#include <RGBDSensorClient/RGBDSensorClient.h>

Inheritance diagram for yarp::dev::RGBDSensorClient:

Detailed Description

Description of input parameters

A Network client to receive data from kinect-like devices. This device will read from two streams of data through different ports, one for the color frame and the other one for depth image following Framegrabber and IDepthSensor interfaces specification respectively. See they documentation for more details about each interface.

This device is paired with its server called RGBDSensorWrapper to receive the data streams and perform remote operations.

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Description
localImagePort	-	string	-	-	Full name of the local port to open, e.g. /myApp/RGBD/rgb_camera:i
localDepthPort	-	string	-	-	Full name of the local port to open, e.g. /myApp/RGBD/depth_camera:i
localRpcPort	-	string	-	-	Full name of the local RPC port to open, e.g. /myApp/RGBD/rpc
remoteImagePort	-	string	-	-	Full name of the port to read color images from, e.g. /robotName/RGBD/image_camera:o
remoteDepthPort	-	string	-	-	Full name of the port to read depth images from, e.g. /robotName/RGBD/depth_camera:o
remoteRpcPort	-	string	-	-	Full name of the remote RPC port, e.g. /robotName/RGBD/rpc

Configuration file using .ini format, using subdevice keyword.

device RGBDSensorClient
localImagePort     /clientRgbPort:i
localDepthPort     /clientDepthPort:i
localRpcPort       /clientRpcPort
remoteImagePort    /RGBD/rgbCamera:o
remoteDepthPort    /RGBD/depthCamera:o
remoteRpcPort      /RGBD/rpc

XML format, using 'networks' keyword. This file is meant to be used in junction with yarprobotinterface executable, therefore has an addictional section at the end.

 <!-- Following parameters are meaningful ONLY for yarprobotinterface -->
<param name="localImagePort">    /clientRgbPort:i        </param>
<param name="localDepthPort">    /clientDepthPort:i      </param>
<param name="localRpcPort">      /clientRpcPort          </param>
<param name="remoteImagePort">   /RGBD/rgbCamera:o       </param>
<param name="localDepthPort">    /RGBD/depthCamera:o     </param>
<param name="remoteRpcPort">     /RGBD/rpc               </param>

Definition at line 90 of file RGBDSensorClient.h.

Public Member Functions
	RGBDSensorClient ()

	~RGBDSensorClient ()

int	getRgbHeight () override
	Return the height of each frame. More...

int	getRgbWidth () override
	Return the width of each frame. More...

bool	getRgbSupportedConfigurations (yarp::sig::VectorOf< CameraConfig > &configurations) override
	Get the possible configurations of the camera. More...

bool	getRgbResolution (int &width, int &height) override
	Get the resolution of the rgb image from the camera. More...

bool	setRgbResolution (int width, int height) override
	Set the resolution of the rgb image from the camera. More...

bool	getRgbFOV (double &horizontalFov, double &verticalFov) override
	Get the field of view (FOV) of the rgb camera. More...

bool	setRgbFOV (double horizontalFov, double verticalFov) override
	Set the field of view (FOV) of the rgb camera. More...

bool	getRgbIntrinsicParam (yarp::os::Property &intrinsic) override
	Get the intrinsic parameters of the rgb camera. More...

bool	getRgbMirroring (bool &mirror) override
	Get the mirroring setting of the sensor. More...

bool	setRgbMirroring (bool mirror) override
	Set the mirroring setting of the sensor. More...

int	getDepthHeight () override
	Return the height of each frame. More...

int	getDepthWidth () override
	Return the height of each frame. More...

bool	setDepthResolution (int width, int height) override
	Set the resolution of the depth image from the camera. More...

bool	getDepthFOV (double &horizontalFov, double &verticalFov) override
	Get the field of view (FOV) of the depth camera. More...

bool	setDepthFOV (double horizontalFov, double verticalFov) override
	Set the field of view (FOV) of the depth camera. More...

double	getDepthAccuracy () override
	Get the minimum detectable variation in distance [meter]. More...

bool	setDepthAccuracy (double accuracy) override
	Set the minimum detectable variation in distance [meter] when possible. More...

bool	getDepthClipPlanes (double &near, double &far) override
	Get the clipping planes of the sensor. More...

bool	setDepthClipPlanes (double near, double far) override
	Set the clipping planes of the sensor. More...

bool	getDepthIntrinsicParam (yarp::os::Property &intrinsic) override
	Get the intrinsic parameters of the depth camera. More...

bool	getDepthMirroring (bool &mirror) override
	Get the mirroring setting of the sensor. More...

bool	setDepthMirroring (bool mirror) override
	Set the mirroring setting of the sensor. More...

bool	open (yarp::os::Searchable &config) override
	Create and configure a device, by name. More...

bool	close () override
	Close the DeviceDriver. More...

bool	getExtrinsicParam (yarp::sig::Matrix &extrinsic) override
	Get the extrinsic parameters from the device. More...

IRGBDSensor::RGBDSensor_status	getSensorStatus () override
	Get the surrent status of the sensor, using enum type. More...

std::string	getLastErrorMsg (yarp::os::Stamp *timeStamp=NULL) override
	Return an error message in case of error. More...

bool	getRgbImage (yarp::sig::FlexImage &rgbImage, yarp::os::Stamp *timeStamp=NULL) override
	Get the rgb frame from the device. More...

bool	getDepthImage (yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthImage, yarp::os::Stamp *timeStamp=NULL) override
	Get the depth frame from the device. More...

bool	getImages (yarp::sig::FlexImage &colorFrame, yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthFrame, yarp::os::Stamp colorStamp=NULL, yarp::os::Stamp depthStamp=NULL) override
	Get the both the color and depth frame in a single call. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
virtual	~DeviceDriver ()
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::dev::FrameGrabberControls_Sender
	FrameGrabberControls_Sender (yarp::os::Port &port)

virtual	~FrameGrabberControls_Sender ()

bool	getCameraDescription (CameraDescriptor *camera) override
	Get a basic description of the camera hw. More...

bool	hasFeature (int feature, bool *hasFeature) override
	Check if camera has the requested feature (saturation, brightness ... More...

bool	setFeature (int feature, double value) override
	Set the requested feature to a value (saturation, brightness ... More...

bool	getFeature (int feature, double *value) override
	Get the current value for the requested feature. More...

bool	setFeature (int feature, double value1, double value2) override
	Set the requested feature to a value using 2 params (like white balance) More...

bool	getFeature (int feature, double value1, double value2) override
	Get the current value for the requested feature. More...

bool	hasOnOff (int feature, bool *HasOnOff) override
	Check if the camera has the ability to turn on/off the requested feature. More...

bool	setActive (int feature, bool onoff) override
	Set the requested feature on or off. More...

bool	getActive (int feature, bool *isActive) override
	Get the current status of the feature, on or off. More...

bool	hasAuto (int feature, bool *hasAuto) override
	Check if the requested feature has the 'auto' mode. More...

bool	hasManual (int feature, bool *hasManual) override
	Check if the requested feature has the 'manual' mode. More...

bool	hasOnePush (int feature, bool *hasOnePush) override
	Check if the requested feature has the 'onePush' mode. More...

bool	setMode (int feature, FeatureMode mode) override
	Set the requested mode for the feature. More...

bool	getMode (int feature, FeatureMode *mode) override
	Get the current mode for the feature. More...

bool	setOnePush (int feature) override
	Set the requested feature to a value (saturation, brightness ... More...

Public Member Functions inherited from yarp::dev::IFrameGrabberControls
virtual	~IFrameGrabberControls ()
	Destructor. More...

virtual bool	setBrightness (double v)
	Set the brightness. More...

virtual bool	setExposure (double v)
	Set the exposure. More...

virtual bool	setSharpness (double v)
	Set the sharpness. More...

virtual bool	setWhiteBalance (double blue, double red)
	Set the white balance for the frame grabber. More...

virtual bool	setHue (double v)
	Set the hue. More...

virtual bool	setSaturation (double v)
	Set the saturation. More...

virtual bool	setGamma (double v)
	Set the gamma. More...

virtual bool	setShutter (double v)
	Set the shutter parameter. More...

virtual bool	setGain (double v)
	Set the gain. More...

virtual bool	setIris (double v)
	Set the iris. More...

virtual double	getBrightness ()
	Read the brightness parameter. More...

virtual double	getExposure ()
	Read the exposure parameter. More...

virtual double	getSharpness ()
	Read the sharpness parameter. More...

virtual bool	getWhiteBalance (double &blue, double &red)
	Read the white balance parameters. More...

virtual double	getHue ()
	Read the hue parameter. More...

virtual double	getSaturation ()
	Read the saturation parameter. More...

virtual double	getGamma ()
	Read the gamma parameter. More...

virtual double	getShutter ()
	Read the shutter parameter. More...

virtual double	getGain ()
	Read the gain parameter. More...

virtual double	getIris ()
	Read the iris parameter. More...

cameraFeature_id_t	featureVOCABEnum (int vocab)

int	featureEnum2Vocab (cameraFeature_id_t _enum)

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

Public Member Functions inherited from yarp::dev::IRGBDSensor
virtual	~IRGBDSensor ()

Public Member Functions inherited from yarp::dev::IRgbVisualParams
virtual	~IRgbVisualParams ()

Public Member Functions inherited from yarp::dev::IDepthVisualParams
virtual	~IDepthVisualParams ()

Additional Inherited Members
Public Types inherited from yarp::dev::IRGBDSensor
enum	RGBDSensor_status { RGBD_SENSOR_NOT_READY = 0, RGBD_SENSOR_OK_STANBY = 1, RGBD_SENSOR_OK_IN_USE = 2, RGB_SENSOR_ERROR = 3, DEPTH_SENSOR_ERROR = 4, RGBD_SENSOR_GENERIC_ERROR = 5, RGBD_SENSOR_TIMEOUT = 6 }

Constructor & Destructor Documentation

◆ RGBDSensorClient()

RGBDSensorClient::RGBDSensorClient ( )

Definition at line 31 of file RGBDSensorClient.cpp.

◆ ~RGBDSensorClient()

RGBDSensorClient::~RGBDSensorClient ( )

Definition at line 42 of file RGBDSensorClient.cpp.

Member Function Documentation

◆ close()

bool RGBDSensorClient::close ( void )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 304 of file RGBDSensorClient.cpp.

◆ getDepthAccuracy()

double RGBDSensorClient::getDepthAccuracy ( )

overridevirtual

Get the minimum detectable variation in distance [meter].

Returns: the sensor resolution in meters.

nearPlane	minimum distance at which the sensor start measuring. Object closer than this distance will not be detected.
farPlane	maximum distance beyond which the sensor stop measuring. Object farther than this distance will not be detected.

horizontalFov	will return the value of the horizontal fov in degrees
verticalFov	will return the value of the vertical fov in degrees

rgbImage	the image to be filled.
timeStamp	time in which the image was acquired. Optional, the user must provide memory allocation

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
physFocalLength	-	double	m	-	Yes	Physical focal length of the lens in meters
focalLengthX	-	double	pixel	-	Yes	Horizontal component of the focal length as a multiple of pixel width
focalLengthY	-	double	pixel	-	Yes	Vertical component of the focal length as a multiple of pixel height
principalPointX	-	double	pixel	-	Yes	X coordinate of the principal point
principalPointY	-	double	pixel	-	Yes	Y coordinate of the principal point
retificationMatrix	-	4x4 double matrix	-	-	Yes	Matrix that describes the lens' distortion
distortionModel	-	string	-	-	Yes	Reference to group of parameters describing the distortion model of the camera, example 'cameraDistortionModelGroup'	This is another group's name to be searched for in the config file
cameraDistortionModelGroup
	name	string	-	-	Yes	Name of the distortion model, see notes	right now only 'plumb_bob' is supported
	k1	double	-	-	Yes	Radial distortion coefficient of the lens
	k2	double	-	-	Yes	Radial distortion coefficient of the lens
	k3	double	-	-	Yes	Radial distortion coefficient of the lens
	t1	double	-	-	Yes	Tangential distortion of the lens
	t2	double	-	-	Yes	Tangential distortion of the lens

colorFrame	pointer to FlexImage data to hold the color frame from the sensor
depthFrame	pointer to FlexImage data to hold the depth frame from the sensor
colorStamp	pointer to memory to hold the Stamp of the color frame
depthStamp	pointer to memory to hold the Stamp of the depth frame

horizontalFov	will set the value of the horizontal fov in degrees
verticalFov	will set the value of the vertical fov in degrees

Detailed Description

Description of input parameters

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ RGBDSensorClient()

◆ ~RGBDSensorClient()

Member Function Documentation

◆ close()

◆ getDepthAccuracy()

◆ getDepthClipPlanes()

◆ getDepthFOV()

◆ getDepthHeight()

◆ getDepthImage()

◆ getDepthIntrinsicParam()

◆ getDepthMirroring()

◆ getDepthWidth()

◆ getExtrinsicParam()

◆ getImages()

◆ getLastErrorMsg()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbImage()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ getSensorStatus()

◆ open()

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthMirroring()

◆ setDepthResolution()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()