RGBDSensorClient: A Network client to receive data from kinect-like devices. This device will read from 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. More...

#include <networkWrappers/RGBDSensorClient/RGBDSensorClient.h>

Inheritance diagram for RGBDSensorClient:

Public Member Functions
	RGBDSensorClient ()

	RGBDSensorClient (const RGBDSensorClient &)=delete

	RGBDSensorClient (RGBDSensorClient &&)=delete

RGBDSensorClient &	operator= (const RGBDSensorClient &)=delete

RGBDSensorClient &	operator= (RGBDSensorClient &&)=delete

	~RGBDSensorClient () override

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

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

bool	getRgbSupportedConfigurations (yarp::sig::VectorOf< yarp::dev::CameraConfig > &configurations) override
	Get the possible configurations of the camera.

bool	getRgbResolution (int &width, int &height) override
	Get the resolution of the rgb image from the camera.

bool	setRgbResolution (int width, int height) override
	Set the resolution of the rgb image from the camera.

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

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

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

bool	getRgbMirroring (bool &mirror) override
	Get the mirroring setting of the sensor.

bool	setRgbMirroring (bool mirror) override
	Set the mirroring setting of the sensor.

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

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

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

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

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

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

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

bool	getDepthClipPlanes (double &near, double &far) override
	Get the clipping planes of the sensor.

bool	setDepthClipPlanes (double near, double far) override
	Set the clipping planes of the sensor.

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

bool	getDepthMirroring (bool &mirror) override
	Get the mirroring setting of the sensor.

bool	setDepthMirroring (bool mirror) override
	Set the mirroring setting of the sensor.

bool	open (yarp::os::Searchable &config) override
	Create and configure a device, by name.

bool	close () override
	Close the DeviceDriver.

bool	getExtrinsicParam (yarp::sig::Matrix &extrinsic) override
	Get the extrinsic parameters from the device.

IRGBDSensor::RGBDSensor_status	getSensorStatus () override
	Get the surrent status of the sensor, using enum type.

std::string	getLastErrorMsg (yarp::os::Stamp *timeStamp=nullptr) override
	Return an error message in case of error.

bool	getRgbImage (yarp::sig::FlexImage &rgbImage, yarp::os::Stamp *timeStamp=nullptr) override
	Get the rgb frame from the device.

bool	getDepthImage (yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthImage, yarp::os::Stamp *timeStamp=nullptr) override
	Get the depth frame from the device.

bool	getImages (yarp::sig::FlexImage &colorFrame, yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthFrame, yarp::os::Stamp colorStamp=nullptr, yarp::os::Stamp depthStamp=nullptr) override
	Get the both the color and depth frame in a single call.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::proto::framegrabber::FrameGrabberControls_Forwarder
	FrameGrabberControls_Forwarder (yarp::os::Port &port)

	~FrameGrabberControls_Forwarder () override=default

bool	getCameraDescription (CameraDescriptor *camera) override
	Get a basic description of the camera hw.

bool	hasFeature (int feature, bool *hasFeature) override
	Check if camera has the requested feature (saturation, brightness ... )

bool	setFeature (int feature, double value) override
	Set the requested feature to a value (saturation, brightness ... )

bool	getFeature (int feature, double *value) override
	Get the current value for the requested feature.

bool	setFeature (int feature, double value1, double value2) override
	Set the requested feature to a value using 2 params (like white balance)

bool	getFeature (int feature, double value1, double value2) override
	Get the current value for the requested feature.

bool	hasOnOff (int feature, bool *HasOnOff) override
	Check if the camera has the ability to turn on/off the requested feature.

bool	setActive (int feature, bool onoff) override
	Set the requested feature on or off.

bool	getActive (int feature, bool *isActive) override
	Get the current status of the feature, on or off.

bool	hasAuto (int feature, bool *hasAuto) override
	Check if the requested feature has the 'auto' mode.

bool	hasManual (int feature, bool *hasManual) override
	Check if the requested feature has the 'manual' mode.

bool	hasOnePush (int feature, bool *hasOnePush) override
	Check if the requested feature has the 'onePush' mode.

bool	setMode (int feature, FeatureMode mode) override
	Set the requested mode for the feature.

bool	getMode (int feature, FeatureMode *mode) override
	Get the current mode for the feature.

bool	setOnePush (int feature) override
	Set the requested feature to a value (saturation, brightness ... )

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

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

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

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

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

Public Member Functions inherited from RGBDSensorClient_ParamsParser
	RGBDSensorClient_ParamsParser ()

	~RGBDSensorClient_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

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

Protected Attributes
yarp::os::Port	rpcPort

RgbImageBufferedPort	colorFrame_StreamingPort

FloatImageBufferedPort	depthFrame_StreamingPort

yarp::dev::IRGBDSensor *	sensor_p {nullptr}

IRGBDSensor::RGBDSensor_status	sensorStatus {IRGBDSensor::RGBD_SENSOR_NOT_READY}

int	verbose {2}

yarp::os::Stamp	colorStamp

yarp::os::Stamp	depthStamp

RGBDSensor_StreamingMsgParser *	streamingReader {nullptr}

Additional Inherited Members
Public Types inherited from yarp::dev::IRGBDSensor
enum	RGBDSensor_status { RGBD_SENSOR_NOT_READY = 0 , RGBD_SENSOR_OK_STANDBY = 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 Attributes inherited from RGBDSensorClient_ParamsParser
const std::string	m_device_classname = {"RGBDSensorClient"}

const std::string	m_device_name = {"RGBDSensorClient"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_period_defaultValue = {"0.03"}

const std::string	m_localImagePort_defaultValue = {"/RGBD_nwc/Image:o"}

const std::string	m_localDepthPort_defaultValue = {"/RGBD_nwc/Depth:o"}

const std::string	m_remoteImagePort_defaultValue = {"/RGBD_nws/Image:o"}

const std::string	m_remoteDepthPort_defaultValue = {"/RGBD_nws/Depth:i"}

const std::string	m_localRpcPort_defaultValue = {"/RGBD_nwc/rpc:o"}

const std::string	m_remoteRpcPort_defaultValue = {"/RGBD_nws/rpc:i"}

const std::string	m_ImageCarrier_defaultValue = {"udp"}

const std::string	m_DepthCarrier_defaultValue = {"udp"}

double	m_period = {0.03}

std::string	m_localImagePort = {"/RGBD_nwc/Image:o"}

std::string	m_localDepthPort = {"/RGBD_nwc/Depth:o"}

std::string	m_remoteImagePort = {"/RGBD_nws/Image:o"}

std::string	m_remoteDepthPort = {"/RGBD_nws/Depth:i"}

std::string	m_localRpcPort = {"/RGBD_nwc/rpc:o"}

std::string	m_remoteRpcPort = {"/RGBD_nws/rpc:i"}

std::string	m_ImageCarrier = {"udp"}

std::string	m_DepthCarrier = {"udp"}

Detailed Description

RGBDSensorClient: A Network client to receive data from kinect-like devices. This device will read from 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.

Description of input parameters

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

Parameters required by this device are shown in class: RGBDSensorClient_ParamsParser

Definition at line 46 of file RGBDSensorClient.h.

Constructor & Destructor Documentation

◆ RGBDSensorClient() [1/3]

RGBDSensorClient::RGBDSensorClient ( )

Definition at line 23 of file RGBDSensorClient.cpp.

◆ RGBDSensorClient() [2/3]

RGBDSensorClient::RGBDSensorClient ( const RGBDSensorClient & )

delete

◆ RGBDSensorClient() [3/3]

RGBDSensorClient::RGBDSensorClient ( RGBDSensorClient && )

delete

◆ ~RGBDSensorClient()

RGBDSensorClient::~RGBDSensorClient ( )

override

Definition at line 31 of file RGBDSensorClient.cpp.

Member Function Documentation

◆ close()

bool RGBDSensorClient::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 118 of file RGBDSensorClient.cpp.

◆ getDepthAccuracy()

double RGBDSensorClient::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

rgbImage	the image to be filled.
timeStamp	time in which the image was acquired. Optional, the user must provide memory allocation

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
rectificationMatrix	-	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

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

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

Protected Attributes

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ RGBDSensorClient() [1/3]

◆ RGBDSensorClient() [2/3]

◆ RGBDSensorClient() [3/3]

◆ ~RGBDSensorClient()

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()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthMirroring()

◆ setDepthResolution()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()

Member Data Documentation

◆ colorFrame_StreamingPort

◆ colorStamp

◆ depthFrame_StreamingPort

◆ depthStamp

◆ rpcPort

◆ sensor_p

◆ sensorStatus

◆ streamingReader

◆ verbose