RGBDSensorClient: 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. More...

#include <RGBDSensorClient/RGBDSensorClient.h>

Inheritance diagram for RGBDSensorClient:

Public Member Functions
	RGBDSensorClient ()

	RGBDSensorClient (const RGBDSensorClient &)=delete

	RGBDSensorClient (RGBDSensorClient &&)=delete

RGBDSensorClient &	operator= (const RGBDSensorClient &)=delete

RGBDSensorClient &	operator= (RGBDSensorClient &&)=delete

	~RGBDSensorClient () override

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< yarp::dev::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=nullptr) override
	Return an error message in case of error. More...

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

bool	getDepthImage (yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthImage, yarp::os::Stamp *timeStamp=nullptr) 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=nullptr, yarp::os::Stamp depthStamp=nullptr) override
	Get the both the color and depth frame in a single call. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

	~DeviceDriver () override

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver. More...

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

virtual std::string	id () const
	Return the id assigned to the PolyDriver. More...

virtual void	setId (const std::string &id)
	Set the id for this device. 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	open (Searchable &config)
	Initialize the object. More...

virtual bool	close ()
	Shut the object down. More...

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

Public Member Functions inherited from yarp::proto::framegrabber::FrameGrabberControls_Forwarder
	FrameGrabberControls_Forwarder (yarp::os::Port &port)

	~FrameGrabberControls_Forwarder () override=default

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...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

double	getIris () override
	Read the iris parameter. 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...

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

virtual bool	getCameraDescription (CameraDescriptor *camera)=0
	Get a basic description of the camera hw. More...

virtual bool	hasFeature (int feature, bool *hasFeature)=0
	Check if camera has the requested feature (saturation, brightness ... ) More...

virtual bool	setFeature (int feature, double value)=0
	Set the requested feature to a value (saturation, brightness ... ) More...

virtual bool	getFeature (int feature, double *value)=0
	Get the current value for the requested feature. More...

virtual bool	setFeature (int feature, double value1, double value2)=0
	Set the requested feature to a value using 2 params (like white balance) More...

virtual bool	getFeature (int feature, double value1, double value2)=0
	Get the current value for the requested feature. More...

virtual bool	hasOnOff (int feature, bool *HasOnOff)=0
	Check if the camera has the ability to turn on/off the requested feature. More...

virtual bool	setActive (int feature, bool onoff)=0
	Set the requested feature on or off. More...

virtual bool	getActive (int feature, bool *isActive)=0
	Get the current status of the feature, on or off. More...

virtual bool	hasAuto (int feature, bool *hasAuto)=0
	Check if the requested feature has the 'auto' mode. More...

virtual bool	hasManual (int feature, bool *hasManual)=0
	Check if the requested feature has the 'manual' mode. More...

virtual bool	hasOnePush (int feature, bool *hasOnePush)=0
	Check if the requested feature has the 'onePush' mode. More...

virtual bool	setMode (int feature, FeatureMode mode)=0
	Set the requested mode for the feature. More...

virtual bool	getMode (int feature, FeatureMode *mode)=0
	Get the current mode for the feature. More...

virtual bool	setOnePush (int feature)=0
	Set the requested feature to a value (saturation, brightness ... ) More...

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

int	getRgbHeight () override=0
	Return the height of each frame. More...

int	getRgbWidth () override=0
	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=0
	Set the resolution of the rgb image from the camera. More...

bool	getRgbFOV (double &horizontalFov, double &verticalFov) override=0
	Get the field of view (FOV) of the rgb camera. More...

bool	setRgbFOV (double horizontalFov, double verticalFov) override=0
	Set the field of view (FOV) of the rgb camera. More...

bool	getRgbIntrinsicParam (yarp::os::Property &intrinsic) override=0
	Get the intrinsic parameters of the rgb camera. More...

int	getDepthHeight () override=0
	Return the height of each frame. More...

int	getDepthWidth () override=0
	Return the height of each frame. More...

bool	setDepthResolution (int width, int height) override=0
	Set the resolution of the depth image from the camera. More...

bool	getDepthFOV (double &horizontalFov, double &verticalFov) override=0
	Get the field of view (FOV) of the depth camera. More...

bool	setDepthFOV (double horizontalFov, double verticalFov) override=0
	Set the field of view (FOV) of the depth camera. More...

double	getDepthAccuracy () override=0
	Get the minimum detectable variation in distance [meter]. More...

bool	setDepthAccuracy (double accuracy) override=0
	Set the minimum detectable variation in distance [meter] when possible. More...

bool	getDepthClipPlanes (double &nearPlane, double &farPlane) override=0
	Get the clipping planes of the sensor. More...

bool	setDepthClipPlanes (double nearPlane, double farPlane) override=0
	Set the clipping planes of the sensor. More...

bool	getDepthIntrinsicParam (yarp::os::Property &intrinsic) override=0
	Get the intrinsic parameters of the depth camera. More...

virtual bool	getExtrinsicParam (yarp::sig::Matrix &extrinsic)=0
	Get the extrinsic parameters from the device. More...

virtual std::string	getLastErrorMsg (yarp::os::Stamp *timeStamp=nullptr)=0
	Return an error message in case of error. More...

virtual bool	getRgbImage (yarp::sig::FlexImage &rgbImage, yarp::os::Stamp *timeStamp=nullptr)=0
	Get the rgb frame from the device. More...

virtual bool	getDepthImage (yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthImage, yarp::os::Stamp *timeStamp=nullptr)=0
	Get the depth frame from the device. More...

virtual bool	getImages (yarp::sig::FlexImage &colorFrame, yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthFrame, yarp::os::Stamp colorStamp=nullptr, yarp::os::Stamp depthStamp=nullptr)=0
	Get the both the color and depth frame in a single call. More...

virtual RGBDSensor_status	getSensorStatus ()=0
	Get the surrent status of the sensor, using enum type. More...

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

virtual int	getRgbHeight ()=0
	Return the height of each frame. More...

virtual int	getRgbWidth ()=0
	Return the width of each frame. More...

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

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

virtual bool	setRgbResolution (int width, int height)=0
	Set the resolution of the rgb image from the camera. More...

virtual bool	getRgbFOV (double &horizontalFov, double &verticalFov)=0
	Get the field of view (FOV) of the rgb camera. More...

virtual bool	setRgbFOV (double horizontalFov, double verticalFov)=0
	Set the field of view (FOV) of the rgb camera. More...

virtual bool	getRgbIntrinsicParam (yarp::os::Property &intrinsic)=0
	Get the intrinsic parameters of the rgb camera. More...

virtual bool	getRgbMirroring (bool &mirror)=0
	Get the mirroring setting of the sensor. More...

virtual bool	setRgbMirroring (bool mirror)=0
	Set the mirroring setting of the sensor. More...

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

virtual int	getDepthHeight ()=0
	Return the height of each frame. More...

virtual int	getDepthWidth ()=0
	Return the height of each frame. More...

virtual bool	setDepthResolution (int width, int height)=0
	Set the resolution of the depth image from the camera. More...

virtual bool	getDepthFOV (double &horizontalFov, double &verticalFov)=0
	Get the field of view (FOV) of the depth camera. More...

virtual bool	setDepthFOV (double horizontalFov, double verticalFov)=0
	Set the field of view (FOV) of the depth camera. More...

virtual bool	getDepthIntrinsicParam (yarp::os::Property &intrinsic)=0
	Get the intrinsic parameters of the depth camera. More...

virtual double	getDepthAccuracy ()=0
	Get the minimum detectable variation in distance [meter]. More...

virtual bool	setDepthAccuracy (double accuracy)=0
	Set the minimum detectable variation in distance [meter] when possible. More...

virtual bool	getDepthClipPlanes (double &nearPlane, double &farPlane)=0
	Get the clipping planes of the sensor. More...

virtual bool	setDepthClipPlanes (double nearPlane, double farPlane)=0
	Set the clipping planes of the sensor. More...

virtual bool	getDepthMirroring (bool &mirror)=0
	Get the mirroring setting of the sensor. More...

virtual bool	setDepthMirroring (bool mirror)=0
	Set the mirroring setting of the sensor. More...

Protected Member Functions
bool	initialize_YARP (yarp::os::Searchable &config)

bool	fromConfig (yarp::os::Searchable &config)

Protected Attributes
yarp::os::Port	rpcPort

std::string	local_colorFrame_StreamingPort_name

std::string	local_depthFrame_StreamingPort_name

std::string	remote_colorFrame_StreamingPort_name

std::string	remote_depthFrame_StreamingPort_name

std::string	image_carrier_type

std::string	depth_carrier_type

RgbImageBufferedPort	colorFrame_StreamingPort

FloatImageBufferedPort	depthFrame_StreamingPort

std::string	local_rpcPort_name

std::string	remote_rpcPort_name

std::string	sensorId

yarp::dev::IRGBDSensor *	sensor_p {nullptr}

IRGBDSensor::RGBDSensor_status	sensorStatus {IRGBDSensor::RGBD_SENSOR_NOT_READY}

int	verbose {2}

yarp::os::Stamp	colorStamp

yarp::os::Stamp	depthStamp

RGBDSensor_StreamingMsgParser *	streamingReader {nullptr}

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 }

Detailed Description

RGBDSensorClient: 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.

Description of input parameters

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	Required	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
ImageCarrier	-	string	-	udp	No	Carrier name for the Image stream used in the client-server connection
DepthCarrier	-	string	-	udp	No	Carrier name for the Depth strean used in the client-server connection

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 81 of file RGBDSensorClient.h.

Constructor & Destructor Documentation

◆ RGBDSensorClient() [1/3]

RGBDSensorClient::RGBDSensorClient ( )

Definition at line 23 of file RGBDSensorClient.cpp.

◆ RGBDSensorClient() [2/3]

RGBDSensorClient::RGBDSensorClient ( const RGBDSensorClient & )

delete

◆ RGBDSensorClient() [3/3]

RGBDSensorClient::RGBDSensorClient ( RGBDSensorClient && )

delete

◆ ~RGBDSensorClient()

RGBDSensorClient::~RGBDSensorClient ( )

override

Definition at line 31 of file RGBDSensorClient.cpp.

Member Function Documentation

◆ close()

bool RGBDSensorClient::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 250 of file RGBDSensorClient.cpp.

◆ fromConfig()

bool RGBDSensorClient::fromConfig ( yarp::os::Searchable & config )

protected

Definition at line 63 of file RGBDSensorClient.cpp.

◆ getDepthAccuracy()

double RGBDSensorClient::getDepthAccuracy ( )

overridevirtual

Get the minimum detectable variation in distance [meter].

Returns: the sensor resolution in meters.

Implements yarp::dev::IRGBDSensor.

Definition at line 421 of file RGBDSensorClient.cpp.

◆ getDepthClipPlanes()

bool RGBDSensorClient::getDepthClipPlanes	(	double &	nearPlane,
		double &	farPlane
	)

overridevirtual

Get the clipping planes of the sensor.

Parameters

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.

Returns: true if success

Implements yarp::dev::IRGBDSensor.

Definition at line 431 of file RGBDSensorClient.cpp.

◆ getDepthFOV()

bool RGBDSensorClient::getDepthFOV	(	double &	horizontalFov,
		double &	verticalFov
	)

overridevirtual

Get the field of view (FOV) of the depth camera.

Parameters

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

Returns: true if success

Implements yarp::dev::IRGBDSensor.

Definition at line 411 of file RGBDSensorClient.cpp.

◆ getDepthHeight()

int RGBDSensorClient::getDepthHeight ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IRGBDSensor.

Definition at line 396 of file RGBDSensorClient.cpp.

◆ getDepthImage()

bool RGBDSensorClient::getDepthImage	(	yarp::sig::ImageOf< yarp::sig::PixelFloat > &	depthImage,
		yarp::os::Stamp *	timeStamp = `nullptr`
	)

overridevirtual

Get the depth frame from the device.

The pixel type of the source image will usually be set as a VOCAB_PIXEL_RGB, but the user can call the function with the pixel type of his/her choice. The conversion if possible, will be done automatically on client side (TO BO VERIFIED). Note: this will consume CPU power because it will not use GPU optimization. Use VOCAB_PIXEL_RGB for best performances.

Parameters

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

Returns: True on success

Implements yarp::dev::IRGBDSensor.

Definition at line 323 of file RGBDSensorClient.cpp.

◆ getDepthIntrinsicParam()

bool RGBDSensorClient::getDepthIntrinsicParam ( yarp::os::Property & intrinsic )

overridevirtual

Get the intrinsic parameters of the depth camera.

Parameters

intrinsic return a Property containing intrinsic parameters of the optical model of the camera.

Returns: true if success

The yarp::os::Property describing the intrinsic parameters is expected to be in the form:

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
rectificationMatrix	-	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

Implements yarp::dev::IRGBDSensor.

Definition at line 441 of file RGBDSensorClient.cpp.

◆ getDepthMirroring()

bool RGBDSensorClient::getDepthMirroring ( bool & mirror )

overridevirtual

Get the mirroring setting of the sensor.

Parameters

mirror true if image is mirrored, false otherwise

Returns: true if success

Implements yarp::dev::IDepthVisualParams.

Definition at line 446 of file RGBDSensorClient.cpp.

◆ getDepthWidth()

int RGBDSensorClient::getDepthWidth ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IRGBDSensor.

Definition at line 401 of file RGBDSensorClient.cpp.

◆ getExtrinsicParam()

bool RGBDSensorClient::getExtrinsicParam ( yarp::sig::Matrix & extrinsic )

overridevirtual

Get the extrinsic parameters from the device.

Parameters

extrinsic return a rototranslation matrix describing the position of the depth optical frame with respect to the rgb frame

Returns: true if success

Implements yarp::dev::IRGBDSensor.

Definition at line 275 of file RGBDSensorClient.cpp.

◆ getImages()

bool RGBDSensorClient::getImages	(	yarp::sig::FlexImage &	colorFrame,
		yarp::sig::ImageOf< yarp::sig::PixelFloat > &	depthFrame,
		yarp::os::Stamp *	colorStamp = `nullptr`,
		yarp::os::Stamp *	depthStamp = `nullptr`
	)

overridevirtual

Get the both the color and depth frame in a single call.

Implementation should assure the best possible synchronization is achieved accordingly to synch policy set by the user. TimeStamps are referred to acquisition time of the corresponding piece of information. If the device is not providing TimeStamps, then 'timeStamp' field should be set to '-1'.

Parameters

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

Returns: true if able to get both data.

Implements yarp::dev::IRGBDSensor.

Definition at line 328 of file RGBDSensorClient.cpp.

◆ getLastErrorMsg()

std::string RGBDSensorClient::getLastErrorMsg ( yarp::os::Stamp * timeStamp = nullptr )

overridevirtual

Return an error message in case of error.

For debugging purpose and user notification. Error message will be reset after any successful command

Returns: A string explaining the last error occurred.

Implements yarp::dev::IRGBDSensor.

Definition at line 307 of file RGBDSensorClient.cpp.

◆ getRgbFOV()

bool RGBDSensorClient::getRgbFOV	(	double &	horizontalFov,
		double &	verticalFov
	)

overridevirtual

Get the field of view (FOV) of the rgb camera.

Parameters

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

Returns: true on success

Implements yarp::dev::IRGBDSensor.

Definition at line 368 of file RGBDSensorClient.cpp.

◆ getRgbHeight()

int RGBDSensorClient::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRGBDSensor.

Definition at line 343 of file RGBDSensorClient.cpp.

◆ getRgbImage()

bool RGBDSensorClient::getRgbImage	(	yarp::sig::FlexImage &	rgbImage,
		yarp::os::Stamp *	timeStamp = `nullptr`
	)

overridevirtual

Get the rgb frame from the device.

The pixel type of the source image will usually be set as a VOCAB_PIXEL_RGB, but the user can call the function with the pixel type of his/her choice. The conversion if possible, will be done automatically on client side (TO BO VERIFIED). Note: this will consume CPU power because it will not use GPU optimization. Use VOCAB_PIXEL_RGB for best performances.

Parameters

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

Returns: True on success

Implements yarp::dev::IRGBDSensor.

Definition at line 318 of file RGBDSensorClient.cpp.

◆ getRgbIntrinsicParam()

bool RGBDSensorClient::getRgbIntrinsicParam ( yarp::os::Property & intrinsic )

overridevirtual

Get the intrinsic parameters of the rgb camera.

Parameters

intrinsic return a Property containing intrinsic parameters of the optical model of the camera.

Returns: true if success

The yarp::os::Property describing the intrinsic parameters is expected to be in the form:

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
rectificationMatrix	-	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

Implements yarp::dev::IRGBDSensor.

Definition at line 378 of file RGBDSensorClient.cpp.

◆ getRgbMirroring()

bool RGBDSensorClient::getRgbMirroring ( bool & mirror )

overridevirtual

Get the mirroring setting of the sensor.

Parameters

mirror true if image is mirrored, false otherwise

Returns: true if success

Implements yarp::dev::IRgbVisualParams.

Definition at line 383 of file RGBDSensorClient.cpp.

◆ getRgbResolution()

bool RGBDSensorClient::getRgbResolution	(	int &	width,
		int &	height
	)

overridevirtual

Get the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Reimplemented from yarp::dev::IRGBDSensor.

Definition at line 358 of file RGBDSensorClient.cpp.

◆ getRgbSupportedConfigurations()

bool RGBDSensorClient::getRgbSupportedConfigurations ( yarp::sig::VectorOf< yarp::dev::CameraConfig > & configurations )

overridevirtual

Get the possible configurations of the camera.

Parameters

configurations list of camera supported configurations as CameraConfig type

Returns: true on success

Reimplemented from yarp::dev::IRGBDSensor.

Definition at line 353 of file RGBDSensorClient.cpp.

◆ getRgbWidth()

int RGBDSensorClient::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRGBDSensor.

Definition at line 348 of file RGBDSensorClient.cpp.

◆ getSensorStatus()

IRGBDSensor::RGBDSensor_status RGBDSensorClient::getSensorStatus ( )

overridevirtual

Get the surrent status of the sensor, using enum type.

Returns: an enum representing the status of the robot or an error code if any error is present

Implements yarp::dev::IRGBDSensor.

Definition at line 295 of file RGBDSensorClient.cpp.

◆ initialize_YARP()

bool RGBDSensorClient::initialize_YARP ( yarp::os::Searchable & config )

protected

Definition at line 149 of file RGBDSensorClient.cpp.

◆ open()

bool RGBDSensorClient::open ( yarp::os::Searchable & config )

overridevirtual

Create and configure a device, by name.

The config object should have a property called "device" that is set to the common name of the device. All other properties are passed on the the device's DeviceDriver::open method.

Parameters

config configuration options for the device

Returns: the device, if it could be created and configured, otherwise NULL. The user is responsible for deallocating the device.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 39 of file RGBDSensorClient.cpp.

◆ operator=() [1/2]

RGBDSensorClient & RGBDSensorClient::operator= ( const RGBDSensorClient & )

delete

◆ operator=() [2/2]

RGBDSensorClient & RGBDSensorClient::operator= ( RGBDSensorClient && )

delete

◆ setDepthAccuracy()

bool RGBDSensorClient::setDepthAccuracy ( double accuracy )

overridevirtual

Set the minimum detectable variation in distance [meter] when possible.

Parameters

the	desired resolution in meters.

Returns: true on success

Implements yarp::dev::IRGBDSensor.

Definition at line 426 of file RGBDSensorClient.cpp.

◆ setDepthClipPlanes()

bool RGBDSensorClient::setDepthClipPlanes	(	double	nearPlane,
		double	farPlane
	)

overridevirtual

Set the clipping planes of the sensor.

Parameters

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.

Returns: true if success

Implements yarp::dev::IRGBDSensor.

Definition at line 436 of file RGBDSensorClient.cpp.

◆ setDepthFOV()

bool RGBDSensorClient::setDepthFOV	(	double	horizontalFov,
		double	verticalFov
	)

overridevirtual

Set the field of view (FOV) of the depth camera.

Parameters

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

Returns: true on success

Implements yarp::dev::IRGBDSensor.

Definition at line 416 of file RGBDSensorClient.cpp.

◆ setDepthMirroring()

bool RGBDSensorClient::setDepthMirroring ( bool mirror )

overridevirtual

Set the mirroring setting of the sensor.

Parameters

mirror true if image should be mirrored, false otherwise

Returns: true if success

Implements yarp::dev::IDepthVisualParams.

Definition at line 451 of file RGBDSensorClient.cpp.

◆ setDepthResolution()

bool RGBDSensorClient::setDepthResolution	(	int	width,
		int	height
	)

overridevirtual

Set the resolution of the depth image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implements yarp::dev::IRGBDSensor.

Definition at line 406 of file RGBDSensorClient.cpp.

◆ setRgbFOV()

bool RGBDSensorClient::setRgbFOV	(	double	horizontalFov,
		double	verticalFov
	)

overridevirtual

Set the field of view (FOV) of the rgb camera.

Parameters

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

Returns: true on success

Implements yarp::dev::IRGBDSensor.

Definition at line 373 of file RGBDSensorClient.cpp.

◆ setRgbMirroring()

bool RGBDSensorClient::setRgbMirroring ( bool mirror )

overridevirtual

Set the mirroring setting of the sensor.

Parameters

mirror true if image should be mirrored, false otherwise

Returns: true if success

Implements yarp::dev::IRgbVisualParams.

Definition at line 388 of file RGBDSensorClient.cpp.

◆ setRgbResolution()

bool RGBDSensorClient::setRgbResolution	(	int	width,
		int	height
	)

overridevirtual

Set the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implements yarp::dev::IRGBDSensor.

Definition at line 363 of file RGBDSensorClient.cpp.

Member Data Documentation

◆ colorFrame_StreamingPort

RgbImageBufferedPort RGBDSensorClient::colorFrame_StreamingPort

protected

Definition at line 99 of file RGBDSensorClient.h.

◆ colorStamp

yarp::os::Stamp RGBDSensorClient::colorStamp

protected

Definition at line 132 of file RGBDSensorClient.h.

◆ depth_carrier_type

std::string RGBDSensorClient::depth_carrier_type

protected

Definition at line 97 of file RGBDSensorClient.h.

◆ depthFrame_StreamingPort

FloatImageBufferedPort RGBDSensorClient::depthFrame_StreamingPort

protected

Definition at line 100 of file RGBDSensorClient.h.

◆ depthStamp

yarp::os::Stamp RGBDSensorClient::depthStamp

protected

Definition at line 133 of file RGBDSensorClient.h.

◆ image_carrier_type

std::string RGBDSensorClient::image_carrier_type

protected

Definition at line 96 of file RGBDSensorClient.h.

◆ local_colorFrame_StreamingPort_name

std::string RGBDSensorClient::local_colorFrame_StreamingPort_name

protected

Definition at line 92 of file RGBDSensorClient.h.

◆ local_depthFrame_StreamingPort_name

std::string RGBDSensorClient::local_depthFrame_StreamingPort_name

protected

Definition at line 93 of file RGBDSensorClient.h.

◆ local_rpcPort_name

std::string RGBDSensorClient::local_rpcPort_name

protected

Definition at line 103 of file RGBDSensorClient.h.

◆ remote_colorFrame_StreamingPort_name

std::string RGBDSensorClient::remote_colorFrame_StreamingPort_name

protected

Definition at line 94 of file RGBDSensorClient.h.

◆ remote_depthFrame_StreamingPort_name

std::string RGBDSensorClient::remote_depthFrame_StreamingPort_name

protected

Definition at line 95 of file RGBDSensorClient.h.

◆ remote_rpcPort_name

std::string RGBDSensorClient::remote_rpcPort_name

protected

Definition at line 104 of file RGBDSensorClient.h.

◆ rpcPort

yarp::os::Port RGBDSensorClient::rpcPort

protected

Definition at line 87 of file RGBDSensorClient.h.

◆ sensor_p

yarp::dev::IRGBDSensor* RGBDSensorClient::sensor_p {nullptr}

protected

Definition at line 126 of file RGBDSensorClient.h.

◆ sensorId

std::string RGBDSensorClient::sensorId

protected

Definition at line 125 of file RGBDSensorClient.h.

◆ sensorStatus

IRGBDSensor::RGBDSensor_status RGBDSensorClient::sensorStatus {IRGBDSensor::RGBD_SENSOR_NOT_READY}

protected

Definition at line 127 of file RGBDSensorClient.h.

◆ streamingReader

RGBDSensor_StreamingMsgParser* RGBDSensorClient::streamingReader {nullptr}

protected

Definition at line 137 of file RGBDSensorClient.h.

◆ verbose

int RGBDSensorClient::verbose {2}

protected

Definition at line 128 of file RGBDSensorClient.h.

The documentation for this class was generated from the following files:

src/devices/RGBDSensorClient/RGBDSensorClient.h
src/devices/RGBDSensorClient/RGBDSensorClient.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ RGBDSensorClient() [1/3]

◆ RGBDSensorClient() [2/3]

◆ RGBDSensorClient() [3/3]

◆ ~RGBDSensorClient()

Member Function Documentation

◆ close()

◆ fromConfig()

◆ getDepthAccuracy()

◆ getDepthClipPlanes()

◆ getDepthFOV()

◆ getDepthHeight()

◆ getDepthImage()

◆ getDepthIntrinsicParam()

◆ getDepthMirroring()

◆ getDepthWidth()

◆ getExtrinsicParam()

◆ getImages()

◆ getLastErrorMsg()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbImage()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ getSensorStatus()

◆ initialize_YARP()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthMirroring()

◆ setDepthResolution()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()

Member Data Documentation

◆ colorFrame_StreamingPort

◆ colorStamp

◆ depth_carrier_type

◆ depthFrame_StreamingPort

◆ depthStamp

◆ image_carrier_type

◆ local_colorFrame_StreamingPort_name

◆ local_depthFrame_StreamingPort_name

◆ local_rpcPort_name

◆ remote_colorFrame_StreamingPort_name

◆ remote_depthFrame_StreamingPort_name

◆ remote_rpcPort_name

◆ rpcPort

◆ sensor_p

◆ sensorId

◆ sensorStatus

◆ streamingReader

◆ verbose