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Tutorial: RGB-D Sensor#

First, activate the teoSim RGB-D Sensor: In the YARP application manager instance, navigate through Applications > teoSimBase_App > right-click on the openraveYarpPluginLoaderClient corresponding to RGBDSensorWrapper > Run

Via GUIs#

To view the depth image, perform the sequence:

  1. In the YARP application manager instance, navigate through Applications > teoSimTools_App > right-click on the yarpview corresponding to the depthImage > Run
  2. In the YARP application manager instance, navigate through Applications > teoSimTools_App > right-click on the connection (bottom frame) corresponding to the depthImage > Connect

Spawning the mug object as explained previously, you should get results similar to the figure below.

teoSim-depth

Via APIs#

The preferred approach, using the APIs provided by YARP within our programs and scripts.