A generic interface for cameras that have both color camera as well as depth camera sensor, like kinect device. More...

#include <yarp/dev/IRGBDSensor.h>

Inheritance diagram for yarp::dev::IRGBDSensor:

Public Types
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 Member Functions
virtual	~IRGBDSensor ()

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

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

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

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

virtual 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)=0
	Get the both the color and depth frame in a single call.

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 ()

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

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

virtual yarp::dev::ReturnValue	getRgbSupportedConfigurations (std::vector< yarp::dev::CameraConfig > &configurations)=0
	Get the possible configurations of the camera.

virtual yarp::dev::ReturnValue	getRgbResolution (int &width, int &height)=0
	Get the resolution of the rgb image from the camera.

virtual yarp::dev::ReturnValue	setRgbResolution (int width, int height)=0
	Set the resolution of the rgb image from the camera.

virtual yarp::dev::ReturnValue	getRgbFOV (double &horizontalFov, double &verticalFov)=0
	Get the field of view (FOV) of the rgb camera.

virtual yarp::dev::ReturnValue	setRgbFOV (double horizontalFov, double verticalFov)=0
	Set the field of view (FOV) of the rgb camera.

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

virtual yarp::dev::ReturnValue	getRgbMirroring (bool &mirror)=0
	Get the mirroring setting of the sensor.

virtual yarp::dev::ReturnValue	setRgbMirroring (bool mirror)=0
	Set the mirroring setting of the sensor.

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

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

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

virtual yarp::dev::ReturnValue	getDepthResolution (int &width, int &height)=0
	Get the resolution of the depth image from the camera.

virtual yarp::dev::ReturnValue	setDepthResolution (int width, int height)=0
	Set the resolution of the depth image from the camera.

virtual yarp::dev::ReturnValue	getDepthFOV (double &horizontalFov, double &verticalFov)=0
	Get the field of view (FOV) of the depth camera.

virtual yarp::dev::ReturnValue	setDepthFOV (double horizontalFov, double verticalFov)=0
	Set the field of view (FOV) of the depth camera.

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

virtual yarp::dev::ReturnValue	getDepthAccuracy (double &accuracy)=0
	Get the minimum detectable variation in distance [meter].

virtual yarp::dev::ReturnValue	setDepthAccuracy (double accuracy)=0
	Set the minimum detectable variation in distance [meter] when possible.

virtual yarp::dev::ReturnValue	getDepthClipPlanes (double &nearPlane, double &farPlane)=0
	Get the clipping planes of the sensor.

virtual yarp::dev::ReturnValue	setDepthClipPlanes (double nearPlane, double farPlane)=0
	Set the clipping planes of the sensor.

virtual yarp::dev::ReturnValue	getDepthMirroring (bool &mirror)=0
	Get the mirroring setting of the sensor.

virtual yarp::dev::ReturnValue	setDepthMirroring (bool mirror)=0
	Set the mirroring setting of the sensor.

Detailed Description

A generic interface for cameras that have both color camera as well as depth camera sensor, like kinect device.

This interface uses the existing IRgbVisualParams and IDepthVisualParams interfaces to retrieve the information about the cameras. This device extends the functionality by adding methods for getting extrinsic parameters and to actually retrieve the images. The images can be synchronized on client side by using the PortSynchronizer object. How the synch policy is implemented depends on the client device, custom policy can be used.

Definition at line 36 of file IRGBDSensor.h.

Member Enumeration Documentation

◆ RGBDSensor_status

enum yarp::dev::IRGBDSensor::RGBDSensor_status

Enumerator
RGBD_SENSOR_NOT_READY
RGBD_SENSOR_OK_STANDBY
RGBD_SENSOR_OK_IN_USE
RGB_SENSOR_ERROR
DEPTH_SENSOR_ERROR
RGBD_SENSOR_GENERIC_ERROR
RGBD_SENSOR_TIMEOUT

Definition at line 45 of file IRGBDSensor.h.

Constructor & Destructor Documentation

◆ ~IRGBDSensor()

yarp::dev::IRGBDSensor::~IRGBDSensor ( )

virtualdefault

Member Function Documentation

◆ getDepthImage()

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

pure virtual

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

Implemented in RGBDSensor_nwc_yarp.

◆ getExtrinsicParam()

virtual yarp::dev::ReturnValue yarp::dev::IRGBDSensor::getExtrinsicParam ( yarp::sig::Matrix & extrinsic )

pure virtual

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

Implemented in realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, RGBDSensor_nwc_yarp, and depthCameraDriver.

◆ getImages()

virtual yarp::dev::ReturnValue yarp::dev::IRGBDSensor::getImages	(	yarp::sig::FlexImage &	colorFrame,
		yarp::sig::ImageOf< yarp::sig::PixelFloat > &	depthFrame,
		yarp::os::Stamp *	colorStamp = `nullptr`,
		yarp::os::Stamp *	depthStamp = `nullptr`
	)

pure virtual

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.

Implemented in RGBDSensor_nwc_yarp.

◆ getLastErrorMsg()

virtual yarp::dev::ReturnValue yarp::dev::IRGBDSensor::getLastErrorMsg	(	std::string &	message,
		yarp::os::Stamp *	timeStamp = `nullptr`
	)

pure virtual

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

Implemented in FakeDepthCameraDriver_mini, and RGBDSensor_nwc_yarp.

◆ getRgbImage()

virtual yarp::dev::ReturnValue yarp::dev::IRGBDSensor::getRgbImage	(	yarp::sig::FlexImage &	rgbImage,
		yarp::os::Stamp *	timeStamp = `nullptr`
	)

pure virtual

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

Implemented in depthCameraDriver, realsense2Driver, FakeDepthCameraDriver_mini, RgbdSensor_nwc_ros2, and RGBDSensor_nwc_yarp.

◆ getSensorStatus()

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

pure virtual

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

Parameters

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

Returns: True on success

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

src/libYARP_dev/src/yarp/dev/IRGBDSensor.h
src/libYARP_dev/src/yarp/dev/IRGBDSensor.cpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ RGBDSensor_status

Constructor & Destructor Documentation

◆ ~IRGBDSensor()

Member Function Documentation

◆ getDepthImage()

◆ getExtrinsicParam()

◆ getImages()

◆ getLastErrorMsg()

◆ getRgbImage()

◆ getSensorStatus()