#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-device-realsense2/src/devices/realsense2/realsense2withIMUDriver.h>

Inheritance diagram for realsense2withIMUDriver:

Public Member Functions
	realsense2withIMUDriver ()

	~realsense2withIMUDriver () override=default

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

bool	close () override
	Close the DeviceDriver.

size_t	getNrOfThreeAxisGyroscopes () const override
	Get the number of three axis gyroscopes exposed by this sensor.

yarp::dev::MAS_status	getThreeAxisGyroscopeStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the gyroscope.

size_t	getNrOfThreeAxisLinearAccelerometers () const override
	Get the number of three axis linear accelerometers exposed by this device.

yarp::dev::MAS_status	getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getNrOfOrientationSensors () const override
	Get the number of orientation sensors exposed by this device.

yarp::dev::MAS_status	getOrientationSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getOrientationSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
	Get the last reading of the orientation sensor as roll pitch yaw.

Public Member Functions inherited from realsense2Driver
	realsense2Driver ()

	~realsense2Driver () override=default

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=nullptr) override
	Get the rgb frame from the device.

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

bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelMono > &image) override
	Get an image from the frame grabber.

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

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

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::IFrameGrabberControls
virtual	~IFrameGrabberControls ()
	Destructor.

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

Public Member Functions inherited from yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelMono > >
virtual bool	getImageCrop (cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, yarp::sig::ImageOf< yarp::sig::PixelMono > &image)
	Get a crop of the image from the frame grabber.

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

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

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::IThreeAxisGyroscopes
virtual	~IThreeAxisGyroscopes ()

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

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

Protected Attributes
rs2_vector	m_last_gyro

rs2_vector	m_last_accel

rs2_pose	m_last_pose

rotation_estimator *	m_rotation_estimator

bool	m_sensor_has_orientation_estimator

std::string	m_inertial_sensor_name_prefix

const std::string	m_accel_sensor_tag = "accelerations_sensor"

const std::string	m_gyro_sensor_tag = "gyro_sensor"

const std::string	m_orientation_sensor_tag = "orientation_sensor"

const std::string	m_position_sensor_tag = "position_sensor"

std::string	m_gyroFrameName

std::string	m_accelFrameName

std::string	m_orientationFrameName

std::string	m_positionFrameName

std::string	m_lastError

Protected Attributes inherited from realsense2Driver
std::mutex	m_mutex

rs2::context	m_ctx

rs2::config	m_cfg

rs2::pipeline	m_pipeline

rs2::pipeline_profile	m_profile

rs2::device	m_device

std::vector< rs2::sensor >	m_sensors

rs2::sensor *	m_depth_sensor

rs2::sensor *	m_color_sensor

rs2_intrinsics	m_depth_intrin {}

rs2_intrinsics	m_color_intrin {}

rs2_intrinsics	m_infrared_intrin {}

rs2_extrinsics	m_depth_to_color {}

rs2_extrinsics	m_color_to_depth {}

rs2_stream	m_alignment_stream {RS2_STREAM_COLOR}

bool	m_depthQuantizationEnabled {false}

int	m_depthDecimalNum {0}

yarp::os::Stamp	m_rgb_stamp

yarp::os::Stamp	m_depth_stamp

std::string	m_lastError

yarp::dev::RGBDSensorParamParser	m_paramParser

bool	m_verbose

bool	m_initialized

bool	m_stereoMode

bool	m_needAlignment

int	m_fps

float	m_scale

bool	m_rotateImage180 {false}

std::vector< cameraFeature_id_t >	m_supportedFeatures

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 }

Protected Member Functions inherited from realsense2Driver
bool	initializeRealsenseDevice ()

bool	setParams ()

bool	getImage (FlexImage &Frame, Stamp *timeStamp, rs2::frameset &sourceFrame)

bool	getImage (depthImage &Frame, Stamp *timeStamp, const rs2::frameset &sourceFrame)

void	updateTransformations ()

bool	pipelineStartup ()

bool	pipelineShutdown ()

bool	pipelineRestart ()

bool	setFramerate (const int _fps)

void	fallback ()

Detailed Description

Definition at line 31 of file realsense2withIMUDriver.h.

Constructor & Destructor Documentation

◆ realsense2withIMUDriver()

realsense2withIMUDriver::realsense2withIMUDriver ( )

Definition at line 230 of file realsense2withIMUDriver.cpp.

◆ ~realsense2withIMUDriver()

realsense2withIMUDriver::~realsense2withIMUDriver ( )

overridedefault

Member Function Documentation

◆ close()

bool realsense2withIMUDriver::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from realsense2Driver.

Definition at line 328 of file realsense2withIMUDriver.cpp.

◆ getNrOfOrientationSensors()

size_t realsense2withIMUDriver::getNrOfOrientationSensors ( ) const

overridevirtual

Get the number of orientation sensors exposed by this device.

Implements yarp::dev::IOrientationSensors.

Definition at line 444 of file realsense2withIMUDriver.cpp.

◆ getNrOfThreeAxisGyroscopes()

size_t realsense2withIMUDriver::getNrOfThreeAxisGyroscopes ( ) const

overridevirtual

Get the number of three axis gyroscopes exposed by this sensor.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 336 of file realsense2withIMUDriver.cpp.

◆ getNrOfThreeAxisLinearAccelerometers()

size_t realsense2withIMUDriver::getNrOfThreeAxisLinearAccelerometers ( ) const

overridevirtual

Get the number of three axis linear accelerometers exposed by this device.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 392 of file realsense2withIMUDriver.cpp.

◆ getOrientationSensorFrameName()

bool realsense2withIMUDriver::getOrientationSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Note: This is an implementation specific method, that may return the name of the sensor frame in a scenegraph

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 468 of file realsense2withIMUDriver.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool realsense2withIMUDriver::getOrientationSensorMeasureAsRollPitchYaw	(	size_t	sens_index,
		yarp::sig::Vector &	rpy,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the orientation sensor as roll pitch yaw.

If $ f $ is the lab or surface fixed frame, and $ s $ is the sensor-fixed frame, this methods returns the angles $r \in [-180, 180] , p \in [-90, 90], y \in [-180, 180]$ such that

${}^f R_s = RotZ\left(\frac{\pi}{180}y\right)*RotY\left(\frac{\pi}{180}p\right)*RotX\left(\frac{\pi}{180}r\right)$

with

$RotZ(\theta) = \begin{bmatrix} \cos(\theta) & -\sin(\theta) & 0 \\ \sin(\theta) & \cos(\theta) & 0 \\ 0 & 0 & 1 \\ \end{bmatrix}$

,

$RotY(\theta) = \begin{bmatrix} \cos(\theta) & 0 & \sin(\theta) \\ 0 & 1 & 0 \\ -\sin(\theta) & 0 & \cos(\theta) \\ \end{bmatrix}$

and

$RotX(\theta) = \begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos(\theta) & - \sin(\theta) \\ 0 & \sin(\theta) & \cos(\theta) \\ \end{bmatrix}$

where ${}^f R_s \in \mathbb{R}^{3 \times 3}$ is the rotation that left-multiplied by a 3d column vector expressed in $ s $ it returns it expressed in $ f $ .

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfOrientationSensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees .
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 480 of file realsense2withIMUDriver.cpp.

◆ getOrientationSensorName()

bool realsense2withIMUDriver::getOrientationSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 457 of file realsense2withIMUDriver.cpp.

◆ getOrientationSensorStatus()

yarp::dev::MAS_status realsense2withIMUDriver::getOrientationSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IOrientationSensors.

Definition at line 450 of file realsense2withIMUDriver.cpp.

◆ getThreeAxisGyroscopeFrameName()

bool realsense2withIMUDriver::getThreeAxisGyroscopeFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 354 of file realsense2withIMUDriver.cpp.

◆ getThreeAxisGyroscopeMeasure()

bool realsense2withIMUDriver::getThreeAxisGyroscopeMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the gyroscope.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 361 of file realsense2withIMUDriver.cpp.

◆ getThreeAxisGyroscopeName()

bool realsense2withIMUDriver::getThreeAxisGyroscopeName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 347 of file realsense2withIMUDriver.cpp.

◆ getThreeAxisGyroscopeStatus()

yarp::dev::MAS_status realsense2withIMUDriver::getThreeAxisGyroscopeStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 341 of file realsense2withIMUDriver.cpp.

◆ getThreeAxisLinearAccelerometerFrameName()

bool realsense2withIMUDriver::getThreeAxisLinearAccelerometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 410 of file realsense2withIMUDriver.cpp.

◆ getThreeAxisLinearAccelerometerMeasure()

bool realsense2withIMUDriver::getThreeAxisLinearAccelerometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisLinearAccelerometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters^2/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 417 of file realsense2withIMUDriver.cpp.

◆ getThreeAxisLinearAccelerometerName()

bool realsense2withIMUDriver::getThreeAxisLinearAccelerometerName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 403 of file realsense2withIMUDriver.cpp.

◆ getThreeAxisLinearAccelerometerStatus()

yarp::dev::MAS_status realsense2withIMUDriver::getThreeAxisLinearAccelerometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 397 of file realsense2withIMUDriver.cpp.

◆ open()

bool realsense2withIMUDriver::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

bool realsense2withIMUDriver::m_sensor_has_orientation_estimator

protected

Definition at line 90 of file realsense2withIMUDriver.h.

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

opt-modules/yarp-device-realsense2/src/devices/realsense2/realsense2withIMUDriver.h
opt-modules/yarp-device-realsense2/src/devices/realsense2/realsense2withIMUDriver.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ realsense2withIMUDriver()

◆ ~realsense2withIMUDriver()

Member Function Documentation

◆ close()

◆ getNrOfOrientationSensors()

◆ getNrOfThreeAxisGyroscopes()

◆ getNrOfThreeAxisLinearAccelerometers()

◆ getOrientationSensorFrameName()

◆ getOrientationSensorMeasureAsRollPitchYaw()

◆ getOrientationSensorName()

◆ getOrientationSensorStatus()

◆ getThreeAxisGyroscopeFrameName()

◆ getThreeAxisGyroscopeMeasure()

◆ getThreeAxisGyroscopeName()

◆ getThreeAxisGyroscopeStatus()

◆ getThreeAxisLinearAccelerometerFrameName()

◆ getThreeAxisLinearAccelerometerMeasure()

◆ getThreeAxisLinearAccelerometerName()

◆ getThreeAxisLinearAccelerometerStatus()

◆ open()

Member Data Documentation

◆ m_accel_sensor_tag

◆ m_accelFrameName

◆ m_gyro_sensor_tag

◆ m_gyroFrameName

◆ m_inertial_sensor_name_prefix

◆ m_last_accel

◆ m_last_gyro

◆ m_last_pose

◆ m_lastError

◆ m_orientation_sensor_tag

◆ m_orientationFrameName

◆ m_position_sensor_tag

◆ m_positionFrameName

◆ m_rotation_estimator

◆ m_sensor_has_orientation_estimator