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:
- In the YARP application manager instance, navigate through
Applications
>teoSimTools_App
> right-click on theyarpview
corresponding to thedepthImage
>Run
- In the YARP application manager instance, navigate through
Applications
>teoSimTools_App
> right-click on the connection (bottom frame) corresponding to thedepthImage
>Connect
Spawning the mug
object as explained previously, you should get results similar to the figure below.
Via APIs#
The preferred approach, using the APIs provided by YARP within our programs and scripts.
- APIs
- yarp::dev::IRGBDSensor
- Implementation in simulator
- Examples
- C++