RGBDSensorFromRosTopic is a driver for a virtual RGBD device: the data is not originated from a physical sensor but from a ROS topic. More...

#include <RGBDSensorFromRosTopic/RGBDSensorFromRosTopic.h>

Inheritance diagram for RGBDSensorFromRosTopic:

Public Member Functions
	~RGBDSensorFromRosTopic () override=default

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

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

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	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...

bool	getRgbIntrinsicParam (Property &intrinsic) override
	Get the intrinsic parameters of the rgb camera. 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...

bool	getDepthIntrinsicParam (Property &intrinsic) override
	Get the intrinsic parameters 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 &nearPlane, double &farPlane) override
	Get the clipping planes of the sensor. More...

bool	setDepthClipPlanes (double nearPlane, double farPlane) override
	Set the clipping planes of the sensor. 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	getExtrinsicParam (yarp::sig::Matrix &extrinsic) override
	Get the extrinsic parameters from the device. More...

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

bool	getDepthImage (depthImage &depthImage, Stamp *timeStamp=nullptr) override

bool	getImages (FlexImage &colorFrame, depthImage &depthFrame, Stamp colorStamp=nullptr, Stamp depthStamp=nullptr) override

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

std::string	getLastErrorMsg (Stamp *timeStamp=nullptr) override
	Return an error message in case of error. 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::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...

Public Attributes
std::mutex	m_mutex

yarp::os::Node *	m_ros_node = nullptr

yarp::dev::RGBDRosConversionUtils::commonImageProcessor *	m_rgb_input_processor = nullptr

yarp::dev::RGBDRosConversionUtils::commonImageProcessor *	m_depth_input_processor = nullptr

std::string	m_lastError

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

RGBDSensorFromRosTopic is a driver for a virtual RGBD device: the data is not originated from a physical sensor but from a ROS topic.

This device driver exposes the IRGBDSensor interface to read the images published by a ROS node. See the documentation for more details about each interface.

This device can be used in two different ways:

as a client, directly opened by your application
as a device, wrapped by a RGBDSensorWrapper

When used as a client, the RGBDSensorFromRosTopic device directly connects to the ROS publisher via tcp_ros carrier. This mode does not use a RGBDSensorWrapper and thus minimize latency. It is thus recommended when the application consists of a single client. However, if multiple clients are involved, as shown in the diagram below, this architecture might be inefficient, due to the multiple tcp_ros connections.

The second mode, instead, is useful if the application consists of several modules, and each of them employ a client connected to the same server (RGBDSensorWrapper). In this case, if all the modules run on the same machine, the unix_stream can be employed to share data between them, minimizing data transfer operations and greatly boosting the performance. See the digram below.

YARP device name
`RGBDSensorFromRosTopic`

Parameters used by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
color_topic_name	-	string	-	-	Yes	The device connects to this ROS topic to get RGB data (there must be also camera_info with the last subtopic)

| depth_topic_name | - | string | - | - | Yes | The device connects to this ROS topic to get Depth data (there must be also camera_info with the last subtopic) | | * | node_name | - | string | - | - | Yes | the name of the ros node | | | node_name | - | string | - | - | Yes | the name of the ros node | | * | node_name | - | string | - | - | Yes | the name of the ros node | |

Example of configuration file (using .ini format) when the device is wrapped by RGBDSensorWrapper.

device       RGBDSensorWrapper
subdevice    RGBDSensorFromRosTopic
color_topic_name    /camera/color/image_raw
depth_topic_name    /camera/depth/image_raw
node_name    RGBDSensorFromRosTopic

Definition at line 187 of file RGBDSensorFromRosTopic.h.

Constructor & Destructor Documentation

◆ ~RGBDSensorFromRosTopic()

RGBDSensorFromRosTopic::~RGBDSensorFromRosTopic ( )

overridedefault

Member Function Documentation

◆ close()

bool RGBDSensorFromRosTopic::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 69 of file RGBDSensorFromRosTopic.cpp.

◆ getDepthAccuracy()

double RGBDSensorFromRosTopic::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

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

rgbImage	the image to be filled.
timeStamp	time in which the image was acquired. Optional, ignored if nullptr.

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

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~RGBDSensorFromRosTopic()

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()

Member Data Documentation

◆ m_depth_input_processor

◆ m_lastError

◆ m_mutex

◆ m_rgb_input_processor

◆ m_ros_node