RGBDSensorFromRosTopic is a driver for a virtual RGBD device: the data is not originated from a physical sensor but from a ROS topic. More...

#include <RGBDSensorFromRosTopic/RGBDSensorFromRosTopic.h>

Inheritance diagram for RGBDSensorFromRosTopic:

Public Member Functions
	RGBDSensorFromRosTopic ()

	~RGBDSensorFromRosTopic () 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...

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::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 ()

Public Attributes
std::mutex	m_mutex

yarp::os::Node *	m_ros_node = nullptr

yarp::dev::RGBDRosConversionUtils::commonImageProcessor *	m_rgb_input_processor = nullptr

yarp::dev::RGBDRosConversionUtils::commonImageProcessor *	m_depth_input_processor = nullptr

std::string	m_rgb_data_topic_name

std::string	m_depth_data_topic_name

std::string	m_rgb_info_topic_name

std::string	m_depth_info_topic_name

yarp::os::Stamp	m_rgb_stamp

yarp::os::Stamp	m_depth_stamp

std::string	m_lastError

bool	m_verbose

bool	m_initialized

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

RGBDSensorFromRosTopic is a driver for a virtual RGBD device: the data is not originated from a physical sensor but from a ROS topic.

This device driver exposes the IRGBDSensor interface to read the images published by a ROS node. See the documentation for more details about each interface.

This device can be used in two different ways:

as a client, directly opened by your application
as a device, wrapped by a RGBDSensorWrapper

When used as a client, the RGBDSensorFromRosTopic device directly connects to the ROS publisher via tcp_ros carrier. This mode does not use a RGBDSensorWrapper and thus minimize latency. It is thus recommended when the application consists of a single client. However, if multiple clients are involved, as shown in the diagram below, this architecture might be inefficient, due to the multiple tcp_ros connections.

The second mode, instead, is useful if the application consists of several modules, and each of them employ a client connected to the same server (RGBDSensorWrapper). In this case, if all the modules run on the same machine, the unix_stream can be employed to share data between them, minimizing data transfer operations and greatly boosting the performance. See the digram below.

YARP device name
`RGBDSensorFromRosTopic`

Parameters used by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description
verbose	-	bool	-	false	No	Flag for enabling debug prints
rgb_data_topic	-	string	-	/camera/color/image_raw	No	The device connects to this ROS topic to get RGB data
depth_data_topic	-	string	-	/camera/depth/image_rect_raw	No	The device connects to this ROS topic to get Depth dat
rgb_info_topic	-	string	-	/camera/color/camera_info	No	The device connects to this ROS topic to get RGB info/parameters
depth_info_topic	-	string	-	/camera/depth/camera_info	No	The device connects to this ROS topic to get Depth info/parameters

Example of configuration file (using .ini format) when the device is wrapped by RGBDSensorWrapper.

device       RGBDSensorWrapper
subdevice    RGBDSensorFromRosTopic
period 30
name /ROSsensor

Definition at line 192 of file RGBDSensorFromRosTopic.h.

Constructor & Destructor Documentation

◆ RGBDSensorFromRosTopic()

RGBDSensorFromRosTopic::RGBDSensorFromRosTopic ( )

Definition at line 30 of file RGBDSensorFromRosTopic.cpp.

◆ ~RGBDSensorFromRosTopic()

RGBDSensorFromRosTopic::~RGBDSensorFromRosTopic ( )

overridedefault

Member Function Documentation

◆ close()

bool RGBDSensorFromRosTopic::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 59 of file RGBDSensorFromRosTopic.cpp.

◆ getDepthAccuracy()

double RGBDSensorFromRosTopic::getDepthAccuracy ( )

overridevirtual

Get the minimum detectable variation in distance [meter].

Returns: the sensor resolution in meters.

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.

horizontalFov	will return the value of the horizontal fov in degrees
verticalFov	will return the value of the vertical fov in degrees

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

rgbImage	the image to be filled.
timeStamp	time in which the image was acquired. Optional, ignored if nullptr.

horizontalFov	will set the value of the horizontal fov in degrees
verticalFov	will set the value of the vertical fov in degrees

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RGBDSensorFromRosTopic()

◆ ~RGBDSensorFromRosTopic()

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()

Member Data Documentation

◆ m_depth_data_topic_name

◆ m_depth_info_topic_name

◆ m_depth_input_processor

◆ m_depth_stamp

◆ m_initialized

◆ m_lastError

◆ m_mutex

◆ m_rgb_data_topic_name

◆ m_rgb_info_topic_name

◆ m_rgb_input_processor

◆ m_rgb_stamp

◆ m_ros_node

◆ m_verbose