FrameGrabber/RGBD Interfaces

[drdanz]

We are currently working on the nws/nwc architecture for cameras (both normal and rgbd).
The goal would be to have a common architecture that works for cameras, dual-cameras with 1 single image R+L, dual-cameras with 2 separate images, depth-only sensors, RGBD cameras, and in general when multiple objects that produce images are involved. This might require some refactory, changes and deprecations in the interfaces, therefore, before we proceed, we are evaluating current architecture.
This is a list of the interfaces related to the cameras and of the devices that implement and use them (found in robotology+robotology-playground, please let me know if you are aware of other devices implementing/using them).

• yarp::dev::IFrameGrabber

  • Implemented by
    • usbCamera
    • usbCameraRaw
    • dragonfly2 (icub-main)
    • dragonfly2raw (icub-main)
    • static_grabber (icub-main)
  • Used by

• yarp::dev::IFrameGrabberRgb

  • Implemented by
    • usbCamera
    • usbCameraRaw
    • dragonfly2 (icub-main)
    • dragonfly2raw (icub-main)
  • Used by

• yarp::dev::IFrameGrabberImage

  • Implemented by
    • usbCamera
    • fakeFrameGrabber
    • opencv_grabber
    • ffmpeg_grabber
    • remote_grabber
    • fakebot
    • grabber (deprecated)
    • GazeboYarpCameraDriver (gazebo-yarp-plugins)
    • GazeboYarpMultiCameraDriver (gazebo-yarp-plugins)
    • dragonfly2 (icub-main)
    • static_grabber (icub-main)
    • logpolargrabber (logpolar)
  • Used by
    • pipe
    • grabber (deprecated)
    • grabberDual
    • GazeboYarpMultiCamera (gazebo-yarp-plugins)
    • GazeboYarpCamera (gazebo-yarp-plugins)
    • GazeboYarpDepthCamera (gazebo-yarp-plugins)

• yarp::dev::IFrameGrabberImageRaw

  • Implemented by
    • usbCamera
    • usbCameraRaw
    • fakeFrameGrabber
    • dragonfly2 (icub-main)
    • dragonfly2raw (icub-main)
    • realsense2 (yarp-device-realsense)
    • realsense2withIMU (yarp-device-realsense)
  • Used by
    • grabber (deprecated)
    • grabberDual

• yarp::dev::IFrameGrabberControls

  • Implemented by
    • usbCamera
    • usbCameraRaw
    • fakeFrameGrabber
    • DepthCamera
    • remote_grabber
    • dragonfly2 (icub-main)
    • dragonfly2raw (icub-main)
    • logpolargrabber (logpolar)
    • realsense2 (yarp-device-realsense)
    • realsense2withIMU (yarp-device-realsense)
    • logpolarclient (logpolar)
  • Used by
    • rgbdSensor_nws_ros
    • rgbdSensor_nws_yarp
    • RGBDSensorWrapper
    • RGBDToPointCloudSensor_nws_ros
    • grabber (deprecated)
    • grabberDual
    • frameGrabberGui2 (icub-main)
    • logpolargrabber (logpolar)

• yarp::dev::IFrameGrabberControlsDC1394

  • Implemented by
    • remote_grabber
    • dragonfly2 (icub-main)
    • dragonfly2raw (icub-main)
    • logpolarclient (logpolar)
  • Used by
    • grabber (deprecated)
    • grabberDual
    • frameGrabberGui2 (icub-main)
    • logpolargrabber (logpolar)
    • OculusModule (walking-teleoperation)

• yarp::dev::IRgbVisualParams

  • Implemented by
    • usbCamera
    • usbCameraRaw
    • fakeFrameGrabber
    • dragonfly2 (icub-main)
    • dragonfly2raw (icub-main)
  • Used by
    • rgbdSensor_nws_yarp
    • RGBDSensorWrapper
    • grabber (deprecated)
    • grabberDual

• yarp::dev::IDepthVisualParams

  • Implemented by
  • Used by
    • rgbdSensor_nws_yarp
    • RGBDSensorWrapper

• yarp::dev::IRGBDSensor

  • Implemented by
    • yarp::dev::IRGBDSensor
    • fakeDepthCamera
    • depthCamera
    • RGBDSensorFromRosTopic
    • RGBDSensorClient
    • FreeFloorViewer (navigation)
    • depthCameraDriver (gazebo-yarp-plugins)
    • realsense2 (yarp-device-realsense)
    • realsense2withIMU (yarp-device-realsense)
  • Used by
    • RGBDSensorClient
    • rgbdSensor_nws_ros
    • rgbdSensor_nws_yarp
    • RGBDSensorWrapper
    • RGBDToPointCloudSensor_nws_ros
    • laserFromDepth
    • LaserFromPointCloud
    • Rgbdcalibrationtest (cer)
    • rgbdSensor_nws_ros2 (robotology-playground/yarp-ros2)

Notes:

• IFrameGrabberImage and IFrameGrabberImageRaw are the same exact interface for images of different pixel type. It would be possible to change it to a template in order to support ImageOf<PixelFloat> (for depth images), and FlexImage for generic images.
• IFrameGrabber and IFrameGrabberRgb are implemented by a few devices, but are not used anywhere, and they lack information (quantum, pixelcode/pixelsize, topIsLowIndex). In my opinion they are good candidates for being deprecated.
• IRGBDSendor inherits from IRgbVisualParams and IDepthVisualParams, and adds some more methods, which is kind of odd for YARP interfaces.

[drdanz]

See also #1868 and #2183