotImplementedError
+
+
+class RGBDCamera(RGBCamera, DepthCamera):
+    """Base class for all RGBD cameras"""
+
     def get_colored_point_cloud(self) -> PointCloud:
         """Get the latest point cloud of the camera.
         The point cloud contains the estimated position in the camera frame of points on the image plane (pixels).
@@ -116,19 +130,6 @@ def get_colored_point_cloud(self) -> PointCloud:
         self._grab_images()
         return self._retrieve_colored_point_cloud()
 
-        # # TODO: offer a base implementation that uses the depth map and the rgb image to construct this pointcloud?
-        # raise NotImplementedError
-
-    @abc.abstractmethod
-    def _retrieve_depth_map(self) -> NumpyDepthMapType:
-        """Returns the current depth map in the memory buffer."""
-        raise NotImplementedError
-
-    @abc.abstractmethod
-    def _retrieve_depth_image(self) -> NumpyIntImageType:
-        """Returns the current depth image in the memory buffer."""
-        raise NotImplementedError
-
     def _retrieve_colored_point_cloud(self) -> PointCloud:
         """Returns the current point cloud in the memory buffer.
 
@@ -157,10 +158,6 @@ def _retrieve_colored_point_cloud(self) -> PointCloud:
         return point_cloud
 
 
-class RGBDCamera(RGBCamera, DepthCamera):
-    """Base class for all RGBD cameras"""
-
-
 class StereoRGBDCamera(RGBDCamera):
     """Base class for all stereo RGBD cameras"""