YARP  2.3.70.1
Yet Another Robot Platform
yarp::dev::IRgbVisualParams Class Referenceabstract

An interface for retriving intrinsic parameter from a rgb camera. More...

#include <yarp/dev/IVisualParams.h>

+ Inheritance diagram for yarp::dev::IRgbVisualParams:

Public Member Functions

virtual ~IRgbVisualParams ()
 
virtual int getRgbHeight ()=0
 Return the height of each frame. More...
 
virtual int getRgbWidth ()=0
 Return the width of each frame. More...
 
virtual bool getRgbSupportedConfigurations (yarp::sig::VectorOf< yarp::dev::CameraConfig > &configurations)
 Get the possible configurations of the camera. More...
 
virtual bool getRgbResolution (int &width, int &height)
 Get the resolution of the rgb image from the camera. More...
 
virtual bool setRgbResolution (int width, int height)=0
 Set the resolution of the rgb image from the camera. More...
 
virtual bool getRgbFOV (double &horizontalFov, double &verticalFov)=0
 Get the field of view (FOV) of the rgb camera. More...
 
virtual bool setRgbFOV (double horizontalFov, double verticalFov)=0
 Set the field of view (FOV) of the rgb camera. More...
 
virtual bool getRgbIntrinsicParam (yarp::os::Property &intrinsic)=0
 Get the intrinsic parameters of the rgb camera. More...
 
virtual bool getRgbMirroring (bool &mirror)=0
 Get the mirroring setting of the sensor. More...
 
virtual bool setRgbMirroring (bool mirror)=0
 Set the mirroring setting of the sensor. More...
 

Detailed Description

An interface for retriving intrinsic parameter from a rgb camera.

Definition at line 77 of file IVisualParams.h.

Constructor & Destructor Documentation

◆ ~IRgbVisualParams()

virtual yarp::dev::IRgbVisualParams::~IRgbVisualParams ( )
inlinevirtual

Definition at line 80 of file IVisualParams.h.

Member Function Documentation

◆ getRgbFOV()

virtual bool yarp::dev::IRgbVisualParams::getRgbFOV ( double &  horizontalFov,
double &  verticalFov 
)
pure virtual

Get the field of view (FOV) of the rgb camera.

Parameters
horizontalFovwill return the value of the horizontal fov in degrees
verticalFovwill return the value of the vertical fov in degrees
Returns
true on success

Implemented in yarp::dev::depthCameraDriver, yarp::dev::RGBDSensorClient, yarp::dev::TestFrameGrabber, yarp::dev::IRGBDSensor, yarp::dev::fakeDepthCameraDriver, and yarp::dev::Implement_RgbVisualParams_Sender.

◆ getRgbHeight()

virtual int yarp::dev::IRgbVisualParams::getRgbHeight ( )
pure virtual

◆ getRgbIntrinsicParam()

virtual bool yarp::dev::IRgbVisualParams::getRgbIntrinsicParam ( yarp::os::Property intrinsic)
pure virtual

Get the intrinsic parameters of the rgb camera.

Parameters
intrinsicreturn a Property containing intrinsic parameters of the optical model of the camera.
Returns
true if success

The yarp::os::Property describing the intrinsic parameters is expected to be in the form:

Parameter name SubParameter Type Units Default Value Required Description Notes
focalLengthX - double mm - Yes Horizontal component of the focal lenght
focalLengthY - double mm - Yes Vertical component of the focal lenght
principalPointX - double pixel - Yes X coordinate of the principal point
principalPointY - double pixel - Yes Y coordinate of the principal point
retificationMatrix - 4x4 double matrix - - Yes Matrix that describes the lens' distortion
distortionModel - string - - Yes Reference to group of parameters describing the distortion model of the camera, example 'cameraDistortionModelGroup' This is another group's name to be searched for in the config file
cameraDistortionModelGroup
name string - - Yes Name of the distortion model, see notes right now only 'plumb_bob' is supported
k1 double - - Yes Radial distortion coefficient of the lens
k2 double - - Yes Radial distortion coefficient of the lens
k3 double - - Yes Radial distortion coefficient of the lens
t1 double - - Yes Tangential distortion of the lens
t2 double - - Yes Tangential distortion of the lens

Implemented in yarp::dev::RGBDSensorClient, yarp::dev::TestFrameGrabber, yarp::dev::IRGBDSensor, and yarp::dev::Implement_RgbVisualParams_Sender.

◆ getRgbMirroring()

virtual bool yarp::dev::IRgbVisualParams::getRgbMirroring ( bool &  mirror)
pure virtual

Get the mirroring setting of the sensor.

Parameters
mirrortrue if image is mirrored, false otherwise
Returns
true if success

Implemented in yarp::dev::depthCameraDriver, yarp::dev::RGBDSensorClient, yarp::dev::TestFrameGrabber, yarp::dev::fakeDepthCameraDriver, and yarp::dev::Implement_RgbVisualParams_Sender.

◆ getRgbResolution()

virtual bool yarp::dev::IRgbVisualParams::getRgbResolution ( int &  width,
int &  height 
)
inlinevirtual

Get the resolution of the rgb image from the camera.

Parameters
widthimage width
heightimage height
Returns
true on success

Reimplemented in yarp::dev::depthCameraDriver, yarp::dev::RGBDSensorClient, yarp::dev::TestFrameGrabber, yarp::dev::IRGBDSensor, yarp::dev::fakeDepthCameraDriver, and yarp::dev::Implement_RgbVisualParams_Sender.

Definition at line 108 of file IVisualParams.h.

◆ getRgbSupportedConfigurations()

virtual bool yarp::dev::IRgbVisualParams::getRgbSupportedConfigurations ( yarp::sig::VectorOf< yarp::dev::CameraConfig > &  configurations)
inlinevirtual

Get the possible configurations of the camera.

Parameters
configurationslist of camera supported configurations as CameraConfig type
Returns
true on success

Reimplemented in yarp::dev::depthCameraDriver, yarp::dev::RGBDSensorClient, yarp::dev::TestFrameGrabber, yarp::dev::IRGBDSensor, yarp::dev::fakeDepthCameraDriver, and yarp::dev::Implement_RgbVisualParams_Sender.

Definition at line 100 of file IVisualParams.h.

◆ getRgbWidth()

virtual int yarp::dev::IRgbVisualParams::getRgbWidth ( )
pure virtual

◆ setRgbFOV()

virtual bool yarp::dev::IRgbVisualParams::setRgbFOV ( double  horizontalFov,
double  verticalFov 
)
pure virtual

Set the field of view (FOV) of the rgb camera.

Parameters
horizontalFovwill set the value of the horizontal fov in degrees
verticalFovwill set the value of the vertical fov in degrees
Returns
true on success

Implemented in yarp::dev::depthCameraDriver, yarp::dev::RGBDSensorClient, yarp::dev::TestFrameGrabber, yarp::dev::IRGBDSensor, yarp::dev::fakeDepthCameraDriver, and yarp::dev::Implement_RgbVisualParams_Sender.

◆ setRgbMirroring()

virtual bool yarp::dev::IRgbVisualParams::setRgbMirroring ( bool  mirror)
pure virtual

Set the mirroring setting of the sensor.

Parameters
mirrortrue if image should be mirrored, false otherwise
Returns
true if success

Implemented in yarp::dev::depthCameraDriver, yarp::dev::RGBDSensorClient, yarp::dev::TestFrameGrabber, yarp::dev::fakeDepthCameraDriver, and yarp::dev::Implement_RgbVisualParams_Sender.

◆ setRgbResolution()

virtual bool yarp::dev::IRgbVisualParams::setRgbResolution ( int  width,
int  height 
)
pure virtual

Set the resolution of the rgb image from the camera.

Parameters
widthimage width
heightimage height
Returns
true on success

Implemented in yarp::dev::depthCameraDriver, yarp::dev::RGBDSensorClient, yarp::dev::TestFrameGrabber, yarp::dev::IRGBDSensor, yarp::dev::fakeDepthCameraDriver, and yarp::dev::Implement_RgbVisualParams_Sender.


The documentation for this class was generated from the following file: