depthCamera: YARP driver for OpenNI2 compatible devices. More...

#include <openNI2DepthCamera/depthCameraDriver.h>

Inheritance diagram for depthCameraDriver:

Public Member Functions
	depthCameraDriver ()

	~depthCameraDriver ()

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

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

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

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

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.

bool	getDepthIntrinsicParam (Property &intrinsic) override
	Get the intrinsic parameters 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 &nearPlane, double &farPlane) override
	Get the clipping planes of the sensor.

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

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

bool	getRgbImage (FlexImage &rgbImage, Stamp *timeStamp=NULL) override
	Get the rgb frame from the device.

bool	getDepthImage (depthImage &depthImage, Stamp *timeStamp=NULL) 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.

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

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::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::dev::IRGBDSensor
virtual	~IRGBDSensor ()

bool	getRgbSupportedConfigurations (yarp::sig::VectorOf< 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.

virtual bool	getDepthImage (yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthImage, yarp::os::Stamp *timeStamp=nullptr)=0
	Get the depth frame from the device.

virtual bool	getImages (yarp::sig::FlexImage &colorFrame, yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthFrame, yarp::os::Stamp colorStamp=nullptr, yarp::os::Stamp depthStamp=nullptr)=0
	Get the both the color and depth frame in a single call.

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 yarp::dev::IFrameGrabberControls
virtual	~IFrameGrabberControls ()
	Destructor.

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

Static Public Member Functions
static int	pixFormatToCode (openni::PixelFormat p)

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 }

Detailed Description

depthCamera: YARP driver for OpenNI2 compatible devices.

@ingroup dev_impl_media

This device driver exposes the IRGBDSensor and IFrameGrabberControls interfaces to read the images and operate on the available settings.

See the documentation for more details about each interface.

This device is paired with its server called rgbdSensor_nws_yarp to stream the images and perform remote operations.

The config file is subdivided into 5 major sections called "SETTINGS", "HW_DESCRIPTION", "RGB_INTRINSIC_PARAMETERS", "DEPTH_INTRINSIC_PARAMETERS", "EXTRINSIC_PARAMETERS".

The "SETTINGS" section is meant for read/write parameters, meaning parameters which can be get and set by the device. A common case of setting is the image resolution in pixel. This setting will be read by the device and it'll be applied in the startup phase. If the setting fails, the device will terminate the execution with a error message.

The "HW_DESCRIPTION" section is meant for read only parameters which describe the hardware property of the device and cannot be provided by the device through software API. A common case is the 'Field Of View' property, which may or may not be supported by the physical device. When a property is present in the HW_DESCRIPTION group, the YARP RGBDSensorClient will report this value when asked for and setting will be disabled. This group can also be used to by-pass OpenNI2 API in case some functionality is not correctly working with the current device. For example the 'clipPlanes' property may return incorrect values or values using non-standard measurement unit. In this case using the HW_DESCRIPTION, a user can override the value got from OpenNI2 API with a custom value.

Note: Parameters inside the HW_DESCRIPTION are read only, so the relative set functionality will be disabled.; For parameters which are neither in SETTINGS nor in HW_DESCRIPTION groups, read / write functionality is assumed but not initial setting will be performed. Device will start with manufacturer default values.

Warning: A single parameter cannot be present into both SETTINGS and HW_DESCRIPTION groups.

The [RGB/DEPTH_INTRINSIC_PARAMETERS] group describe the camera intrinsic parameters for rgb and depth respectively.

Note: Right now only 'plumb_bob' (pinhole camera) distortion model is supported.

The [EXTRINSIC_PARAMETERS] group describe the position of the depth camera in the rgb camera frame. It is composed of a 4x4 rototranslation matrix.

Warning: : whenever more then one value is required by the setting, the values must be in parenthesys!

YARP device name
`depthCamera`

Parameters used by this device are:

Parameter name	SubParameter	Type	Read / write	Units	Default Value	Required	Description	Notes
SETTINGS	-	group	Read / write	-	-	Yes	Initial setting of the device.	Properties must be read/writable in order for setting to work
	rgbResolution	int, int	Read / write	pixels	-	Alternative to HW_DESCRIPTION	Size of rgb image in pixels	2 values expected as height, width
	depthResolution	int, int	Read / write	pixels	-	Alternative to HW_DESCRIPTION	Size of depth image in pixels	Values are height, width
	accuracy	double	Read / write	meters	-	Alternative to HW_DESCRIPTION	Accuracy of the device, as the depth measurement error at 1 meter distance
	rgbFOV	double, double	Read / write	degrees	-	Alternative to HW_DESCRIPTION	Horizontal and Vertical fields of view of the rgb camera	2 values expected as horizontal and vertical FOVs
	depthFOV	double, double	Read / write	degrees	-	Alternative to HW_DESCRIPTION	Horizontal and Vertical fields of view of the depth camera	2 values expected as horizontal and vertical FOVs
	rgbMirroring	bool	Read / write	true/false	false	Alternative to HW_DESCRIPTION	Set the mirroring to the acquired rgb image
	depthMirroring	bool	Read / write	true/false	false	Alternative to HW_DESCRIPTION	Set the mirroring to the acquired depth image
	clipPlanes	double, double	Read / write	meters	-	Alternative to HW_DESCRIPTION	Minimum and maximum distance at which an object is seen by the depth sensor	parameter introduced mainly for simulated sensors, it can be used to set the clip planes if Openni gives wrong values
HW_DESCRIPTION	-	group		-	-	Yes	Hardware description of device property.	Read only property. Setting will be disabled
	same as 'SETTINGS' group	-	Read only	-	-	Alternative to SETTING group	Parameters here are alternative to the SETTING group
RGB_INTRINSIC_PARAMETERS	-	group		-	-	Yes	Description of rgb camera visual parameters
	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
	distortionModel	string		-	-	Yes	Reference to group of parameters describing the distortion model of the camera, example 'rgbDistortionModelGroup'	This is only another group's name to be searched for in the config file
rgbDistortionModelGroup
	name	string		-	-	Yes	Name of the distortion model, see notes	right now only 'plumb_bob' is supported
	k1	double		-	-	Yes
	k2	double		-	-	Yes
	k3	double		-	-	Yes
	t1	double		-	-	Yes
	t2	double		-	-	Yes
DEPTH_INTRINSIC_PARAMETERS	-	group		-	-	Yes	Description of depth camera visual parameters
	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
	distortionModel	string		-	-	Yes	Reference to group of parameters describing the distortion model of the camera, example 'depthDistortionModelGroup'	This is another group's name to be searched for in the config file
depthDistortionModelGroup
	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
EXTRINSIC_PARAMETERS	-			-	-	Yes
	transformation	4x4 double matrix		-	-	Yes	trasformation matrix between depth optical frame to the rgb one

Configuration file using .ini format, using subdevice keyword.

device       rgbdSensor_nws_yarp
subdevice    depthCamera
name         /depthCamera
 
[SETTINGS]
accuracy     0.001
depthResolution (320 240)    #Note the parentesys
rgbResolution   (320 240)
rgbMirroring    false
depthMirroring  false
 
[HW_DESCRIPTION]
clipPlanes (0.4 4.5)
 
[RGB_INTRINSIC_PARAMETERS]
physFocalLength         0.5
focalLengthX            1.0
focalLengthY            2.0
principalPointX         256.0
principalPointY         128.0
distortionModel         rgb_distortion
 
[rgb_distortion]
name                    plumb_bob
k1                      1.0
k2                      2.0
t1                      3.0
t2                      4.0
k3                      5.0
 
[DEPTH_INTRINSIC_PARAMETERS]
physFocalLength         0.5
focalLengthX            1.0
focalLengthY            2.0
principalPointX         256.0
principalPointY         128.0
distortionModel         depth_distortion
 
[depth_distortion]
name                    plumb_bob
k1                      1.0
k2                      2.0
t1                      3.0
t2                      4.0
k3                      5.0
 
[EXTRINSIC_PARAMETERS]
transformation          (1.0 0.0 0.0 0.0   0.0 1.0 0.0 0.0   0.0 0.0 1.0 0.0  0.0 0.0 0.0 1.0)

Definition at line 180 of file depthCameraDriver.h.

Constructor & Destructor Documentation

◆ depthCameraDriver()

depthCameraDriver::depthCameraDriver ( )

Definition at line 134 of file depthCameraDriver.cpp.

◆ ~depthCameraDriver()

depthCameraDriver::~depthCameraDriver ( )

Definition at line 149 of file depthCameraDriver.cpp.

Member Function Documentation

◆ close()

bool depthCameraDriver::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 450 of file depthCameraDriver.cpp.

◆ getActive()

bool depthCameraDriver::getActive	(	int	feature,
		bool *	isActive
	)

overridevirtual

Get the current status of the feature, on or off.

Parameters

feature	the identifier of the feature to check
isActive	flag true if the feature is active, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 1059 of file depthCameraDriver.cpp.

◆ getCameraDescription()

bool depthCameraDriver::getCameraDescription ( CameraDescriptor * camera )

overridevirtual

Get a basic description of the camera hw.

This is mainly used to determine the HW bus type in order to choose the corresponding interface for advanced controls.

Parameters

device returns an identifier for the bus

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 897 of file depthCameraDriver.cpp.

◆ getDepthAccuracy()

double depthCameraDriver::getDepthAccuracy ( )

overridevirtual

Get the minimum detectable variation in distance [meter].

Returns: the sensor resolution in meters.

Implements yarp::dev::IRGBDSensor.

Definition at line 688 of file depthCameraDriver.cpp.

◆ getDepthClipPlanes()

bool depthCameraDriver::getDepthClipPlanes	(	double &	nearPlane,
		double &	farPlane
	)

overridevirtual

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::IRGBDSensor.

Definition at line 697 of file depthCameraDriver.cpp.

◆ getDepthFOV()

bool depthCameraDriver::getDepthFOV	(	double &	horizontalFov,
		double &	verticalFov
	)

overridevirtual

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::IRGBDSensor.

Definition at line 670 of file depthCameraDriver.cpp.

◆ getDepthHeight()

int depthCameraDriver::getDepthHeight ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IRGBDSensor.

Definition at line 652 of file depthCameraDriver.cpp.

◆ getDepthImage()

bool depthCameraDriver::getDepthImage	(	depthImage &	depthImage,
		Stamp *	timeStamp = `NULL`
	)

override

Definition at line 759 of file depthCameraDriver.cpp.

◆ getDepthIntrinsicParam()

bool depthCameraDriver::getDepthIntrinsicParam ( Property & intrinsic )

overridevirtual

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
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

Implements yarp::dev::IRGBDSensor.

Definition at line 683 of file depthCameraDriver.cpp.

◆ getDepthMirroring()

bool depthCameraDriver::getDepthMirroring ( bool & mirror )

overridevirtual

Get the mirroring setting of the sensor.

Parameters

mirror true if image is mirrored, false otherwise

Returns: true if success

Implements yarp::dev::IDepthVisualParams.

Definition at line 725 of file depthCameraDriver.cpp.

◆ getDepthWidth()

int depthCameraDriver::getDepthWidth ( )

overridevirtual

Return the height of each frame.

Returns: depth image height

Implements yarp::dev::IRGBDSensor.

Definition at line 661 of file depthCameraDriver.cpp.

◆ getExtrinsicParam()

bool depthCameraDriver::getExtrinsicParam ( yarp::sig::Matrix & extrinsic )

overridevirtual

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

Implements yarp::dev::IRGBDSensor.

Definition at line 748 of file depthCameraDriver.cpp.

◆ getFeature() [1/2]

bool depthCameraDriver::getFeature	(	int	feature,
		double *	value
	)

overridevirtual

Get the current value for the requested feature.

Parameters

feature	the identifier of the feature to read
value	pointer to current value of the feature, from 0 to 1 expressed as a percentage

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 966 of file depthCameraDriver.cpp.

◆ getFeature() [2/2]

bool depthCameraDriver::getFeature	(	int	feature,
		double *	value1,
		double *	value2
	)

overridevirtual

Get the current value for the requested feature.

Parameters

feature	the identifier of the feaature to read
value1	returns the current value of the feature, from 0 to 1 expressed as a percentage
value2	returns the current value of the feature, from 0 to 1 expressed as a percentage

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 1002 of file depthCameraDriver.cpp.

◆ getImages()

bool depthCameraDriver::getImages	(	FlexImage &	colorFrame,
		depthImage &	depthFrame,
		Stamp *	colorStamp = `NULL`,
		Stamp *	depthStamp = `NULL`
	)

override

Definition at line 860 of file depthCameraDriver.cpp.

◆ getLastErrorMsg()

std::string depthCameraDriver::getLastErrorMsg ( Stamp * timeStamp = NULL )

overridevirtual

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.

Implements yarp::dev::IRGBDSensor.

Definition at line 892 of file depthCameraDriver.cpp.

◆ getMode()

bool depthCameraDriver::getMode	(	int	feature,
		FeatureMode *	mode
	)

overridevirtual

Get the current mode for the feature.

Parameters

feature	the identifier of the feature to change
hasAuto	flag true if the feature is has 'auto' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 1160 of file depthCameraDriver.cpp.

◆ getRgbFOV()

bool depthCameraDriver::getRgbFOV	(	double &	horizontalFov,
		double &	verticalFov
	)

overridevirtual

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::IRGBDSensor.

Definition at line 599 of file depthCameraDriver.cpp.

◆ getRgbHeight()

int depthCameraDriver::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRGBDSensor.

Definition at line 461 of file depthCameraDriver.cpp.

◆ getRgbImage()

bool depthCameraDriver::getRgbImage	(	FlexImage &	rgbImage,
		Stamp *	timeStamp = `NULL`
	)

overridevirtual

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

Implements yarp::dev::IRGBDSensor.

Definition at line 754 of file depthCameraDriver.cpp.

◆ getRgbIntrinsicParam()

bool depthCameraDriver::getRgbIntrinsicParam ( Property & intrinsic )

overridevirtual

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
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

Implements yarp::dev::IRGBDSensor.

Definition at line 647 of file depthCameraDriver.cpp.

◆ getRgbMirroring()

bool depthCameraDriver::getRgbMirroring ( bool & mirror )

overridevirtual

Get the mirroring setting of the sensor.

Parameters

mirror true if image is mirrored, false otherwise

Returns: true if success

Implements yarp::dev::IRgbVisualParams.

Definition at line 612 of file depthCameraDriver.cpp.

◆ getRgbResolution()

bool depthCameraDriver::getRgbResolution	(	int &	width,
		int &	height
	)

overridevirtual

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.

Definition at line 487 of file depthCameraDriver.cpp.

◆ getRgbSupportedConfigurations()

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

overridevirtual

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.

Definition at line 481 of file depthCameraDriver.cpp.

◆ getRgbWidth()

int depthCameraDriver::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRGBDSensor.

Definition at line 471 of file depthCameraDriver.cpp.

◆ getSensorStatus()

IRGBDSensor::RGBDSensor_status depthCameraDriver::getSensorStatus ( )

overridevirtual

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

Implements yarp::dev::IRGBDSensor.

Definition at line 865 of file depthCameraDriver.cpp.

◆ hasAuto()

bool depthCameraDriver::hasAuto	(	int	feature,
		bool *	hasAuto
	)

overridevirtual

Check if the requested feature has the 'auto' mode.

Parameters

feature	the identifier of the feature to check
hasAuto	flag true if the feature is has 'auto' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 1078 of file depthCameraDriver.cpp.

◆ hasFeature()

bool depthCameraDriver::hasFeature	(	int	feature,
		bool *	hasFeature
	)

overridevirtual

Check if camera has the requested feature (saturation, brightness ... )

Parameters

feature	the identifier of the feature to check
hasFeature	flag value: true if the feature is present, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 904 of file depthCameraDriver.cpp.

◆ hasManual()

bool depthCameraDriver::hasManual	(	int	feature,
		bool *	hasManual
	)

overridevirtual

Check if the requested feature has the 'manual' mode.

Parameters

feature	the identifier of the feature to check
hasAuto	flag true if the feature is has 'manual' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 1097 of file depthCameraDriver.cpp.

◆ hasOnePush()

bool depthCameraDriver::hasOnePush	(	int	feature,
		bool *	hasOnePush
	)

overridevirtual

Check if the requested feature has the 'onePush' mode.

Parameters

feature	the identifier of the feature to check
hasAuto	flag true if the feature is has 'onePush' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 1116 of file depthCameraDriver.cpp.

◆ hasOnOff()

bool depthCameraDriver::hasOnOff	(	int	feature,
		bool *	HasOnOff
	)

overridevirtual

Check if the camera has the ability to turn on/off the requested feature.

Parameters

feature	the identifier of the feature to change
hasOnOff	flag true if this feature can be turned on/off, false otherwise.

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 1008 of file depthCameraDriver.cpp.

◆ open()

bool depthCameraDriver::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 419 of file depthCameraDriver.cpp.

◆ pixFormatToCode()

int depthCameraDriver::pixFormatToCode ( openni::PixelFormat p )

static

Definition at line 764 of file depthCameraDriver.cpp.

◆ setActive()

bool depthCameraDriver::setActive	(	int	feature,
		bool	onoff
	)

overridevirtual

Set the requested feature on or off.

Parameters

feature	the identifier of the feature to change
onoff	true to activate, off to deactivate the feature

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 1027 of file depthCameraDriver.cpp.

◆ setDepthAccuracy()

bool depthCameraDriver::setDepthAccuracy ( double accuracy )

overridevirtual

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

Parameters

the	desired resolution in meters.

Returns: true on success

Implements yarp::dev::IRGBDSensor.

Definition at line 565 of file depthCameraDriver.cpp.

◆ setDepthClipPlanes()

bool depthCameraDriver::setDepthClipPlanes	(	double	nearPlane,
		double	farPlane
	)

overridevirtual

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::IRGBDSensor.

Definition at line 712 of file depthCameraDriver.cpp.

◆ setDepthFOV()

bool depthCameraDriver::setDepthFOV	(	double	horizontalFov,
		double	verticalFov
	)

overridevirtual

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::IRGBDSensor.

Definition at line 556 of file depthCameraDriver.cpp.

◆ setDepthMirroring()

bool depthCameraDriver::setDepthMirroring ( bool mirror )

overridevirtual

Set the mirroring setting of the sensor.

Parameters

mirror true if image should be mirrored, false otherwise

Returns: true if success

Implements yarp::dev::IDepthVisualParams.

Definition at line 735 of file depthCameraDriver.cpp.

◆ setDepthResolution()

bool depthCameraDriver::setDepthResolution	(	int	width,
		int	height
	)

overridevirtual

Set the resolution of the depth image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implements yarp::dev::IRGBDSensor.

Definition at line 500 of file depthCameraDriver.cpp.

◆ setFeature() [1/2]

bool depthCameraDriver::setFeature	(	int	feature,
		double	value
	)

overridevirtual

Set the requested feature to a value (saturation, brightness ... )

Parameters

feature	the identifier of the feature to change
value	new value of the feature, range from 0 to 1 expressed as a percentage

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 925 of file depthCameraDriver.cpp.

◆ setFeature() [2/2]

bool depthCameraDriver::setFeature	(	int	feature,
		double	value1,
		double	value2
	)

overridevirtual

Set the requested feature to a value using 2 params (like white balance)

Parameters

feature	the identifier of the feature to change
value1	first param, from 0 to 1 expressed as a percentage
value2	second param, from 0 to 1 expressed as a percentage

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 996 of file depthCameraDriver.cpp.

◆ setMode()

bool depthCameraDriver::setMode	(	int	feature,
		FeatureMode	mode
	)

overridevirtual

Set the requested mode for the feature.

Parameters

feature	the identifier of the feature to change
auto_onoff	true to activate 'auto' mode, false to activate 'manual' mode

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 1128 of file depthCameraDriver.cpp.

◆ setOnePush()

bool depthCameraDriver::setOnePush ( int feature )

overridevirtual

Set the requested feature to a value (saturation, brightness ... )

Parameters

feature	the identifier of the feature to change
value	new value of the feature, from 0 to 1 as a percentage of param range

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 1180 of file depthCameraDriver.cpp.

◆ setRgbFOV()

bool depthCameraDriver::setRgbFOV	(	double	horizontalFov,
		double	verticalFov
	)

overridevirtual

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::IRGBDSensor.

Definition at line 547 of file depthCameraDriver.cpp.

◆ setRgbMirroring()

bool depthCameraDriver::setRgbMirroring ( bool mirror )

overridevirtual

Set the mirroring setting of the sensor.

Parameters

mirror true if image should be mirrored, false otherwise

Returns: true if success

Implements yarp::dev::IRgbVisualParams.

Definition at line 624 of file depthCameraDriver.cpp.

◆ setRgbResolution()

bool depthCameraDriver::setRgbResolution	(	int	width,
		int	height
	)

overridevirtual

Set the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implements yarp::dev::IRGBDSensor.

Definition at line 530 of file depthCameraDriver.cpp.

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

src/devices/openNI2DepthCamera/depthCameraDriver.h
src/devices/openNI2DepthCamera/depthCameraDriver.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ depthCameraDriver()

◆ ~depthCameraDriver()

Member Function Documentation

◆ close()

◆ getActive()

◆ getCameraDescription()

◆ getDepthAccuracy()

◆ getDepthClipPlanes()

◆ getDepthFOV()

◆ getDepthHeight()

◆ getDepthImage()

◆ getDepthIntrinsicParam()

◆ getDepthMirroring()

◆ getDepthWidth()

◆ getExtrinsicParam()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getImages()

◆ getLastErrorMsg()

◆ getMode()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbImage()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ getSensorStatus()

◆ hasAuto()

◆ hasFeature()

◆ hasManual()

◆ hasOnePush()

◆ hasOnOff()

◆ open()

◆ pixFormatToCode()

◆ setActive()

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthMirroring()

◆ setDepthResolution()

◆ setFeature() [1/2]

◆ setFeature() [2/2]

◆ setMode()

◆ setOnePush()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()