RGBDSensor_nwc_yarp: A Network client to receive data from kinect-like devices. More...

#include <networkWrappers/RGBDSensor_nwc_yarp/RGBDSensor_nwc_yarp.h>

Inheritance diagram for RGBDSensor_nwc_yarp:

Public Member Functions
	RGBDSensor_nwc_yarp ()

	RGBDSensor_nwc_yarp (const RGBDSensor_nwc_yarp &)=delete

	RGBDSensor_nwc_yarp (RGBDSensor_nwc_yarp &&)=delete

RGBDSensor_nwc_yarp &	operator= (const RGBDSensor_nwc_yarp &)=delete

RGBDSensor_nwc_yarp &	operator= (RGBDSensor_nwc_yarp &&)=delete

	~RGBDSensor_nwc_yarp () override

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

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

yarp::dev::ReturnValue	getRgbSupportedConfigurations (std::vector< yarp::dev::CameraConfig > &configurations) override
	Get the possible configurations of the camera.

yarp::dev::ReturnValue	getRgbResolution (int &width, int &height) override
	Get the resolution of the rgb image from the camera.

yarp::dev::ReturnValue	setRgbResolution (int width, int height) override
	Set the resolution of the rgb image from the camera.

yarp::dev::ReturnValue	getRgbFOV (double &horizontalFov, double &verticalFov) override
	Get the field of view (FOV) of the rgb camera.

yarp::dev::ReturnValue	setRgbFOV (double horizontalFov, double verticalFov) override
	Set the field of view (FOV) of the rgb camera.

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

yarp::dev::ReturnValue	getRgbMirroring (bool &mirror) override
	Get the mirroring setting of the sensor.

yarp::dev::ReturnValue	setRgbMirroring (bool mirror) override
	Set the mirroring setting of the sensor.

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

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

yarp::dev::ReturnValue	getDepthResolution (int &width, int &height) override
	Get the resolution of the depth image from the camera.

yarp::dev::ReturnValue	setDepthResolution (int width, int height) override
	Set the resolution of the depth image from the camera.

yarp::dev::ReturnValue	getDepthFOV (double &horizontalFov, double &verticalFov) override
	Get the field of view (FOV) of the depth camera.

yarp::dev::ReturnValue	setDepthFOV (double horizontalFov, double verticalFov) override
	Set the field of view (FOV) of the depth camera.

yarp::dev::ReturnValue	getDepthAccuracy (double &accuracy) override
	Get the minimum detectable variation in distance [meter].

yarp::dev::ReturnValue	setDepthAccuracy (double accuracy) override
	Set the minimum detectable variation in distance [meter] when possible.

yarp::dev::ReturnValue	getDepthClipPlanes (double &near, double &far) override
	Get the clipping planes of the sensor.

yarp::dev::ReturnValue	setDepthClipPlanes (double near, double far) override
	Set the clipping planes of the sensor.

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

yarp::dev::ReturnValue	getDepthMirroring (bool &mirror) override
	Get the mirroring setting of the sensor.

yarp::dev::ReturnValue	setDepthMirroring (bool mirror) override
	Set the mirroring setting of the sensor.

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

bool	close () override
	Close the DeviceDriver.

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

yarp::dev::ReturnValue	getSensorStatus (IRGBDSensor::RGBDSensor_status &status) override

yarp::dev::ReturnValue	getLastErrorMsg (std::string &message, yarp::os::Stamp *timeStamp=nullptr) override
	Return an error message in case of error.

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

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

yarp::dev::ReturnValue	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.

yarp::dev::ReturnValue	getCameraDescription (yarp::dev::CameraDescriptor &camera) override
	Get a basic description of the camera hw.

yarp::dev::ReturnValue	hasFeature (yarp::dev::cameraFeature_id_t feature, bool &hasFeature) override
	Check if camera has the requested feature (saturation, brightness ... )

yarp::dev::ReturnValue	setFeature (yarp::dev::cameraFeature_id_t feature, double value) override
	Set the requested feature to a value (saturation, brightness ... )

yarp::dev::ReturnValue	getFeature (yarp::dev::cameraFeature_id_t feature, double &value) override
	Get the current value for the requested feature.

yarp::dev::ReturnValue	setFeature (yarp::dev::cameraFeature_id_t feature, double value1, double value2) override
	Set the requested feature to a value using 2 params (like white balance)

yarp::dev::ReturnValue	getFeature (yarp::dev::cameraFeature_id_t feature, double &value1, double &value2) override
	Get the current value for the requested feature.

yarp::dev::ReturnValue	hasOnOff (yarp::dev::cameraFeature_id_t feature, bool &HasOnOff) override
	Check if the camera has the ability to turn on/off the requested feature.

yarp::dev::ReturnValue	setActive (yarp::dev::cameraFeature_id_t feature, bool onoff) override
	Set the requested feature on or off.

yarp::dev::ReturnValue	getActive (yarp::dev::cameraFeature_id_t feature, bool &isActive) override
	Get the current status of the feature, on or off.

yarp::dev::ReturnValue	hasAuto (yarp::dev::cameraFeature_id_t feature, bool &hasAuto) override
	Check if the requested feature has the 'auto' mode.

yarp::dev::ReturnValue	hasManual (yarp::dev::cameraFeature_id_t feature, bool &hasManual) override
	Check if the requested feature has the 'manual' mode.

yarp::dev::ReturnValue	hasOnePush (yarp::dev::cameraFeature_id_t feature, bool &hasOnePush) override
	Check if the requested feature has the 'onePush' mode.

yarp::dev::ReturnValue	setMode (yarp::dev::cameraFeature_id_t feature, yarp::dev::FeatureMode mode) override
	Set the requested mode for the feature.

yarp::dev::ReturnValue	getMode (yarp::dev::cameraFeature_id_t feature, yarp::dev::FeatureMode &mode) override
	Get the current mode for the feature.

yarp::dev::ReturnValue	setOnePush (yarp::dev::cameraFeature_id_t feature) override
	Set the requested feature to a value (saturation, brightness ... )

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

virtual	~DeviceDriver ()

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

virtual void	setId (const std::string &id)
	Set the id for this device.

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

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

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

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

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

virtual yarp::dev::ReturnValue	getSensorStatus (RGBDSensor_status &status)=0
	Get the current status of the sensor, using enum type.

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

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

Public Member Functions inherited from RGBDSensor_nwc_yarp_ParamsParser
	RGBDSensor_nwc_yarp_ParamsParser ()

	~RGBDSensor_nwc_yarp_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

bool	getParamValue (const std::string &paramName, std::string &paramValue) const override
	Return the value (represented as a string) of the requested parameter.

std::string	getConfiguration () const override
	Return the configuration of the device.

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

Protected Attributes
yarp::os::Port	m_rpcPort

RgbImageBufferedPort	m_colorFrame_StreamingPort

FloatImageBufferedPort	m_depthFrame_StreamingPort

std::mutex	m_mutex

RGBDSensorMsgs	m_rgbdsensor_RPC

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_STANDBY = 1 , RGBD_SENSOR_OK_IN_USE = 2 , RGB_SENSOR_ERROR = 3 , DEPTH_SENSOR_ERROR = 4 , RGBD_SENSOR_GENERIC_ERROR = 5 , RGBD_SENSOR_TIMEOUT = 6 }

Public Attributes inherited from RGBDSensor_nwc_yarp_ParamsParser
const std::string	m_device_classname = {"RGBDSensor_nwc_yarp"}

const std::string	m_device_name = {"RGBDSensor_nwc_yarp"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_period_defaultValue = {"0.03"}

const std::string	m_localImagePort_defaultValue = {"/RGBD_nwc/Image:o"}

const std::string	m_localDepthPort_defaultValue = {"/RGBD_nwc/Depth:o"}

const std::string	m_remoteImagePort_defaultValue = {"/RGBD_nws/Image:o"}

const std::string	m_remoteDepthPort_defaultValue = {"/RGBD_nws/Depth:i"}

const std::string	m_localRpcPort_defaultValue = {"/RGBD_nwc/rpc:o"}

const std::string	m_remoteRpcPort_defaultValue = {"/RGBD_nws/rpc:i"}

const std::string	m_ImageCarrier_defaultValue = {"udp"}

const std::string	m_DepthCarrier_defaultValue = {"udp"}

double	m_period = {0.03}

std::string	m_localImagePort = {"/RGBD_nwc/Image:o"}

std::string	m_localDepthPort = {"/RGBD_nwc/Depth:o"}

std::string	m_remoteImagePort = {"/RGBD_nws/Image:o"}

std::string	m_remoteDepthPort = {"/RGBD_nws/Depth:i"}

std::string	m_localRpcPort = {"/RGBD_nwc/rpc:o"}

std::string	m_remoteRpcPort = {"/RGBD_nws/rpc:i"}

std::string	m_ImageCarrier = {"udp"}

std::string	m_DepthCarrier = {"udp"}

Detailed Description

RGBDSensor_nwc_yarp: 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 RGBDSensor_nws_yarp to receive the data streams and perform remote operations.

Parameters required by this device are shown in class: RGBDSensor_nwc_yarp_ParamsParser

Definition at line 43 of file RGBDSensor_nwc_yarp.h.

Constructor & Destructor Documentation

◆ RGBDSensor_nwc_yarp() [1/3]

RGBDSensor_nwc_yarp::RGBDSensor_nwc_yarp ( )

Definition at line 19 of file RGBDSensor_nwc_yarp.cpp.

◆ RGBDSensor_nwc_yarp() [2/3]

RGBDSensor_nwc_yarp::RGBDSensor_nwc_yarp ( const RGBDSensor_nwc_yarp & )

delete

◆ RGBDSensor_nwc_yarp() [3/3]

RGBDSensor_nwc_yarp::RGBDSensor_nwc_yarp ( RGBDSensor_nwc_yarp && )

delete

◆ ~RGBDSensor_nwc_yarp()

RGBDSensor_nwc_yarp::~RGBDSensor_nwc_yarp ( )

override

Definition at line 24 of file RGBDSensor_nwc_yarp.cpp.

Member Function Documentation

◆ close()

bool RGBDSensor_nwc_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 98 of file RGBDSensor_nwc_yarp.cpp.

◆ getActive()

ReturnValue RGBDSensor_nwc_yarp::getActive	(	yarp::dev::cameraFeature_id_t	feature,
		bool &	isActive
	)

overridevirtual

Get the current status of the feature, on or off.

Parameters

feature	the identifier of the feature to check
isActive	flag true if the feature is active, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 426 of file RGBDSensor_nwc_yarp.cpp.

◆ getCameraDescription()

ReturnValue RGBDSensor_nwc_yarp::getCameraDescription ( yarp::dev::CameraDescriptor & camera )

overridevirtual

Get a basic description of the camera hw.

This is mainly used to determine the HW bus type in order to choose the corresponding interface for advanced controls.

Parameters

device returns an identifier for the bus

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 363 of file RGBDSensor_nwc_yarp.cpp.

◆ getDepthAccuracy()

ReturnValue RGBDSensor_nwc_yarp::getDepthAccuracy ( double & accuracy )

overridevirtual

Get the minimum detectable variation in distance [meter].

Parameters

accuracy will return the sensor resolution in meters.

Returns: true on success

Implements yarp::dev::IDepthVisualParams.

Definition at line 306 of file RGBDSensor_nwc_yarp.cpp.

◆ getDepthClipPlanes()

ReturnValue RGBDSensor_nwc_yarp::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::IDepthVisualParams.

Definition at line 321 of file RGBDSensor_nwc_yarp.cpp.

◆ getDepthFOV()

ReturnValue RGBDSensor_nwc_yarp::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::IDepthVisualParams.

Definition at line 290 of file RGBDSensor_nwc_yarp.cpp.

◆ getDepthHeight()

int RGBDSensor_nwc_yarp::getDepthHeight ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IDepthVisualParams.

Definition at line 260 of file RGBDSensor_nwc_yarp.cpp.

◆ getDepthImage()

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

overridevirtual

Get the depth frame from the device.

Parameters

depthImage	the depth image to be filled, depth measured in meters.
timeStamp	time in which the image was acquired. Optional, ignored if nullptr.

Returns: True on success

Implements yarp::dev::IRGBDSensor.

Definition at line 150 of file RGBDSensor_nwc_yarp.cpp.

◆ getDepthIntrinsicParam()

ReturnValue RGBDSensor_nwc_yarp::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::IDepthVisualParams.

Definition at line 337 of file RGBDSensor_nwc_yarp.cpp.

◆ getDepthMirroring()

ReturnValue RGBDSensor_nwc_yarp::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 345 of file RGBDSensor_nwc_yarp.cpp.

◆ getDepthResolution()

ReturnValue RGBDSensor_nwc_yarp::getDepthResolution	(	int &	width,
		int &	height
	)

overridevirtual

Get the resolution of the depth image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implements yarp::dev::IDepthVisualParams.

Definition at line 274 of file RGBDSensor_nwc_yarp.cpp.

◆ getDepthWidth()

int RGBDSensor_nwc_yarp::getDepthWidth ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IDepthVisualParams.

Definition at line 267 of file RGBDSensor_nwc_yarp.cpp.

◆ getExtrinsicParam()

ReturnValue RGBDSensor_nwc_yarp::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 109 of file RGBDSensor_nwc_yarp.cpp.

◆ getFeature() [1/2]

ReturnValue RGBDSensor_nwc_yarp::getFeature	(	yarp::dev::cameraFeature_id_t	feature,
		double &	value
	)

overridevirtual

Get the current value for the requested feature.

Parameters

feature	the identifier of the feature to read
value	pointer to current value of the feature, from 0 to 1 expressed as a percentage

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 387 of file RGBDSensor_nwc_yarp.cpp.

◆ getFeature() [2/2]

ReturnValue RGBDSensor_nwc_yarp::getFeature	(	yarp::dev::cameraFeature_id_t	feature,
		double &	value1,
		double &	value2
	)

overridevirtual

Get the current value for the requested feature.

Parameters

feature	the identifier of the feature to read
value1	returns the current value of the feature, from 0 to 1 expressed as a percentage
value2	returns the current value of the feature, from 0 to 1 expressed as a percentage

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 402 of file RGBDSensor_nwc_yarp.cpp.

◆ getImages()

ReturnValue RGBDSensor_nwc_yarp::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 162 of file RGBDSensor_nwc_yarp.cpp.

◆ getLastErrorMsg()

ReturnValue RGBDSensor_nwc_yarp::getLastErrorMsg	(	std::string &	message,
		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

Parameters

message A string explaining the last error occurred.

Returns: True on success

Implements yarp::dev::IRGBDSensor.

Definition at line 127 of file RGBDSensor_nwc_yarp.cpp.

◆ getMode()

ReturnValue RGBDSensor_nwc_yarp::getMode	(	yarp::dev::cameraFeature_id_t	feature,
		yarp::dev::FeatureMode &	mode
	)

overridevirtual

Get the current mode for the feature.

Parameters

feature	the identifier of the feature to change
hasAuto	flag true if the feature is has 'auto' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 465 of file RGBDSensor_nwc_yarp.cpp.

◆ getRgbFOV()

ReturnValue RGBDSensor_nwc_yarp::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::IRgbVisualParams.

Definition at line 218 of file RGBDSensor_nwc_yarp.cpp.

◆ getRgbHeight()

int RGBDSensor_nwc_yarp::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRgbVisualParams.

Definition at line 180 of file RGBDSensor_nwc_yarp.cpp.

◆ getRgbImage()

ReturnValue RGBDSensor_nwc_yarp::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, ignored if nullptr.

Returns: True on success

Implements yarp::dev::IRGBDSensor.

Definition at line 138 of file RGBDSensor_nwc_yarp.cpp.

◆ getRgbIntrinsicParam()

ReturnValue RGBDSensor_nwc_yarp::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::IRgbVisualParams.

Definition at line 234 of file RGBDSensor_nwc_yarp.cpp.

◆ getRgbMirroring()

ReturnValue RGBDSensor_nwc_yarp::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 242 of file RGBDSensor_nwc_yarp.cpp.

◆ getRgbResolution()

ReturnValue RGBDSensor_nwc_yarp::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

Implements yarp::dev::IRgbVisualParams.

Definition at line 202 of file RGBDSensor_nwc_yarp.cpp.

◆ getRgbSupportedConfigurations()

ReturnValue RGBDSensor_nwc_yarp::getRgbSupportedConfigurations ( std::vector< 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

Implements yarp::dev::IRgbVisualParams.

Definition at line 194 of file RGBDSensor_nwc_yarp.cpp.

◆ getRgbWidth()

int RGBDSensor_nwc_yarp::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRgbVisualParams.

Definition at line 187 of file RGBDSensor_nwc_yarp.cpp.

◆ getSensorStatus()

ReturnValue RGBDSensor_nwc_yarp::getSensorStatus ( IRGBDSensor::RGBDSensor_status & status )

override

Definition at line 118 of file RGBDSensor_nwc_yarp.cpp.

◆ hasAuto()

ReturnValue RGBDSensor_nwc_yarp::hasAuto	(	yarp::dev::cameraFeature_id_t	feature,
		bool &	hasAuto
	)

overridevirtual

Check if the requested feature has the 'auto' mode.

Parameters

feature	the identifier of the feature to check
hasAuto	flag true if the feature is has 'auto' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 434 of file RGBDSensor_nwc_yarp.cpp.

◆ hasFeature()

ReturnValue RGBDSensor_nwc_yarp::hasFeature	(	yarp::dev::cameraFeature_id_t	,
		bool &	hasFeature
	)

overridevirtual

Check if camera has the requested feature (saturation, brightness ... )

Parameters

feature	the identifier of the feature to check
hasFeature	flag value: true if the feature is present, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 372 of file RGBDSensor_nwc_yarp.cpp.

◆ hasManual()

ReturnValue RGBDSensor_nwc_yarp::hasManual	(	yarp::dev::cameraFeature_id_t	feature,
		bool &	hasManual
	)

overridevirtual

Check if the requested feature has the 'manual' mode.

Parameters

feature	the identifier of the feature to check
hasAuto	flag true if the feature is has 'manual' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 442 of file RGBDSensor_nwc_yarp.cpp.

◆ hasOnePush()

ReturnValue RGBDSensor_nwc_yarp::hasOnePush	(	yarp::dev::cameraFeature_id_t	feature,
		bool &	hasOnePush
	)

overridevirtual

Check if the requested feature has the 'onePush' mode.

Parameters

feature	the identifier of the feature to check
hasAuto	flag true if the feature is has 'onePush' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 450 of file RGBDSensor_nwc_yarp.cpp.

◆ hasOnOff()

ReturnValue RGBDSensor_nwc_yarp::hasOnOff	(	yarp::dev::cameraFeature_id_t	feature,
		bool &	HasOnOff
	)

overridevirtual

Check if the camera has the ability to turn on/off the requested feature.

Parameters

feature	the identifier of the feature to change
hasOnOff	flag true if this feature can be turned on/off, false otherwise.

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 411 of file RGBDSensor_nwc_yarp.cpp.

◆ open()

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

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 30 of file RGBDSensor_nwc_yarp.cpp.

◆ operator=() [1/2]

RGBDSensor_nwc_yarp & RGBDSensor_nwc_yarp::operator= ( const RGBDSensor_nwc_yarp & )

delete

◆ operator=() [2/2]

RGBDSensor_nwc_yarp & RGBDSensor_nwc_yarp::operator= ( RGBDSensor_nwc_yarp && )

delete

◆ setActive()

ReturnValue RGBDSensor_nwc_yarp::setActive	(	yarp::dev::cameraFeature_id_t	feature,
		bool	onoff
	)

overridevirtual

Set the requested feature on or off.

Parameters

feature	the identifier of the feature to change
onoff	true to activate, off to deactivate the feature

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 419 of file RGBDSensor_nwc_yarp.cpp.

◆ setDepthAccuracy()

ReturnValue RGBDSensor_nwc_yarp::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::IDepthVisualParams.

Definition at line 314 of file RGBDSensor_nwc_yarp.cpp.

◆ setDepthClipPlanes()

ReturnValue RGBDSensor_nwc_yarp::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::IDepthVisualParams.

Definition at line 330 of file RGBDSensor_nwc_yarp.cpp.

◆ setDepthFOV()

ReturnValue RGBDSensor_nwc_yarp::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::IDepthVisualParams.

Definition at line 299 of file RGBDSensor_nwc_yarp.cpp.

◆ setDepthMirroring()

ReturnValue RGBDSensor_nwc_yarp::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 353 of file RGBDSensor_nwc_yarp.cpp.

◆ setDepthResolution()

ReturnValue RGBDSensor_nwc_yarp::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::IDepthVisualParams.

Definition at line 283 of file RGBDSensor_nwc_yarp.cpp.

◆ setFeature() [1/2]

ReturnValue RGBDSensor_nwc_yarp::setFeature	(	yarp::dev::cameraFeature_id_t	feature,
		double	value
	)

overridevirtual

Set the requested feature to a value (saturation, brightness ... )

Parameters

feature	the identifier of the feature to change
value	new value of the feature, range from 0 to 1 expressed as a percentage

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 380 of file RGBDSensor_nwc_yarp.cpp.

◆ setFeature() [2/2]

ReturnValue RGBDSensor_nwc_yarp::setFeature	(	yarp::dev::cameraFeature_id_t	feature,
		double	value1,
		double	value2
	)

overridevirtual

Set the requested feature to a value using 2 params (like white balance)

Parameters

feature	the identifier of the feature to change
value1	first param, from 0 to 1 expressed as a percentage
value2	second param, from 0 to 1 expressed as a percentage

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 395 of file RGBDSensor_nwc_yarp.cpp.

◆ setMode()

ReturnValue RGBDSensor_nwc_yarp::setMode	(	yarp::dev::cameraFeature_id_t	feature,
		yarp::dev::FeatureMode	mode
	)

overridevirtual

Set the requested mode for the feature.

Parameters

feature	the identifier of the feature to change
auto_onoff	true to activate 'auto' mode, false to activate 'manual' mode

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 458 of file RGBDSensor_nwc_yarp.cpp.

◆ setOnePush()

ReturnValue RGBDSensor_nwc_yarp::setOnePush ( yarp::dev::cameraFeature_id_t feature )

overridevirtual

Set the requested feature to a value (saturation, brightness ... )

Parameters

feature	the identifier of the feature to change
value	new value of the feature, from 0 to 1 as a percentage of param range

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 473 of file RGBDSensor_nwc_yarp.cpp.

◆ setRgbFOV()

ReturnValue RGBDSensor_nwc_yarp::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::IRgbVisualParams.

Definition at line 227 of file RGBDSensor_nwc_yarp.cpp.

◆ setRgbMirroring()

ReturnValue RGBDSensor_nwc_yarp::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 250 of file RGBDSensor_nwc_yarp.cpp.

◆ setRgbResolution()

ReturnValue RGBDSensor_nwc_yarp::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::IRgbVisualParams.

Definition at line 211 of file RGBDSensor_nwc_yarp.cpp.

Member Data Documentation

◆ colorStamp

yarp::os::Stamp RGBDSensor_nwc_yarp::colorStamp

protected

Definition at line 64 of file RGBDSensor_nwc_yarp.h.

◆ depthStamp

yarp::os::Stamp RGBDSensor_nwc_yarp::depthStamp

protected

Definition at line 65 of file RGBDSensor_nwc_yarp.h.

◆ m_colorFrame_StreamingPort

RgbImageBufferedPort RGBDSensor_nwc_yarp::m_colorFrame_StreamingPort

protected

Definition at line 53 of file RGBDSensor_nwc_yarp.h.

◆ m_depthFrame_StreamingPort

FloatImageBufferedPort RGBDSensor_nwc_yarp::m_depthFrame_StreamingPort

protected

Definition at line 54 of file RGBDSensor_nwc_yarp.h.

◆ m_mutex

std::mutex RGBDSensor_nwc_yarp::m_mutex

protected

Definition at line 56 of file RGBDSensor_nwc_yarp.h.

◆ m_rgbdsensor_RPC

RGBDSensorMsgs RGBDSensor_nwc_yarp::m_rgbdsensor_RPC

protected

Definition at line 57 of file RGBDSensor_nwc_yarp.h.

◆ m_rpcPort

yarp::os::Port RGBDSensor_nwc_yarp::m_rpcPort

protected

Definition at line 50 of file RGBDSensor_nwc_yarp.h.

◆ sensor_p

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

protected

Definition at line 60 of file RGBDSensor_nwc_yarp.h.

◆ sensorStatus

IRGBDSensor::RGBDSensor_status RGBDSensor_nwc_yarp::sensorStatus {IRGBDSensor::RGBD_SENSOR_NOT_READY}

protected

Definition at line 61 of file RGBDSensor_nwc_yarp.h.

◆ streamingReader

RGBDSensor_StreamingMsgParser* RGBDSensor_nwc_yarp::streamingReader {nullptr}

protected

Definition at line 68 of file RGBDSensor_nwc_yarp.h.

◆ verbose

int RGBDSensor_nwc_yarp::verbose {2}

protected

Definition at line 62 of file RGBDSensor_nwc_yarp.h.

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

src/devices/networkWrappers/RGBDSensor_nwc_yarp/RGBDSensor_nwc_yarp.h
src/devices/networkWrappers/RGBDSensor_nwc_yarp/RGBDSensor_nwc_yarp.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RGBDSensor_nwc_yarp() [1/3]

◆ RGBDSensor_nwc_yarp() [2/3]

◆ RGBDSensor_nwc_yarp() [3/3]

◆ ~RGBDSensor_nwc_yarp()

Member Function Documentation

◆ close()

◆ getActive()

◆ getCameraDescription()

◆ getDepthAccuracy()

◆ getDepthClipPlanes()

◆ getDepthFOV()

◆ getDepthHeight()

◆ getDepthImage()

◆ getDepthIntrinsicParam()

◆ getDepthMirroring()

◆ getDepthResolution()

◆ getDepthWidth()

◆ getExtrinsicParam()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getImages()

◆ getLastErrorMsg()

◆ getMode()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbImage()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ getSensorStatus()

◆ hasAuto()

◆ hasFeature()

◆ hasManual()

◆ hasOnePush()

◆ hasOnOff()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setActive()

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthMirroring()

◆ setDepthResolution()

◆ setFeature() [1/2]

◆ setFeature() [2/2]

◆ setMode()

◆ setOnePush()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()

Member Data Documentation

◆ colorStamp

◆ depthStamp

◆ m_colorFrame_StreamingPort

◆ m_depthFrame_StreamingPort

◆ m_mutex

◆ m_rgbdsensor_RPC

◆ m_rpcPort

◆ sensor_p

◆ sensorStatus

◆ streamingReader

◆ verbose