YARP
Yet Another Robot Platform
yarp::sig::IntrinsicParams Struct Reference

The IntrinsicParams struct to handle the intrinsic parameter of cameras(RGB and RGBD either). More...

#include <yarp/sig/IntrinsicParams.h>

+ Inheritance diagram for yarp::sig::IntrinsicParams:

Detailed Description

The IntrinsicParams struct to handle the intrinsic parameter of cameras(RGB and RGBD either).

Definition at line 43 of file IntrinsicParams.h.

Classes

struct  DistortionModel
 The DistortionModel struct representing the distortion model of the camera. More...
 

Public Member Functions

 IntrinsicParams ()
 IntrinsicParams, default constructor. More...
 
 IntrinsicParams (const yarp::os::Property &intrinsic, bool isOptional=false)
 IntrinsicParams. More...
 
void toProperty (yarp::os::Property &intrinsic) const
 toProperty, convert the struct to a Property. More...
 
void fromProperty (const yarp::os::Property &intrinsic)
 fromProperty, fill the struct using the data stored in a Property. More...
 
bool read (yarp::os::ConnectionReader &reader) override
 Read this object from a network connection. More...
 
bool write (yarp::os::ConnectionWriter &writer) const override
 Write this object to a network connection. More...
 
- Public Member Functions inherited from yarp::os::Portable
virtual Type getType () const
 
- Public Member Functions inherited from yarp::os::PortReader
virtual ~PortReader ()
 Destructor. More...
 
virtual Type getReadType () const
 
- Public Member Functions inherited from yarp::os::PortWriter
virtual ~PortWriter ()
 Destructor. More...
 
virtual void onCompletion () const
 This is called when the port has finished all writing operations. More...
 
virtual void onCommencement () const
 This is called when the port is about to begin writing operations. More...
 
virtual yarp::os::Type getWriteType () const
 

Public Attributes

double physFocalLength
 Physical focal length of the lens (m) More...
 
double principalPointX
 Horizontal coordinate of the principal point of the image, as a pixel offset from the left edge. More...
 
double principalPointY
 Vertical coordinate of the principal point of the image, as a pixel offset from the top edge. More...
 
double focalLengthX
 Result of the product of the physical focal length(mm) and the size sx of the individual imager elements (pixels per mm) More...
 
double focalLengthY
 Result of the product of the physical focal length(mm) and the size sy of the individual imager elements (pixels per mm) More...
 
DistortionModel distortionModel
 Distortion model of the image. More...
 
bool isOptional
 

Additional Inherited Members

- Static Public Member Functions inherited from yarp::os::Portable
static bool copyPortable (PortWriter &writer, PortReader &reader)
 Copy one portable to another, via writing and reading. More...
 

Constructor & Destructor Documentation

◆ IntrinsicParams() [1/2]

IntrinsicParams::IntrinsicParams ( )

IntrinsicParams, default constructor.

Definition at line 14 of file IntrinsicParams.cpp.

◆ IntrinsicParams() [2/2]

IntrinsicParams::IntrinsicParams ( const yarp::os::Property intrinsic,
bool  isOptional = false 
)

IntrinsicParams.

Parameters
intrinsic,Propertycontaining the value for filling the struct.
isOptional,flagto explicitate if it is optional if this struct is used in parsing.
Note
It asserts if the Property is malformed. The physical focal length and the distortion model are optional, fields principalPointX principalPointY focalLengthX focalLengthY are required.

Definition at line 18 of file IntrinsicParams.cpp.

Member Function Documentation

◆ fromProperty()

void IntrinsicParams::fromProperty ( const yarp::os::Property intrinsic)

fromProperty, fill the struct using the data stored in a Property.

Parameters
intrinsic[in],inputproperty.
Note
It asserts if the Property is malformed. The physical focal length and the distortion model are optional, fields principalPointX principalPointY focalLengthX focalLengthY are required.

Definition at line 44 of file IntrinsicParams.cpp.

◆ read()

bool IntrinsicParams::read ( yarp::os::ConnectionReader reader)
overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters
readeran interface to the network connection for reading
Returns
true iff the object is successfully read

Implements yarp::os::Portable.

Definition at line 70 of file IntrinsicParams.cpp.

◆ toProperty()

void IntrinsicParams::toProperty ( yarp::os::Property intrinsic) const

toProperty, convert the struct to a Property.

Parameters
intrinsic[out],Propertygenerated from the struct.

Definition at line 23 of file IntrinsicParams.cpp.

◆ write()

bool IntrinsicParams::write ( yarp::os::ConnectionWriter writer) const
overridevirtual

Write this object to a network connection.

Override this for your particular class. Be aware that depending on the nature of the connections a port has, and what protocol they use, and how efficient the YARP implementation is, this method may be called once, twice, or many times, as the result of a single call to Port::write

Parameters
writeran interface to the network connection for writing
Returns
true iff the object is successfully written

Implements yarp::os::Portable.

Definition at line 79 of file IntrinsicParams.cpp.

Member Data Documentation

◆ distortionModel

DistortionModel yarp::sig::IntrinsicParams::distortionModel

Distortion model of the image.

Definition at line 102 of file IntrinsicParams.h.

◆ focalLengthX

double yarp::sig::IntrinsicParams::focalLengthX

Result of the product of the physical focal length(mm) and the size sx of the individual imager elements (pixels per mm)

Definition at line 100 of file IntrinsicParams.h.

◆ focalLengthY

double yarp::sig::IntrinsicParams::focalLengthY

Result of the product of the physical focal length(mm) and the size sy of the individual imager elements (pixels per mm)

Definition at line 101 of file IntrinsicParams.h.

◆ isOptional

bool yarp::sig::IntrinsicParams::isOptional

Definition at line 103 of file IntrinsicParams.h.

◆ physFocalLength

double yarp::sig::IntrinsicParams::physFocalLength

Physical focal length of the lens (m)

Definition at line 97 of file IntrinsicParams.h.

◆ principalPointX

double yarp::sig::IntrinsicParams::principalPointX

Horizontal coordinate of the principal point of the image, as a pixel offset from the left edge.

Definition at line 98 of file IntrinsicParams.h.

◆ principalPointY

double yarp::sig::IntrinsicParams::principalPointY

Vertical coordinate of the principal point of the image, as a pixel offset from the top edge.

Definition at line 99 of file IntrinsicParams.h.


The documentation for this struct was generated from the following files: