Collaboration diagram for colorDepth:

The colorDepth module tracks a red can and streams its location in the format "(x y z) ..." through a yarp::os::Port output called [prefix]/state:o. The current implementation uses blobs and OpenCV. yarpdev –device opencv_grabber –movie http://CAMERA_IP/mjpg/video.mjpg


Copyright: 2013 (C) Universidad Carlos III de Madrid

Author: Juan G. Victores

CopyPolicy: Released under the terms of the LGPLv2.1 or later, see license/LGPL.TXT


The module is compiled when ENABLE_colorDepth is activated (default: OFF). For further installation steps refer to your own system installation guidelines.

Running (assuming correct installation)

yarp server &



This file can be edited at src/modules/colorDepth/main.cpp