fakeDepthCamera: Documentation to be added More...

#include <fake/fakeDepthCamera/FakeDepthCameraDriver.h>

Inheritance diagram for FakeDepthCameraDriver:

Public Member Functions
	FakeDepthCameraDriver ()

	~FakeDepthCameraDriver () override

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

bool	close () override
	Close the DeviceDriver.

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

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

bool	getRgbSupportedConfigurations (yarp::sig::VectorOf< yarp::dev::CameraConfig > &configurations) override
	Get the possible configurations of the camera.

bool	getRgbResolution (int &width, int &height) override
	Get the resolution of the rgb image from the camera.

bool	setRgbResolution (int width, int height) override
	Set the resolution of the rgb image from the camera.

bool	getRgbFOV (double &horizontalFov, double &verticalFov) override
	Get the field of view (FOV) of the rgb camera.

bool	setRgbFOV (double horizontalFov, double verticalFov) override
	Set the field of view (FOV) of the rgb camera.

bool	getRgbMirroring (bool &mirror) override
	Get the mirroring setting of the sensor.

bool	setRgbMirroring (bool mirror) override
	Set the mirroring setting of the sensor.

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

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

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

bool	setDepthResolution (int width, int height) override
	Set the resolution of the depth image from the camera.

bool	getDepthFOV (double &horizontalFov, double &verticalFov) override
	Get the field of view (FOV) of the depth camera.

bool	setDepthFOV (double horizontalFov, double verticalFov) override
	Set the field of view (FOV) of the depth camera.

bool	getDepthIntrinsicParam (Property &intrinsic) override
	Get the intrinsic parameters of the depth camera.

double	getDepthAccuracy () override
	Get the minimum detectable variation in distance [meter].

bool	setDepthAccuracy (double accuracy) override
	Set the minimum detectable variation in distance [meter] when possible.

bool	getDepthClipPlanes (double &nearPlane, double &farPlane) override
	Get the clipping planes of the sensor.

bool	setDepthClipPlanes (double nearPlane, double farPlane) override
	Set the clipping planes of the sensor.

bool	getDepthMirroring (bool &mirror) override
	Get the mirroring setting of the sensor.

bool	setDepthMirroring (bool mirror) override
	Set the mirroring setting of the sensor.

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

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

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

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

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

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

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::IRGBDSensor
virtual	~IRGBDSensor ()

bool	getRgbSupportedConfigurations (yarp::sig::VectorOf< CameraConfig > &configurations) override
	Get the possible configurations of the camera.

bool	getRgbResolution (int &width, int &height) override
	Get the resolution of the rgb image from the camera.

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

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.

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 FakeDepthCameraDriver_ParamsParser
	FakeDepthCameraDriver_ParamsParser ()

	~FakeDepthCameraDriver_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 ()

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 FakeDepthCameraDriver_ParamsParser
const std::string	m_device_classname = {"FakeDepthCameraDriver"}

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_rgb_h_defaultValue = {"480.0"}

const std::string	m_rgb_w_defaultValue = {"640.0"}

const std::string	m_dep_h_defaultValue = {"480.0"}

const std::string	m_dep_w_defaultValue = {"640.0"}

const std::string	m_accuracy_defaultValue = {"0.001"}

const std::string	m_rgb_Vfov_defaultValue = {"50.0"}

const std::string	m_rgb_Hfov_defaultValue = {"36.0"}

const std::string	m_dep_Vfov_defaultValue = {"50.0"}

const std::string	m_dep_Hfov_defaultValue = {"36.0"}

const std::string	m_dep_near_defaultValue = {"0.2"}

const std::string	m_dep_far_defaultValue = {"6.0"}

double	m_rgb_h = {480.0}

double	m_rgb_w = {640.0}

double	m_dep_h = {480.0}

double	m_dep_w = {640.0}

double	m_accuracy = {0.001}

double	m_rgb_Vfov = {50.0}

double	m_rgb_Hfov = {36.0}

double	m_dep_Vfov = {50.0}

double	m_dep_Hfov = {36.0}

double	m_dep_near = {0.2}

double	m_dep_far = {6.0}

Detailed Description

fakeDepthCamera: Documentation to be added

Parameters required by this device are shown in class: FakeDepthCameraDriver_ParamsParser

The device internally opens a fakeFrameGrabber, so check also FakeFrameGrabber_ParamsParser

Definition at line 29 of file FakeDepthCameraDriver.h.

Constructor & Destructor Documentation

◆ FakeDepthCameraDriver()

FakeDepthCameraDriver::FakeDepthCameraDriver ( )

Definition at line 24 of file FakeDepthCameraDriver.cpp.

◆ ~FakeDepthCameraDriver()

FakeDepthCameraDriver::~FakeDepthCameraDriver ( )

overridedefault

Member Function Documentation

◆ close()

bool FakeDepthCameraDriver::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 44 of file FakeDepthCameraDriver.cpp.

◆ getDepthAccuracy()

double FakeDepthCameraDriver::getDepthAccuracy ( )

overridevirtual

Get the minimum detectable variation in distance [meter].

Returns: the sensor resolution in meters.

Implements yarp::dev::IRGBDSensor.

Definition at line 173 of file FakeDepthCameraDriver.cpp.

◆ getDepthClipPlanes()

bool FakeDepthCameraDriver::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 178 of file FakeDepthCameraDriver.cpp.

◆ getDepthFOV()

bool FakeDepthCameraDriver::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 148 of file FakeDepthCameraDriver.cpp.

◆ getDepthHeight()

int FakeDepthCameraDriver::getDepthHeight ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IRGBDSensor.

Definition at line 138 of file FakeDepthCameraDriver.cpp.

◆ getDepthImage()

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

override

Definition at line 227 of file FakeDepthCameraDriver.cpp.

◆ getDepthIntrinsicParam()

bool FakeDepthCameraDriver::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 155 of file FakeDepthCameraDriver.cpp.

◆ getDepthMirroring()

bool FakeDepthCameraDriver::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 192 of file FakeDepthCameraDriver.cpp.

◆ getDepthWidth()

int FakeDepthCameraDriver::getDepthWidth ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IRGBDSensor.

Definition at line 143 of file FakeDepthCameraDriver.cpp.

◆ getExtrinsicParam()

bool FakeDepthCameraDriver::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 203 of file FakeDepthCameraDriver.cpp.

◆ getImages()

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

override

Definition at line 245 of file FakeDepthCameraDriver.cpp.

◆ getLastErrorMsg()

std::string FakeDepthCameraDriver::getLastErrorMsg ( 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

Returns: A string explaining the last error occurred.

Implements yarp::dev::IRGBDSensor.

Definition at line 255 of file FakeDepthCameraDriver.cpp.

◆ getRgbFOV()

bool FakeDepthCameraDriver::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 102 of file FakeDepthCameraDriver.cpp.

◆ getRgbHeight()

int FakeDepthCameraDriver::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRGBDSensor.

Definition at line 49 of file FakeDepthCameraDriver.cpp.

◆ getRgbImage()

bool FakeDepthCameraDriver::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 215 of file FakeDepthCameraDriver.cpp.

◆ getRgbIntrinsicParam()

bool FakeDepthCameraDriver::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 120 of file FakeDepthCameraDriver.cpp.

◆ getRgbMirroring()

bool FakeDepthCameraDriver::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 109 of file FakeDepthCameraDriver.cpp.

◆ getRgbResolution()

bool FakeDepthCameraDriver::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::IRgbVisualParams.

Definition at line 65 of file FakeDepthCameraDriver.cpp.

◆ getRgbSupportedConfigurations()

bool FakeDepthCameraDriver::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::IRgbVisualParams.

Definition at line 59 of file FakeDepthCameraDriver.cpp.

◆ getRgbWidth()

int FakeDepthCameraDriver::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRGBDSensor.

Definition at line 54 of file FakeDepthCameraDriver.cpp.

◆ getSensorStatus()

IRGBDSensor::RGBDSensor_status FakeDepthCameraDriver::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 250 of file FakeDepthCameraDriver.cpp.

◆ open()

bool FakeDepthCameraDriver::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 30 of file FakeDepthCameraDriver.cpp.

◆ setDepthAccuracy()

bool FakeDepthCameraDriver::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 96 of file FakeDepthCameraDriver.cpp.

◆ setDepthClipPlanes()

bool FakeDepthCameraDriver::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 185 of file FakeDepthCameraDriver.cpp.

◆ setDepthFOV()

bool FakeDepthCameraDriver::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 89 of file FakeDepthCameraDriver.cpp.

◆ setDepthMirroring()

bool FakeDepthCameraDriver::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 198 of file FakeDepthCameraDriver.cpp.

◆ setDepthResolution()

bool FakeDepthCameraDriver::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 77 of file FakeDepthCameraDriver.cpp.

◆ setRgbFOV()

bool FakeDepthCameraDriver::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 82 of file FakeDepthCameraDriver.cpp.

◆ setRgbMirroring()

bool FakeDepthCameraDriver::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 115 of file FakeDepthCameraDriver.cpp.

◆ setRgbResolution()

bool FakeDepthCameraDriver::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 72 of file FakeDepthCameraDriver.cpp.

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

src/devices/fake/fakeDepthCamera/FakeDepthCameraDriver.h
src/devices/fake/fakeDepthCamera/FakeDepthCameraDriver.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakeDepthCameraDriver()

◆ ~FakeDepthCameraDriver()

Member Function Documentation

◆ close()

◆ getDepthAccuracy()

◆ getDepthClipPlanes()

◆ getDepthFOV()

◆ getDepthHeight()

◆ getDepthImage()

◆ getDepthIntrinsicParam()

◆ getDepthMirroring()

◆ getDepthWidth()

◆ getExtrinsicParam()

◆ getImages()

◆ getLastErrorMsg()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbImage()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ getSensorStatus()

◆ open()

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthMirroring()

◆ setDepthResolution()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()