rc_yarp_wrapper

References

Official Documents

Dependencies

1. Yarp
2. rc_genicam_api

Build

1. Build and Install rc_genicam_api. Remember to add its library path to the .bashrc file, e.g. in the case rc_genicam_api has been installed in ~/.local

	export LIBRARY_PATH=$LIBRARY_PATH:~/.local/lib:~/.local/lib/rc_genicam_api
	export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/.local/lib:~/.local/lib/rc_genicam_api

2. Build and install this repo normally

How to

1. Run rcdiscover-gui to look for the camera(s)

2. Run gc_config -l to get the name of camera(s) which you want to connect to.

3. Run this wrapper:

   rc_yarp_wrapper --mono 1 --combined 0 --confidence 1 --disp 1 --scale 2
   

   with important parameters:

   • mono: enable/disable streaming monochrome images from single camera
   • combined: enable/disable streaming monochrome images from two cameras (stacked vertically)
   • confidence: enable/disable streaming confidence images of disparity algorithm
   • disp: enable/disable streaming disparity images, which allows the depth calculation
   • scale: scaling factor to reduce images size for efficient streaming. Original images have size of 1280x960

4. Obtain depth estimate of a Rectangular surrounding a pixel by using rpc command:

   yarp rpc /rc_img_conveyor/rpc
   

   Then:

   Rect tlx tly width height step