realsense2 : driver for realsense2 compatible devices. More...

#include <realsense2/realsense2Driver.h>

Inheritance diagram for realsense2Driver:

Detailed Description

realsense2 : driver for realsense2 compatible devices.

@ingroup dev_impl_media

This device driver exposes the IRGBDSensor and IFrameGrabberControls interfaces to read the images and operate on the available settings. See the documentation for more details about each interface.

This device is paired with its server called RGBDSensorWrapper to stream the images and perform remote operations.

The configuration file is subdivided into 2 major sections called "SETTINGS" and "HW_DESCRIPTION".

The "SETTINGS" section is meant for read/write parameters, meaning parameters which can be get and set by the device. A common case of setting is the image resolution in pixel. This setting will be read by the device and it'll be applied in the startup phase. If the setting fails, the device will terminate the execution with a error message.

The "HW_DESCRIPTION" section is meant for read only parameters which describe the hardware property of the device and cannot be provided by the device through software API. A common case is the 'Field Of View' property, which may or may not be supported by the physical device. When a property is present in the HW_DESCRIPTION group, the YARP RGBDSensorClient will report this value when asked for and setting will be disabled. This group can also be used to by-pass realsense2 API in case some functionality is not correctly working with the current device. For example the 'clipPlanes' property may return incorrect values or values using non-standard measurement unit. In this case using the HW_DESCRIPTION, a user can override the value got from OpenNI2 API with a custom value.

Note: Parameters inside the HW_DESCRIPTION are read only, so the relative set functionality will be disabled.; For parameters which are neither in SETTINGS nor in HW_DESCRIPTION groups, read / write functionality is assumed but not initial setting will be performed. Device will start with manufacturer default values.

Warning: A single parameter cannot be present into both SETTINGS and HW_DESCRIPTION groups.; whenever more then one value is required by the setting, the values must be in parentheses!

YARP device name
`realsense2`

Parameters used by this device are:

Parameter name	SubParameter	Type	Read / write	Units	Default Value	Required	Description	Notes
stereoMode	-	bool	Read / write		false	No(see notes)	Flag for using the realsense as stereo camera	This option is to use it with yarp::dev::ServerGrabber as network wrapper. The stereo images provided are raw images(yarp::sig::PixelMono) and note that not all the realsense devices have the stereo streams.
verbose	-	bool	Read / write		false	No	Flag for enabling debug prints
SETTINGS	-	group	Read / write	-	-	Yes	Initial setting of the device.	Properties must be read/writable in order for setting to work
	rgbResolution	int, int	Read / write	pixels	-	Yes	Size of rgb image in pixels	2 values expected as height, width
	depthResolution	int, int	Read / write	pixels	-	Yes	Size of depth image in pixels	Values are height, width
	accuracy	double	Read / write	meters	-	No	Accuracy of the device, as the depth measurement error at 1 meter distance	Note that only few realsense devices allows to set it
	framerate	int	Read / Write	fps	30	No	Framerate of the sensor
	enableEmitter	bool	Read / Write	-	true	No	Flag for enabling the IR emitter(if supported by the sensor)
	needAlignment	bool	Read / Write	-	true	No	Flag for enabling the alignment of the depth frame over the rgb frame	This option is deprecated, please use alignmentFrame instead.
	alignmentFrame	string	Read / Write	-	RGB	No	This parameter specifies the frame to which the frames RGB and Depth will be aligned.	The accepted values are RGB, Depth, None. This operation could be heavy, set it to None to increase the fps.
HW_DESCRIPTION	-	group		-	-	Yes	Hardware description of device property.	Read only property. Setting will be disabled
	clipPlanes	double, double	Read / write	meters	-	No	Minimum and maximum distance at which an object is seen by the depth sensor	parameter introduced mainly for simulated sensors, it can be used to set the clip planes if Openni gives wrong values

Configuration file using .ini format, for using as RGBD device:

device       RGBDSensorWrapper
subdevice    realsense2
name         /depthCamera
 
[SETTINGS]
depthResolution (640 480)    #Note the parentheses
rgbResolution   (640 480)
framerate       30
enableEmitter   true
alignmentFrame  RGB
 
[HW_DESCRIPTION]
clipPlanes (0.2 10.0)

Configuration file using .ini format, for using as stereo camera:

device       grabberDual
subdevice    realsense2
name         /stereoCamera
capabilities RAW
stereoMode   true
 
[SETTINGS]
rgbResolution   (640 480)
depthResolution   (640 480)
framerate       30
enableEmitter   false
 
[HW_DESCRIPTION]
clipPlanes (0.2 10.0)

Definition at line 121 of file realsense2Driver.h.

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 a raw 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 () override=default
	Destructor. 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	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...

cameraFeature_id_t	featureVOCABEnum (int vocab)

int	featureEnum2Vocab (cameraFeature_id_t _enum)

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

Public Member Functions inherited from yarp::dev::IFrameGrabberImageRaw
virtual	~IFrameGrabberImageRaw ()
	Destructor. 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 rgb image from the frame grabber, if required demosaicking/color reconstruction is applied. More...

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

virtual bool	getDepthImage (yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthImage, yarp::os::Stamp *timeStamp=NULL)=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=NULL, yarp::os::Stamp depthStamp=NULL)=0
	Get the both the color and depth frame in a single call. More...

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

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

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}

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

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 }

Constructor & Destructor Documentation

◆ realsense2Driver()

realsense2Driver::realsense2Driver ( )

Definition at line 421 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 779 of file realsense2Driver.cpp.

◆ fallback()

void realsense2Driver::fallback ( )

protected

Definition at line 510 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 1322 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 1102 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 938 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 948 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 924 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 914 of file realsense2Driver.cpp.

◆ getDepthImage()

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

override

Definition at line 1002 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
retificationMatrix	-	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 933 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 973 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 919 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 985 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 1200 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 1267 of file realsense2Driver.cpp.

◆ getImage() [1/3]

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

protected

Definition at line 1046 of file realsense2Driver.cpp.

◆ getImage() [2/3]

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

protected

Definition at line 1014 of file realsense2Driver.cpp.

◆ getImage() [3/3]

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

overridevirtual

Get a raw image from the frame grabber.

Parameters

image the image to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberImageRaw.

Definition at line 1511 of file realsense2Driver.cpp.

◆ getImages()

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

override

Definition at line 1080 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 1097 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 1454 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 888 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 785 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 990 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
retificationMatrix	-	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 909 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 897 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 801 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 795 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 790 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 1092 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 1354 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 1109 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 1373 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 1393 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 1273 of file realsense2Driver.cpp.

◆ height()

int realsense2Driver::height ( ) const

overridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImageRaw.

Definition at line 1541 of file realsense2Driver.cpp.

◆ initializeRealsenseDevice()

bool realsense2Driver::initializeRealsenseDevice ( )

inlineprotected

Definition at line 519 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 748 of file realsense2Driver.cpp.

◆ pipelineRestart()

bool realsense2Driver::pipelineRestart ( )

protected

Definition at line 472 of file realsense2Driver.cpp.

◆ pipelineShutdown()

bool realsense2Driver::pipelineShutdown ( )

protected

Definition at line 457 of file realsense2Driver.cpp.

◆ pipelineStartup()

bool realsense2Driver::pipelineStartup ( )

protected

Definition at line 442 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 1292 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 878 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 962 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 872 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 979 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 808 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 1123 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 1261 of file realsense2Driver.cpp.

◆ setFramerate()

bool realsense2Driver::setFramerate ( const int _fps )

protected

Definition at line 482 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 1405 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 1490 of file realsense2Driver.cpp.

◆ setParams()

bool realsense2Driver::setParams ( )

inlineprotected

Definition at line 619 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 866 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 903 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 831 of file realsense2Driver.cpp.

◆ updateTransformations()

void realsense2Driver::updateTransformations ( )

protected

Definition at line 600 of file realsense2Driver.cpp.

◆ width()

int realsense2Driver::width ( ) const

overridevirtual

Return the width of each frame.

Returns: image width

Implements yarp::dev::IFrameGrabberImageRaw.

Definition at line 1546 of file realsense2Driver.cpp.

Member Data Documentation

◆ m_alignment_stream

rs2_stream realsense2Driver::m_alignment_stream {RS2_STREAM_COLOR}

protected

Definition at line 224 of file realsense2Driver.h.

◆ m_cfg

rs2::config realsense2Driver::m_cfg

protected

Definition at line 215 of file realsense2Driver.h.

◆ m_color_intrin

rs2_intrinsics realsense2Driver::m_color_intrin {}

protected

Definition at line 222 of file realsense2Driver.h.

◆ m_color_sensor

rs2::sensor* realsense2Driver::m_color_sensor

protected

Definition at line 221 of file realsense2Driver.h.

◆ m_color_to_depth

rs2_extrinsics realsense2Driver::m_color_to_depth {}

protected

Definition at line 223 of file realsense2Driver.h.

◆ m_ctx

rs2::context realsense2Driver::m_ctx

protected

Definition at line 214 of file realsense2Driver.h.

◆ m_depth_intrin

rs2_intrinsics realsense2Driver::m_depth_intrin {}

protected

Definition at line 222 of file realsense2Driver.h.

◆ m_depth_sensor

rs2::sensor* realsense2Driver::m_depth_sensor

protected

Definition at line 220 of file realsense2Driver.h.

◆ m_depth_stamp

yarp::os::Stamp realsense2Driver::m_depth_stamp

protected

Definition at line 228 of file realsense2Driver.h.

◆ m_depth_to_color

rs2_extrinsics realsense2Driver::m_depth_to_color {}

protected

Definition at line 223 of file realsense2Driver.h.

◆ m_device

rs2::device realsense2Driver::m_device

protected

Definition at line 218 of file realsense2Driver.h.

◆ m_fps

int realsense2Driver::m_fps

protected

Definition at line 235 of file realsense2Driver.h.

◆ m_infrared_intrin

rs2_intrinsics realsense2Driver::m_infrared_intrin {}

protected

Definition at line 222 of file realsense2Driver.h.

◆ m_initialized

bool realsense2Driver::m_initialized

protected

Definition at line 232 of file realsense2Driver.h.

◆ m_lastError

std::string realsense2Driver::m_lastError

protected

Definition at line 229 of file realsense2Driver.h.

◆ m_mutex

std::mutex realsense2Driver::m_mutex

mutableprotected

Definition at line 213 of file realsense2Driver.h.

◆ m_needAlignment

bool realsense2Driver::m_needAlignment

protected

Definition at line 234 of file realsense2Driver.h.

◆ m_paramParser

yarp::dev::RGBDSensorParamParser realsense2Driver::m_paramParser

protected

Definition at line 230 of file realsense2Driver.h.

◆ m_pipeline

rs2::pipeline realsense2Driver::m_pipeline

protected

Definition at line 216 of file realsense2Driver.h.

◆ m_profile

rs2::pipeline_profile realsense2Driver::m_profile

protected

Definition at line 217 of file realsense2Driver.h.

◆ m_rgb_stamp

yarp::os::Stamp realsense2Driver::m_rgb_stamp

protected

Definition at line 227 of file realsense2Driver.h.

◆ m_scale

float realsense2Driver::m_scale

protected

Definition at line 236 of file realsense2Driver.h.

◆ m_sensors

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

protected

Definition at line 219 of file realsense2Driver.h.

◆ m_stereoMode

bool realsense2Driver::m_stereoMode

protected

Definition at line 233 of file realsense2Driver.h.

◆ m_supportedFeatures

std::vector<cameraFeature_id_t> realsense2Driver::m_supportedFeatures

protected

Definition at line 237 of file realsense2Driver.h.

◆ m_verbose

bool realsense2Driver::m_verbose

protected

Definition at line 231 of file realsense2Driver.h.

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

src/devices/realsense2/realsense2Driver.h
src/devices/realsense2/realsense2Driver.cpp

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

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_device

◆ m_fps