Modify dispBlobber to use (also) the new RGBDSensorClient

[barbalberto]

Now that a proper client for depth camera sensors has been release in YARP, it shall be used as default source of depth images.

All changes about this issue will be back compatible, therefore the user will be able to choose between current way of reading data directly from a port or using the new client.

[barbalberto]

Started work into RGBD_client branch.

@GiuliaP can you remind me how to test the dispblobber, please?

[GiuliaP]

See this xml for an example. You need to run:

    <module>
    <name>dispBlobber</name>
    <parameters>--imW 320 --imH 240 --bufferSize 1 --minBlobSize 300 --backgroundThresh 100  --imageThreshRatioLow 100 --imageThreshRatioHigh  100 </parameters>
    </module>

and then connect:

    <connection>
        <from>/OpenNI2/depthFrame_char:o</from>
        <to>/dispBlobber/img:i</to>
        <protocol>udp</protocol>
    </connection>

    <connection>
        <from>/dispBlobber/opt:o</from>
        <to>/view/dispBlobber</to>
        <protocol>udp</protocol>
    </connection>

and, if you want to check the blob's coordinates:

    <connection>
        <from>/dispBlobber/blobs/left:o</from>
        <to>...</to>
        <protocol>udp</protocol>
    </connection>

[barbalberto]

Great! Thanks @GiuliaP

[barbalberto]

Uuhmm ... it runs, but I don't see anything on the /dispBlobber/opt:o output port.
Should I run also onTheFlyRec_gaze.lua linearClassifierModule and/or GIECoder?

[GiuliaP]

Do you see a black image with a certain frame rate, or nothing is outputted?
Anyway no, the dispBlobber takes as input the disparity map and produces as output in the /dispBlobber/opt:o port a binary image that is the segmentation of the closest blob. You remember right the expected output from all the tests we did for the demo? :-) It does not have other dependences, maybe you can check that the input disparity is correct, and also the other output ports of the module (their meaning is described here, even if for their name you have to list them...).