This class implements an nwc for ros2 for an rgbd sensor. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/rgbdSensor_nwc_ros2/RgbdSensor_nwc_ros2.h>

Inheritance diagram for RgbdSensor_nwc_ros2:

Public Member Functions
	RgbdSensor_nwc_ros2 ()

	RgbdSensor_nwc_ros2 (const RgbdSensor_nwc_ros2 &)=delete

	RgbdSensor_nwc_ros2 (RgbdSensor_nwc_ros2 &&) noexcept=delete

RgbdSensor_nwc_ros2 &	operator= (const RgbdSensor_nwc_ros2 &)=delete

RgbdSensor_nwc_ros2 &	operator= (RgbdSensor_nwc_ros2 &&) noexcept=delete

	~RgbdSensor_nwc_ros2 () override=default

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

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

void	run () override
	Main body of the new thread. 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 (yarp::os::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 (yarp::os::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 (yarp::sig::FlexImage &rgb_image, yarp::os::Stamp *rgb_image_stamp=NULL) override
	Get the rgb frame from the device. More...

bool	getDepthImage (depthImage &depth_image, yarp::os::Stamp *depth_image_stamp=nullptr) override

bool	getImages (yarp::sig::FlexImage &rgb_image, depthImage &depth_image, yarp::os::Stamp rgb_image_stamp=nullptr, yarp::os::Stamp depth_image_stamp=nullptr) override

void	callback (sensor_msgs::msg::CameraInfo::SharedPtr msg, std::string topic)

void	callback (sensor_msgs::msg::Image::SharedPtr msg, std::string topic)

void	depth_raw_callback (const sensor_msgs::msg::Image::SharedPtr msg)

void	depth_info_callback (const sensor_msgs::msg::CameraInfo::SharedPtr msg)

void	color_raw_callback (const sensor_msgs::msg::Image::SharedPtr msg)

void	color_info_callback (const sensor_msgs::msg::CameraInfo::SharedPtr msg)

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

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

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::os::Thread
	Thread ()
	Constructor. More...

virtual	~Thread ()
	Destructor. More...

virtual void	run ()=0
	Main body of the new thread. More...

virtual void	onStop ()
	Call-back, called while halting the thread (before join). More...

bool	start ()
	Start the new thread running. More...

bool	stop ()
	Stop the thread. More...

virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

bool	isStopping ()
	Returns true if the thread is stopping (Thread::stop has been called). More...

bool	isRunning ()
	Returns true if the thread is running (Thread::start has been called successfully and the thread has not stopped). More...

long int	getKey ()
	Get a unique identifier for the thread. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority ()
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy ()
	Query the current scheduling policy of the thread, if the OS supports that. More...

bool	join (double seconds=-1)
	The function returns when the thread execution has completed. More...

void	setOptions (int stackSize=0)
	Set the stack size for the new thread. 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...

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 }

Static Public Member Functions inherited from yarp::os::Thread
static int	getCount ()
	Check how many threads are running. More...

static long int	getKeyOfCaller ()
	Get a unique identifier for the calling thread. More...

static void	yield ()
	Reschedule the execution of current thread, allowing other threads to run. More...

static void	setDefaultStackSize (int stackSize)
	Set the default stack size for all threads created after this point. More...

Detailed Description

This class implements an nwc for ros2 for an rgbd sensor.

Definition at line 77 of file RgbdSensor_nwc_ros2.h.

Constructor & Destructor Documentation

◆ RgbdSensor_nwc_ros2() [1/3]

RgbdSensor_nwc_ros2::RgbdSensor_nwc_ros2 ( )

Definition at line 32 of file RgbdSensor_nwc_ros2.cpp.

◆ RgbdSensor_nwc_ros2() [2/3]

RgbdSensor_nwc_ros2::RgbdSensor_nwc_ros2 ( const RgbdSensor_nwc_ros2 & )

delete

◆ RgbdSensor_nwc_ros2() [3/3]

RgbdSensor_nwc_ros2::RgbdSensor_nwc_ros2 ( RgbdSensor_nwc_ros2 && )

deletenoexcept

◆ ~RgbdSensor_nwc_ros2()

RgbdSensor_nwc_ros2::~RgbdSensor_nwc_ros2 ( )

overridedefault

Member Function Documentation

◆ callback() [1/2]

void RgbdSensor_nwc_ros2::callback	(	sensor_msgs::msg::CameraInfo::SharedPtr	msg,
		std::string	topic
	)

Definition at line 107 of file RgbdSensor_nwc_ros2.cpp.

◆ callback() [2/2]

void RgbdSensor_nwc_ros2::callback	(	sensor_msgs::msg::Image::SharedPtr	msg,
		std::string	topic
	)

Definition at line 97 of file RgbdSensor_nwc_ros2.cpp.

◆ close()

bool RgbdSensor_nwc_ros2::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 71 of file RgbdSensor_nwc_ros2.cpp.

◆ color_info_callback()

void RgbdSensor_nwc_ros2::color_info_callback ( const sensor_msgs::msg::CameraInfo::SharedPtr msg )

Definition at line 143 of file RgbdSensor_nwc_ros2.cpp.

◆ color_raw_callback()

void RgbdSensor_nwc_ros2::color_raw_callback ( const sensor_msgs::msg::Image::SharedPtr msg )

Definition at line 135 of file RgbdSensor_nwc_ros2.cpp.

◆ depth_info_callback()

void RgbdSensor_nwc_ros2::depth_info_callback ( const sensor_msgs::msg::CameraInfo::SharedPtr msg )

Definition at line 125 of file RgbdSensor_nwc_ros2.cpp.

◆ depth_raw_callback()

void RgbdSensor_nwc_ros2::depth_raw_callback ( const sensor_msgs::msg::Image::SharedPtr msg )

Definition at line 117 of file RgbdSensor_nwc_ros2.cpp.

◆ getDepthAccuracy()

double RgbdSensor_nwc_ros2::getDepthAccuracy ( )

overridevirtual

Get the minimum detectable variation in distance [meter].

Returns: the sensor resolution in meters.

Implements yarp::dev::IRGBDSensor.

Definition at line 324 of file RgbdSensor_nwc_ros2.cpp.

◆ getDepthClipPlanes()

bool RgbdSensor_nwc_ros2::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 330 of file RgbdSensor_nwc_ros2.cpp.

◆ getDepthFOV()

bool RgbdSensor_nwc_ros2::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 299 of file RgbdSensor_nwc_ros2.cpp.

◆ getDepthHeight()

int RgbdSensor_nwc_ros2::getDepthHeight ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IRGBDSensor.

Definition at line 287 of file RgbdSensor_nwc_ros2.cpp.

◆ getDepthImage()

bool RgbdSensor_nwc_ros2::getDepthImage	(	depthImage &	depth_image,
		yarp::os::Stamp *	depth_image_stamp = `nullptr`
	)

override

Definition at line 398 of file RgbdSensor_nwc_ros2.cpp.

◆ getDepthIntrinsicParam()

bool RgbdSensor_nwc_ros2::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 313 of file RgbdSensor_nwc_ros2.cpp.

◆ getDepthMirroring()

bool RgbdSensor_nwc_ros2::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 342 of file RgbdSensor_nwc_ros2.cpp.

◆ getDepthWidth()

int RgbdSensor_nwc_ros2::getDepthWidth ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IRGBDSensor.

Definition at line 293 of file RgbdSensor_nwc_ros2.cpp.

◆ getExtrinsicParam()

bool RgbdSensor_nwc_ros2::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 354 of file RgbdSensor_nwc_ros2.cpp.

◆ getImages()

bool RgbdSensor_nwc_ros2::getImages	(	yarp::sig::FlexImage &	rgb_image,
		depthImage &	depth_image,
		yarp::os::Stamp *	rgb_image_stamp = `nullptr`,
		yarp::os::Stamp *	depth_image_stamp = `nullptr`
	)

override

Definition at line 432 of file RgbdSensor_nwc_ros2.cpp.

◆ getLastErrorMsg()

std::string RgbdSensor_nwc_ros2::getLastErrorMsg ( yarp::os::Stamp * timeStamp = NULL )

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 447 of file RgbdSensor_nwc_ros2.cpp.

◆ getRgbFOV()

bool RgbdSensor_nwc_ros2::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 249 of file RgbdSensor_nwc_ros2.cpp.

◆ getRgbHeight()

int RgbdSensor_nwc_ros2::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRGBDSensor.

Definition at line 187 of file RgbdSensor_nwc_ros2.cpp.

◆ getRgbImage()

bool RgbdSensor_nwc_ros2::getRgbImage	(	yarp::sig::FlexImage &	rgbImage,
		yarp::os::Stamp *	timeStamp = `NULL`
	)

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 364 of file RgbdSensor_nwc_ros2.cpp.

◆ getRgbIntrinsicParam()

bool RgbdSensor_nwc_ros2::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 276 of file RgbdSensor_nwc_ros2.cpp.

◆ getRgbMirroring()

bool RgbdSensor_nwc_ros2::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 264 of file RgbdSensor_nwc_ros2.cpp.

◆ getRgbResolution()

bool RgbdSensor_nwc_ros2::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 205 of file RgbdSensor_nwc_ros2.cpp.

◆ getRgbSupportedConfigurations()

bool RgbdSensor_nwc_ros2::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 199 of file RgbdSensor_nwc_ros2.cpp.

◆ getRgbWidth()

int RgbdSensor_nwc_ros2::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRGBDSensor.

Definition at line 193 of file RgbdSensor_nwc_ros2.cpp.

◆ getSensorStatus()

RgbdSensor_nwc_ros2::RGBDSensor_status RgbdSensor_nwc_ros2::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 441 of file RgbdSensor_nwc_ros2.cpp.

◆ open()

bool RgbdSensor_nwc_ros2::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. See device invocation examples. 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 36 of file RgbdSensor_nwc_ros2.cpp.

◆ operator=() [1/2]

RgbdSensor_nwc_ros2 & RgbdSensor_nwc_ros2::operator= ( const RgbdSensor_nwc_ros2 & )

delete

◆ operator=() [2/2]

RgbdSensor_nwc_ros2 & RgbdSensor_nwc_ros2::operator= ( RgbdSensor_nwc_ros2 && )

deletenoexcept

◆ run()

void RgbdSensor_nwc_ros2::run ( )

overridevirtual

Main body of the new thread.

Override this method to do what you want. After Thread::start is called, this method will start running in a separate thread. It is important that this method either keeps checking Thread::isStopping to see if it should stop, or you override the Thread::onStop method to interact with it in some way to shut the new thread down. There is no really reliable, portable way to stop a thread cleanly unless that thread cooperates.

Implements yarp::os::Thread.

Definition at line 79 of file RgbdSensor_nwc_ros2.cpp.

◆ setDepthAccuracy()

bool RgbdSensor_nwc_ros2::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 242 of file RgbdSensor_nwc_ros2.cpp.

◆ setDepthClipPlanes()

bool RgbdSensor_nwc_ros2::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 336 of file RgbdSensor_nwc_ros2.cpp.

◆ setDepthFOV()

bool RgbdSensor_nwc_ros2::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 236 of file RgbdSensor_nwc_ros2.cpp.

◆ setDepthMirroring()

bool RgbdSensor_nwc_ros2::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 348 of file RgbdSensor_nwc_ros2.cpp.

◆ setDepthResolution()

bool RgbdSensor_nwc_ros2::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 218 of file RgbdSensor_nwc_ros2.cpp.

◆ setRgbFOV()

bool RgbdSensor_nwc_ros2::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 230 of file RgbdSensor_nwc_ros2.cpp.

◆ setRgbMirroring()

bool RgbdSensor_nwc_ros2::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 270 of file RgbdSensor_nwc_ros2.cpp.

◆ setRgbResolution()

bool RgbdSensor_nwc_ros2::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 224 of file RgbdSensor_nwc_ros2.cpp.

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

opt-modules/yarp-devices-ros2/src/devices/rgbdSensor_nwc_ros2/RgbdSensor_nwc_ros2.h
opt-modules/yarp-devices-ros2/src/devices/rgbdSensor_nwc_ros2/RgbdSensor_nwc_ros2.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RgbdSensor_nwc_ros2() [1/3]

◆ RgbdSensor_nwc_ros2() [2/3]

◆ RgbdSensor_nwc_ros2() [3/3]

◆ ~RgbdSensor_nwc_ros2()

Member Function Documentation

◆ callback() [1/2]

◆ callback() [2/2]

◆ close()

◆ color_info_callback()

◆ color_raw_callback()

◆ depth_info_callback()

◆ depth_raw_callback()

◆ getDepthAccuracy()

◆ getDepthClipPlanes()

◆ getDepthFOV()

◆ getDepthHeight()

◆ getDepthImage()

◆ getDepthIntrinsicParam()

◆ getDepthMirroring()

◆ getDepthWidth()

◆ getExtrinsicParam()

◆ getImages()

◆ getLastErrorMsg()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbImage()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ getSensorStatus()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ run()

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthMirroring()

◆ setDepthResolution()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()