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.

Via APIs

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

• APIs
• yarp::dev::IRGBDSensor
• Implementation in simulator
  • roboticslab::YarpOpenraveRGBDSensor
  • openrave-yarp-plugins/libraries/YarpPlugins/YarpOpenraveRGBDSensor
• Examples
• C++
  • vision/programs/colorRegionDetection
  • vision/programs/haarDetection