Merge pull request #3232 from steb6/irgbdsensor_fix

Added IRGBDSensor python bindings

Author: randaz81

bindings/yarp.i

@@ -430,6 +430,7 @@ MAKE_COMMS(Bottle)
 %include <yarp/dev/ISpeechTranscription.h>
 %include <yarp/dev/ILLM.h>
 %include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
+%include <yarp/dev/IRGBDSensor.h>
 %include <yarp/dev/IFrameTransform.h>
 
 %template(DVector) std::vector<double>;
@@ -823,6 +824,7 @@ typedef yarp::os::BufferedPort<ImageRgbFloat> BufferedPortImageRgbFloat;
     CAST_POLYDRIVER_TO_INTERFACE(ISpeechTranscription)
     CAST_POLYDRIVER_TO_INTERFACE(ILLM)
     CAST_POLYDRIVER_TO_INTERFACE(IFrameTransform)
+    CAST_POLYDRIVER_TO_INTERFACE(IRGBDSensor)
 
 // These views are currently disabled in SWIG + java generator since they are
 // useless without the EXTENDED_ANALOG_SENSOR_INTERFACE part.
@@ -2044,6 +2046,16 @@ public:
     }
 }
 
+//////////////////////////////////////////////////////////////////////////
+// Adding IRGBDSensor
+%extend yarp::dev::IRGBDSensor {
+    bool getRgbImage(yarp::sig::FlexImage& rgbImage) {
+        yarp::os::Stamp timeStamp;
+        bool ok = self->getRgbImage(rgbImage, &timeStamp);
+        return ok;
+    }
+}
+
 //////////////////////////////////////////////////////////////////////////
 // Just in Python (and in yarp bindings itself, not in downstream bindings
 // that include yarp.i) add some code to automatically call