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_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 }

Public Member Functions
virtual	~IRGBDSensor ()

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

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

bool	getRgbSupportedConfigurations (yarp::sig::VectorOf< 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=0
	Set the resolution of the rgb image from the camera. More...

bool	getRgbFOV (double &horizontalFov, double &verticalFov) override=0
	Get the field of view (FOV) of the rgb camera. More...

bool	setRgbFOV (double horizontalFov, double verticalFov) override=0
	Set the field of view (FOV) of the rgb camera. More...

bool	getRgbIntrinsicParam (yarp::os::Property &intrinsic) override=0
	Get the intrinsic parameters of the rgb camera. More...

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

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

bool	setDepthResolution (int width, int height) override=0
	Set the resolution of the depth image from the camera. More...

bool	getDepthFOV (double &horizontalFov, double &verticalFov) override=0
	Get the field of view (FOV) of the depth camera. More...

bool	setDepthFOV (double horizontalFov, double verticalFov) override=0
	Set the field of view (FOV) of the depth camera. More...

double	getDepthAccuracy () override=0
	Get the minimum detectable variation in distance [meter]. More...

bool	setDepthAccuracy (double accuracy) override=0
	Set the minimum detectable variation in distance [meter] when possible. More...

bool	getDepthClipPlanes (double &nearPlane, double &farPlane) override=0
	Get the clipping planes of the sensor. More...

bool	setDepthClipPlanes (double nearPlane, double farPlane) override=0
	Set the clipping planes of the sensor. More...

bool	getDepthIntrinsicParam (yarp::os::Property &intrinsic) override=0
	Get the intrinsic parameters of the depth camera. More...

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

virtual std::string	getLastErrorMsg (yarp::os::Stamp *timeStamp=NULL)=0
	Return an error message in case of error. More...

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

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...

virtual RGBDSensor_status	getSensorStatus ()=0
	Get the surrent status of the sensor, using enum type. More...

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

virtual bool	getRgbMirroring (bool &mirror)=0
	Get the mirroring setting of the sensor. More...

virtual bool	setRgbMirroring (bool mirror)=0
	Set the mirroring setting of the sensor. More...

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

virtual bool	getDepthMirroring (bool &mirror)=0
	Get the mirroring setting of the sensor. More...

virtual bool	setDepthMirroring (bool mirror)=0
	Set the mirroring setting of the sensor. More...

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 53 of file IRGBDSensor.h.

Member Enumeration Documentation

◆ RGBDSensor_status

enum yarp::dev::IRGBDSensor::RGBDSensor_status

Enumerator
RGBD_SENSOR_NOT_READY
RGBD_SENSOR_OK_STANBY
RGBD_SENSOR_OK_IN_USE
RGB_SENSOR_ERROR
DEPTH_SENSOR_ERROR
RGBD_SENSOR_GENERIC_ERROR
RGBD_SENSOR_TIMEOUT

Definition at line 62 of file IRGBDSensor.h.

Constructor & Destructor Documentation

◆ ~IRGBDSensor()

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

virtualdefault

Member Function Documentation

◆ getDepthAccuracy()

double yarp::dev::IRGBDSensor::getDepthAccuracy ( )

overridepure virtual

Get the minimum detectable variation in distance [meter].

Returns: the sensor resolution in meters.

Implements yarp::dev::IDepthVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ getDepthClipPlanes()

bool yarp::dev::IRGBDSensor::getDepthClipPlanes	(	double &	nearPlane,
		double &	farPlane
	)

overridepure virtual

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::IDepthVisualParams.

Implemented in RGBDSensorFromRosTopic, fakeDepthCameraDriver, depthCameraDriver, and RGBDSensorClient.

◆ getDepthFOV()

bool yarp::dev::IRGBDSensor::getDepthFOV	(	double &	horizontalFov,
		double &	verticalFov
	)

overridepure virtual

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::IDepthVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ getDepthHeight()

int yarp::dev::IRGBDSensor::getDepthHeight ( )

overridepure virtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IDepthVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ getDepthImage()

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

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 RGBDSensorClient.

◆ getDepthIntrinsicParam()

bool yarp::dev::IRGBDSensor::getDepthIntrinsicParam ( yarp::os::Property & intrinsic )

overridepure virtual

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::IDepthVisualParams.

Implemented in RGBDSensorClient, RGBDSensorFromRosTopic, fakeDepthCameraDriver, and depthCameraDriver.

◆ getDepthWidth()

int yarp::dev::IRGBDSensor::getDepthWidth ( )

overridepure virtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IDepthVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ getExtrinsicParam()

virtual bool 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 RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ getImages()

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

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 RGBDSensorClient.

◆ getLastErrorMsg()

virtual std::string yarp::dev::IRGBDSensor::getLastErrorMsg ( yarp::os::Stamp * timeStamp = NULL )

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

Returns: A string explaining the last error occurred.

Implemented in RGBDSensorClient, RGBDSensorFromRosTopic, fakeDepthCameraDriver, and depthCameraDriver.

◆ getRgbFOV()

bool yarp::dev::IRGBDSensor::getRgbFOV	(	double &	horizontalFov,
		double &	verticalFov
	)

overridepure virtual

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::IRgbVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ getRgbHeight()

int yarp::dev::IRGBDSensor::getRgbHeight ( )

overridepure virtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRgbVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ getRgbImage()

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

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 RGBDSensorClient, RGBDSensorFromRosTopic, fakeDepthCameraDriver, and depthCameraDriver.

◆ getRgbIntrinsicParam()

bool yarp::dev::IRGBDSensor::getRgbIntrinsicParam ( yarp::os::Property & intrinsic )

overridepure virtual

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::IRgbVisualParams.

Implemented in RGBDSensorClient, RGBDSensorFromRosTopic, fakeDepthCameraDriver, and depthCameraDriver.

◆ getRgbResolution()

bool yarp::dev::IRGBDSensor::getRgbResolution	(	int &	width,
		int &	height
	)

inlineoverridevirtual

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.

Reimplemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

Definition at line 81 of file IRGBDSensor.h.

◆ getRgbSupportedConfigurations()

bool yarp::dev::IRGBDSensor::getRgbSupportedConfigurations ( yarp::sig::VectorOf< CameraConfig > & configurations )

inlineoverridevirtual

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.

Reimplemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

Definition at line 80 of file IRGBDSensor.h.

◆ getRgbWidth()

int yarp::dev::IRGBDSensor::getRgbWidth ( )

overridepure virtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRgbVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ getSensorStatus()

virtual RGBDSensor_status yarp::dev::IRGBDSensor::getSensorStatus ( )

pure virtual

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

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ setDepthAccuracy()

bool yarp::dev::IRGBDSensor::setDepthAccuracy ( double accuracy )

overridepure virtual

Set the minimum detectable variation in distance [meter] when possible.

Parameters

the	desired resolution in meters.

Returns: true on success

Implements yarp::dev::IDepthVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ setDepthClipPlanes()

bool yarp::dev::IRGBDSensor::setDepthClipPlanes	(	double	nearPlane,
		double	farPlane
	)

overridepure virtual

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::IDepthVisualParams.

Implemented in RGBDSensorFromRosTopic, fakeDepthCameraDriver, depthCameraDriver, and RGBDSensorClient.

◆ setDepthFOV()

bool yarp::dev::IRGBDSensor::setDepthFOV	(	double	horizontalFov,
		double	verticalFov
	)

overridepure virtual

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::IDepthVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ setDepthResolution()

bool yarp::dev::IRGBDSensor::setDepthResolution	(	int	width,
		int	height
	)

overridepure virtual

Set the resolution of the depth image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implements yarp::dev::IDepthVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ setRgbFOV()

bool yarp::dev::IRGBDSensor::setRgbFOV	(	double	horizontalFov,
		double	verticalFov
	)

overridepure virtual

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::IRgbVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

◆ setRgbResolution()

bool yarp::dev::IRGBDSensor::setRgbResolution	(	int	width,
		int	height
	)

overridepure virtual

Set the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implements yarp::dev::IRgbVisualParams.

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, fakeDepthCameraDriver, and depthCameraDriver.

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

◆ getDepthAccuracy()

◆ getDepthClipPlanes()

◆ getDepthFOV()

◆ getDepthHeight()

◆ getDepthImage()

◆ getDepthIntrinsicParam()

◆ getDepthWidth()

◆ getExtrinsicParam()

◆ getImages()

◆ getLastErrorMsg()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbImage()

◆ getRgbIntrinsicParam()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ getSensorStatus()

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthResolution()

◆ setRgbFOV()

◆ setRgbResolution()