YARP
Yet Another Robot Platform
yarp::dev::RGBDSensorWrapper Class Reference

#include <RGBDSensorWrapper/RGBDSensorWrapper.h>

+ Inheritance diagram for yarp::dev::RGBDSensorWrapper:

Detailed Description

Description of input parameters

A Network grabber for kinect-like devices. 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 RGBDSensorClient 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 128 of file RGBDSensorWrapper.h.

Public Member Functions

 RGBDSensorWrapper ()
 
 ~RGBDSensorWrapper ()
 
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 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 (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
virtual ~DeviceDriver ()
 Destructor. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 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...
 

Constructor & Destructor Documentation

◆ RGBDSensorWrapper()

RGBDSensorWrapper::RGBDSensorWrapper ( )

Definition at line 173 of file RGBDSensorWrapper.cpp.

◆ ~RGBDSensorWrapper()

RGBDSensorWrapper::~RGBDSensorWrapper ( )

Definition at line 189 of file RGBDSensorWrapper.cpp.

Member Function Documentation

◆ attach() [1/2]

bool RGBDSensorWrapper::attach ( PolyDriver poly)
overridevirtual

Attach to another object.

Parameters
polythe 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.

◆ attach() [2/2]

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

Definition at line 556 of file RGBDSensorWrapper.cpp.

◆ attachAll()

bool RGBDSensorWrapper::attachAll ( const 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 ( void  )
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 247 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 198 of file RGBDSensorWrapper.cpp.

◆ 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 928 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: