#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-device-realsense2/src/devices/realsense2/realsense2Driver.h>

Inheritance diagram for realsense2Driver:

Public Member Functions
	realsense2Driver ()

	~realsense2Driver () 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=NULL, Stamp depthStamp=NULL) override

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

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

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	getImage (yarp::sig::ImageOf< yarp::sig::PixelMono > &image) override
	Get an image from the frame grabber. More...

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

int	width () const override
	Return the width of each frame. 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::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::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelMono > >
virtual bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelMono > &image)=0
	Get an image from the frame grabber. More...

virtual bool	getImageCrop (cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, yarp::sig::ImageOf< yarp::sig::PixelMono > &image)
	Get a crop of the image from the frame grabber. More...

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

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

virtual int	width () const =0
	Return the width of each frame. 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	initializeRealsenseDevice ()

bool	setParams ()

bool	getImage (FlexImage &Frame, Stamp *timeStamp, rs2::frameset &sourceFrame)

bool	getImage (depthImage &Frame, Stamp *timeStamp, const rs2::frameset &sourceFrame)

void	updateTransformations ()

bool	pipelineStartup ()

bool	pipelineShutdown ()

bool	pipelineRestart ()

bool	setFramerate (const int _fps)

void	fallback ()

Protected Attributes
std::mutex	m_mutex

rs2::context	m_ctx

rs2::config	m_cfg

rs2::pipeline	m_pipeline

rs2::pipeline_profile	m_profile

rs2::device	m_device

std::vector< rs2::sensor >	m_sensors

rs2::sensor *	m_depth_sensor

rs2::sensor *	m_color_sensor

rs2_intrinsics	m_depth_intrin {}

rs2_intrinsics	m_color_intrin {}

rs2_intrinsics	m_infrared_intrin {}

rs2_extrinsics	m_depth_to_color {}

rs2_extrinsics	m_color_to_depth {}

rs2_stream	m_alignment_stream {RS2_STREAM_COLOR}

bool	m_depthQuantizationEnabled {false}

int	m_depthDecimalNum {0}

yarp::os::Stamp	m_rgb_stamp

yarp::os::Stamp	m_depth_stamp

std::string	m_lastError

yarp::dev::RGBDSensorParamParser	m_paramParser

bool	m_verbose

bool	m_initialized

bool	m_stereoMode

bool	m_needAlignment

int	m_fps

float	m_scale

bool	m_rotateImage180 {false}

std::vector< cameraFeature_id_t >	m_supportedFeatures

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

Definition at line 29 of file realsense2Driver.h.

Constructor & Destructor Documentation

◆ realsense2Driver()

realsense2Driver::realsense2Driver ( )

Definition at line 432 of file realsense2Driver.cpp.

◆ ~realsense2Driver()

realsense2Driver::~realsense2Driver ( )

overridedefault

Member Function Documentation

◆ close()

bool realsense2Driver::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Reimplemented in realsense2withIMUDriver.

Definition at line 813 of file realsense2Driver.cpp.

◆ fallback()

void realsense2Driver::fallback ( )

protected

Definition at line 521 of file realsense2Driver.cpp.

◆ getActive()

bool realsense2Driver::getActive	(	int	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 1406 of file realsense2Driver.cpp.

◆ getCameraDescription()

bool realsense2Driver::getCameraDescription ( 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 1186 of file realsense2Driver.cpp.

◆ getDepthAccuracy()

double realsense2Driver::getDepthAccuracy ( )

overridevirtual

Get the minimum detectable variation in distance [meter].

Returns: the sensor resolution in meters.

Implements yarp::dev::IRGBDSensor.

Definition at line 972 of file realsense2Driver.cpp.

◆ getDepthClipPlanes()

bool realsense2Driver::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 982 of file realsense2Driver.cpp.

◆ getDepthFOV()

bool realsense2Driver::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 958 of file realsense2Driver.cpp.

◆ getDepthHeight()

int realsense2Driver::getDepthHeight ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IRGBDSensor.

Definition at line 948 of file realsense2Driver.cpp.

◆ getDepthImage()

bool realsense2Driver::getDepthImage	(	depthImage &	depthImage,
		Stamp *	timeStamp = `nullptr`
	)

override

Definition at line 1046 of file realsense2Driver.cpp.

◆ getDepthIntrinsicParam()

bool realsense2Driver::getDepthIntrinsicParam ( 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 967 of file realsense2Driver.cpp.

◆ getDepthMirroring()

bool realsense2Driver::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 1007 of file realsense2Driver.cpp.

◆ getDepthWidth()

int realsense2Driver::getDepthWidth ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IRGBDSensor.

Definition at line 953 of file realsense2Driver.cpp.

◆ getExtrinsicParam()

bool realsense2Driver::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 1019 of file realsense2Driver.cpp.

◆ getFeature() [1/2]

bool realsense2Driver::getFeature	(	int	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 1284 of file realsense2Driver.cpp.

◆ getFeature() [2/2]

bool realsense2Driver::getFeature	(	int	feature,
		double *	value1,
		double *	value2
	)

overridevirtual

Get the current value for the requested feature.

Parameters

feature	the identifier of the feaature 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 1351 of file realsense2Driver.cpp.

◆ getImage() [1/3]

bool realsense2Driver::getImage	(	depthImage &	Frame,
		Stamp *	timeStamp,
		const rs2::frameset &	sourceFrame
	)

protected

Definition at line 1108 of file realsense2Driver.cpp.

◆ getImage() [2/3]

bool realsense2Driver::getImage	(	FlexImage &	Frame,
		Stamp *	timeStamp,
		rs2::frameset &	sourceFrame
	)

protected

Definition at line 1068 of file realsense2Driver.cpp.

◆ getImage() [3/3]

bool realsense2Driver::getImage ( yarp::sig::ImageOf< yarp::sig::PixelMono > & image )

overridevirtual

Get an image from the frame grabber.

Parameters

image the image to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelMono > >.

Definition at line 1595 of file realsense2Driver.cpp.

◆ getImages()

bool realsense2Driver::getImages	(	FlexImage &	colorFrame,
		depthImage &	depthFrame,
		Stamp *	colorStamp = `NULL`,
		Stamp *	depthStamp = `NULL`
	)

override

Definition at line 1154 of file realsense2Driver.cpp.

◆ getLastErrorMsg()

std::string realsense2Driver::getLastErrorMsg ( 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 1181 of file realsense2Driver.cpp.

◆ getMode()

bool realsense2Driver::getMode	(	int	feature,
		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 1538 of file realsense2Driver.cpp.

◆ getRgbFOV()

bool realsense2Driver::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 922 of file realsense2Driver.cpp.

◆ getRgbHeight()

int realsense2Driver::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRGBDSensor.

Definition at line 819 of file realsense2Driver.cpp.

◆ getRgbImage()

bool realsense2Driver::getRgbImage	(	FlexImage &	rgbImage,
		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 1024 of file realsense2Driver.cpp.

◆ getRgbIntrinsicParam()

bool realsense2Driver::getRgbIntrinsicParam ( 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 943 of file realsense2Driver.cpp.

◆ getRgbMirroring()

bool realsense2Driver::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 931 of file realsense2Driver.cpp.

◆ getRgbResolution()

bool realsense2Driver::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 835 of file realsense2Driver.cpp.

◆ getRgbSupportedConfigurations()

bool realsense2Driver::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 829 of file realsense2Driver.cpp.

◆ getRgbWidth()

int realsense2Driver::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRGBDSensor.

Definition at line 824 of file realsense2Driver.cpp.

◆ getSensorStatus()

IRGBDSensor::RGBDSensor_status realsense2Driver::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 1176 of file realsense2Driver.cpp.

◆ hasAuto()

bool realsense2Driver::hasAuto	(	int	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 1438 of file realsense2Driver.cpp.

◆ hasFeature()

bool realsense2Driver::hasFeature	(	int	feature,
		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 1193 of file realsense2Driver.cpp.

◆ hasManual()

bool realsense2Driver::hasManual	(	int	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 1457 of file realsense2Driver.cpp.

◆ hasOnePush()

bool realsense2Driver::hasOnePush	(	int	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 1477 of file realsense2Driver.cpp.

◆ hasOnOff()

bool realsense2Driver::hasOnOff	(	int	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 1357 of file realsense2Driver.cpp.

◆ height()

int realsense2Driver::height ( ) const

overridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 1635 of file realsense2Driver.cpp.

◆ initializeRealsenseDevice()

bool realsense2Driver::initializeRealsenseDevice ( )

inlineprotected

Definition at line 530 of file realsense2Driver.cpp.

◆ open()

bool realsense2Driver::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.

Reimplemented in realsense2withIMUDriver.

Definition at line 767 of file realsense2Driver.cpp.

◆ pipelineRestart()

bool realsense2Driver::pipelineRestart ( )

protected

Definition at line 483 of file realsense2Driver.cpp.

◆ pipelineShutdown()

bool realsense2Driver::pipelineShutdown ( )

protected

Definition at line 468 of file realsense2Driver.cpp.

◆ pipelineStartup()

bool realsense2Driver::pipelineStartup ( )

protected

Definition at line 453 of file realsense2Driver.cpp.

◆ setActive()

bool realsense2Driver::setActive	(	int	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 1376 of file realsense2Driver.cpp.

◆ setDepthAccuracy()

bool realsense2Driver::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 912 of file realsense2Driver.cpp.

◆ setDepthClipPlanes()

bool realsense2Driver::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 996 of file realsense2Driver.cpp.

◆ setDepthFOV()

bool realsense2Driver::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 906 of file realsense2Driver.cpp.

◆ setDepthMirroring()

bool realsense2Driver::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 1013 of file realsense2Driver.cpp.

◆ setDepthResolution()

bool realsense2Driver::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 842 of file realsense2Driver.cpp.

◆ setFeature() [1/2]

bool realsense2Driver::setFeature	(	int	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 1207 of file realsense2Driver.cpp.

◆ setFeature() [2/2]

bool realsense2Driver::setFeature	(	int	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 1345 of file realsense2Driver.cpp.

◆ setFramerate()

bool realsense2Driver::setFramerate ( const int _fps )

protected

Definition at line 493 of file realsense2Driver.cpp.

◆ setMode()

bool realsense2Driver::setMode	(	int	feature,
		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 1489 of file realsense2Driver.cpp.

◆ setOnePush()

bool realsense2Driver::setOnePush ( int 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 1574 of file realsense2Driver.cpp.

◆ setParams()

bool realsense2Driver::setParams ( )

inlineprotected

Definition at line 638 of file realsense2Driver.cpp.

◆ setRgbFOV()

bool realsense2Driver::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 900 of file realsense2Driver.cpp.

◆ setRgbMirroring()

bool realsense2Driver::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 937 of file realsense2Driver.cpp.

◆ setRgbResolution()

bool realsense2Driver::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 865 of file realsense2Driver.cpp.

◆ updateTransformations()

void realsense2Driver::updateTransformations ( )

protected

Definition at line 619 of file realsense2Driver.cpp.

◆ width()

int realsense2Driver::width ( ) const

overridevirtual

Return the width of each frame.

Returns: image width

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 1640 of file realsense2Driver.cpp.

Member Data Documentation

◆ m_alignment_stream

rs2_stream realsense2Driver::m_alignment_stream {RS2_STREAM_COLOR}

protected

Definition at line 133 of file realsense2Driver.h.

◆ m_cfg

rs2::config realsense2Driver::m_cfg

protected

Definition at line 124 of file realsense2Driver.h.

◆ m_color_intrin

rs2_intrinsics realsense2Driver::m_color_intrin {}

protected

Definition at line 131 of file realsense2Driver.h.

◆ m_color_sensor

rs2::sensor* realsense2Driver::m_color_sensor

protected

Definition at line 130 of file realsense2Driver.h.

◆ m_color_to_depth

rs2_extrinsics realsense2Driver::m_color_to_depth {}

protected

Definition at line 132 of file realsense2Driver.h.

◆ m_ctx

rs2::context realsense2Driver::m_ctx

protected

Definition at line 123 of file realsense2Driver.h.

◆ m_depth_intrin

rs2_intrinsics realsense2Driver::m_depth_intrin {}

protected

Definition at line 131 of file realsense2Driver.h.

◆ m_depth_sensor

rs2::sensor* realsense2Driver::m_depth_sensor

protected

Definition at line 129 of file realsense2Driver.h.

◆ m_depth_stamp

yarp::os::Stamp realsense2Driver::m_depth_stamp

protected

Definition at line 141 of file realsense2Driver.h.

◆ m_depth_to_color

rs2_extrinsics realsense2Driver::m_depth_to_color {}

protected

Definition at line 132 of file realsense2Driver.h.

◆ m_depthDecimalNum

int realsense2Driver::m_depthDecimalNum {0}

protected

Definition at line 138 of file realsense2Driver.h.

◆ m_depthQuantizationEnabled

bool realsense2Driver::m_depthQuantizationEnabled {false}

protected

Definition at line 137 of file realsense2Driver.h.

◆ m_device

rs2::device realsense2Driver::m_device

protected

Definition at line 127 of file realsense2Driver.h.

◆ m_fps

int realsense2Driver::m_fps

protected

Definition at line 148 of file realsense2Driver.h.

◆ m_infrared_intrin

rs2_intrinsics realsense2Driver::m_infrared_intrin {}

protected

Definition at line 131 of file realsense2Driver.h.

◆ m_initialized

bool realsense2Driver::m_initialized

protected

Definition at line 145 of file realsense2Driver.h.

◆ m_lastError

std::string realsense2Driver::m_lastError

mutableprotected

Definition at line 142 of file realsense2Driver.h.

◆ m_mutex

std::mutex realsense2Driver::m_mutex

mutableprotected

Definition at line 122 of file realsense2Driver.h.

◆ m_needAlignment

bool realsense2Driver::m_needAlignment

protected

Definition at line 147 of file realsense2Driver.h.

◆ m_paramParser

yarp::dev::RGBDSensorParamParser realsense2Driver::m_paramParser

protected

Definition at line 143 of file realsense2Driver.h.

◆ m_pipeline

rs2::pipeline realsense2Driver::m_pipeline

protected

Definition at line 125 of file realsense2Driver.h.

◆ m_profile

rs2::pipeline_profile realsense2Driver::m_profile

protected

Definition at line 126 of file realsense2Driver.h.

◆ m_rgb_stamp

yarp::os::Stamp realsense2Driver::m_rgb_stamp

protected

Definition at line 140 of file realsense2Driver.h.

◆ m_rotateImage180

bool realsense2Driver::m_rotateImage180 {false}

protected

Definition at line 150 of file realsense2Driver.h.

◆ m_scale

float realsense2Driver::m_scale

protected

Definition at line 149 of file realsense2Driver.h.

◆ m_sensors

std::vector<rs2::sensor> realsense2Driver::m_sensors

protected

Definition at line 128 of file realsense2Driver.h.

◆ m_stereoMode

bool realsense2Driver::m_stereoMode

protected

Definition at line 146 of file realsense2Driver.h.

◆ m_supportedFeatures

std::vector<cameraFeature_id_t> realsense2Driver::m_supportedFeatures

protected

Definition at line 151 of file realsense2Driver.h.

◆ m_verbose

bool realsense2Driver::m_verbose

protected

Definition at line 144 of file realsense2Driver.h.

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

opt-modules/yarp-device-realsense2/src/devices/realsense2/realsense2Driver.h
opt-modules/yarp-device-realsense2/src/devices/realsense2/realsense2Driver.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ realsense2Driver()

◆ ~realsense2Driver()

Member Function Documentation

◆ close()

◆ fallback()

◆ getActive()

◆ getCameraDescription()

◆ getDepthAccuracy()

◆ getDepthClipPlanes()

◆ getDepthFOV()

◆ getDepthHeight()

◆ getDepthImage()

◆ getDepthIntrinsicParam()

◆ getDepthMirroring()

◆ getDepthWidth()

◆ getExtrinsicParam()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getImage() [1/3]

◆ getImage() [2/3]

◆ getImage() [3/3]

◆ getImages()

◆ getLastErrorMsg()

◆ getMode()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbImage()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ getSensorStatus()

◆ hasAuto()

◆ hasFeature()

◆ hasManual()

◆ hasOnePush()

◆ hasOnOff()

◆ height()

◆ initializeRealsenseDevice()

◆ open()

◆ pipelineRestart()

◆ pipelineShutdown()

◆ pipelineStartup()

◆ setActive()

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthMirroring()

◆ setDepthResolution()

◆ setFeature() [1/2]

◆ setFeature() [2/2]

◆ setFramerate()

◆ setMode()

◆ setOnePush()

◆ setParams()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()

◆ updateTransformations()

◆ width()

Member Data Documentation

◆ m_alignment_stream

◆ m_cfg

◆ m_color_intrin

◆ m_color_sensor

◆ m_color_to_depth

◆ m_ctx

◆ m_depth_intrin

◆ m_depth_sensor

◆ m_depth_stamp

◆ m_depth_to_color

◆ m_depthDecimalNum

◆ m_depthQuantizationEnabled