RGBDSensorWrapper: A Network grabber for kinect-like devices. More...

#include <RGBDSensorWrapper/RGBDSensorWrapper.h>

Inheritance diagram for RGBDSensorWrapper:

Public Member Functions
	RGBDSensorWrapper ()

	RGBDSensorWrapper (const RGBDSensorWrapper &)=delete

	RGBDSensorWrapper (RGBDSensorWrapper &&)=delete

RGBDSensorWrapper &	operator= (const RGBDSensorWrapper &)=delete

RGBDSensorWrapper &	operator= (RGBDSensorWrapper &&)=delete

	~RGBDSensorWrapper () override

bool	open (yarp::os::Searchable &params) override
	Device driver interface. More...

bool	fromConfig (yarp::os::Searchable &params)

bool	close () override
	Close the DeviceDriver. More...

void	setId (const std::string &id)

std::string	getId ()

bool	attachAll (const yarp::dev::PolyDriverList &p) override
	Specify which sensor this thread has to read from. More...

bool	detachAll () override
	Detach the object (you must have first called attach). More...

bool	attach (yarp::dev::PolyDriver *poly) override
	Attach to another object. More...

bool	attach (yarp::dev::IRGBDSensor *s)

bool	detach () override
	Detach the object (you must have first called attach). More...

bool	threadInit () override
	Initialization method. More...

void	threadRelease () override
	Release method. More...

void	run () override
	Loop function. 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::IWrapper
virtual	~IWrapper ()
	Destructor. More...

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

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Detailed Description

RGBDSensorWrapper: A Network grabber for kinect-like devices.

Description of input parameters

This device will produce two streams of data through different ports, one for the color frame and the other one for depth image following Framegrabber and IDepthSensor interfaces specification respectively. See they documentation for more details about each interface.

This device is paired with its client called RGBDSensorWrapper to receive the data streams and perform remote operations.

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
period	-	int	ms	20	No	refresh period of the broadcasted values in ms	default 20ms
name	-	string	-	-	Yes, unless useROS='only'	Prefix name of the ports opened by the RGBD wrapper, e.g. /robotName/RGBD	Required suffix like '/rpc' will be added by the device
subdevice	-	string	-	-	alternative to 'attach' action	name of the subdevice to use as a data source	when used, parameters for the subdevice must be provided as well
ROS	-	group	-	-	No	Group containing parameter for ROS topic initialization	if missing, it is assumed to not use ROS topics
-	use_ROS	string	true/false/only	-	if ROS group is present	set 'true' to have both yarp ports and ROS topic, set 'only' to have only ROS topic and no yarp port	-
-	forceInfoSync	string	bool	-	no	set 'true' to force the timestamp on the camera_info message to match the image one	-
-	ROS_colorTopicName	string	-	-	if ROS group is present	set the name for ROS image topic	must start with a leading '/'
-	ROS_depthTopicName	string	-	-	if ROS group is present	set the name for ROS depth topic	must start with a leading '/'
-	ROS_colorInfoTopicName	string	-	-	if ROS group is present	set the name for ROS imageInfo topic	must start with a leading '/'
-	ROS_depthInfoTopicName	string	-	-	if ROS group is present	set the name for ROS depthInfo topic	must start with a leading '/'
-	ROS_frame_Id	string	-		if ROS group is present	set the name of the reference frame
-	ROS_nodeName	string	-	-	if ROS group is present	set the name for ROS node	must start with a leading '/'

ROS message type used is sensor_msgs/Image.msg ( http://docs.ros.org/api/sensor_msgs/html/msg/Image.html) Some example of configuration files:

Example of configuration file using .ini format.

device RGBDSensorWrapper
subdevice <RGBDsensor>
period 30
name /<robotName>/RGBDSensor

Definition at line 127 of file RGBDSensorWrapper.h.

Constructor & Destructor Documentation

◆ RGBDSensorWrapper() [1/3]

RGBDSensorWrapper::RGBDSensorWrapper ( )

Definition at line 174 of file RGBDSensorWrapper.cpp.

◆ RGBDSensorWrapper() [2/3]

RGBDSensorWrapper::RGBDSensorWrapper ( const RGBDSensorWrapper & )

delete

◆ RGBDSensorWrapper() [3/3]

RGBDSensorWrapper::RGBDSensorWrapper ( RGBDSensorWrapper && )

delete

◆ ~RGBDSensorWrapper()

RGBDSensorWrapper::~RGBDSensorWrapper ( )

override

Definition at line 190 of file RGBDSensorWrapper.cpp.

Member Function Documentation

◆ attach() [1/2]

bool RGBDSensorWrapper::attach ( yarp::dev::IRGBDSensor * s )

Definition at line 556 of file RGBDSensorWrapper.cpp.

◆ attach() [2/2]

bool RGBDSensorWrapper::attach ( yarp::dev::PolyDriver * poly )

overridevirtual

Attach to another object.

Parameters

poly	the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 582 of file RGBDSensorWrapper.cpp.

◆ attachAll()

bool RGBDSensorWrapper::attachAll ( const yarp::dev::PolyDriverList & p )

overridevirtual

Specify which sensor this thread has to read from.

IWrapper and IMultipleWrapper interfaces.

Implements yarp::dev::IMultipleWrapper.

Definition at line 506 of file RGBDSensorWrapper.cpp.

◆ close()

bool RGBDSensorWrapper::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 391 of file RGBDSensorWrapper.cpp.

◆ detach()

bool RGBDSensorWrapper::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 611 of file RGBDSensorWrapper.cpp.

◆ detachAll()

bool RGBDSensorWrapper::detachAll ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 543 of file RGBDSensorWrapper.cpp.

◆ fromConfig()

bool RGBDSensorWrapper::fromConfig ( yarp::os::Searchable & params )

Definition at line 248 of file RGBDSensorWrapper.cpp.

◆ getId()

std::string RGBDSensorWrapper::getId ( )

Definition at line 498 of file RGBDSensorWrapper.cpp.

◆ open()

bool RGBDSensorWrapper::open ( yarp::os::Searchable & params )

overridevirtual

Device driver interface.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 199 of file RGBDSensorWrapper.cpp.

◆ operator=() [1/2]

RGBDSensorWrapper& RGBDSensorWrapper::operator= ( const RGBDSensorWrapper & )

delete

◆ operator=() [2/2]

RGBDSensorWrapper& RGBDSensorWrapper::operator= ( RGBDSensorWrapper && )

delete

◆ run()

void RGBDSensorWrapper::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 840 of file RGBDSensorWrapper.cpp.

◆ setId()

void RGBDSensorWrapper::setId ( const std::string & id )

Definition at line 493 of file RGBDSensorWrapper.cpp.

◆ threadInit()

bool RGBDSensorWrapper::threadInit ( )

overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 619 of file RGBDSensorWrapper.cpp.

◆ threadRelease()

void RGBDSensorWrapper::threadRelease ( )

overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 625 of file RGBDSensorWrapper.cpp.

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

src/devices/RGBDSensorWrapper/RGBDSensorWrapper.h
src/devices/RGBDSensorWrapper/RGBDSensorWrapper.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ RGBDSensorWrapper() [1/3]

◆ RGBDSensorWrapper() [2/3]

◆ RGBDSensorWrapper() [3/3]

◆ ~RGBDSensorWrapper()

Member Function Documentation

◆ attach() [1/2]

◆ attach() [2/2]

◆ attachAll()

◆ close()

◆ detach()

◆ detachAll()

◆ fromConfig()

◆ getId()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ run()

◆ setId()

◆ threadInit()

◆ threadRelease()