An interface for retrieving intrinsic parameter from a depth camera. More...

#include <yarp/dev/IDepthVisualParams.h>

Inheritance diagram for yarp::dev::IDepthVisualParams:

Public Member Functions
virtual	~IDepthVisualParams ()

virtual int	getDepthHeight ()=0
	Return the height of each frame.

virtual int	getDepthWidth ()=0
	Return the height of each frame.

virtual yarp::dev::ReturnValue	getDepthResolution (int &width, int &height)=0
	Get the resolution of the depth image from the camera.

virtual yarp::dev::ReturnValue	setDepthResolution (int width, int height)=0
	Set the resolution of the depth image from the camera.

virtual yarp::dev::ReturnValue	getDepthFOV (double &horizontalFov, double &verticalFov)=0
	Get the field of view (FOV) of the depth camera.

virtual yarp::dev::ReturnValue	setDepthFOV (double horizontalFov, double verticalFov)=0
	Set the field of view (FOV) of the depth camera.

virtual yarp::dev::ReturnValue	getDepthIntrinsicParam (yarp::os::Property &intrinsic)=0
	Get the intrinsic parameters of the depth camera.

virtual yarp::dev::ReturnValue	getDepthAccuracy (double &accuracy)=0
	Get the minimum detectable variation in distance [meter].

virtual yarp::dev::ReturnValue	setDepthAccuracy (double accuracy)=0
	Set the minimum detectable variation in distance [meter] when possible.

virtual yarp::dev::ReturnValue	getDepthClipPlanes (double &nearPlane, double &farPlane)=0
	Get the clipping planes of the sensor.

virtual yarp::dev::ReturnValue	setDepthClipPlanes (double nearPlane, double farPlane)=0
	Set the clipping planes of the sensor.

virtual yarp::dev::ReturnValue	getDepthMirroring (bool &mirror)=0
	Get the mirroring setting of the sensor.

virtual yarp::dev::ReturnValue	setDepthMirroring (bool mirror)=0
	Set the mirroring setting of the sensor.

Detailed Description

An interface for retrieving intrinsic parameter from a depth camera.

Definition at line 20 of file IDepthVisualParams.h.

Constructor & Destructor Documentation

◆ ~IDepthVisualParams()

yarp::dev::IDepthVisualParams::~IDepthVisualParams ( )

virtualdefault

Member Function Documentation

◆ getDepthAccuracy()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::getDepthAccuracy ( double & accuracy )

pure virtual

Get the minimum detectable variation in distance [meter].

Parameters

accuracy will return the sensor resolution in meters.

Returns: true on success

Implemented in FakeDepthCameraDriver_mini, RGBDSensor_nwc_yarp, and depthCameraDriver.

◆ getDepthClipPlanes()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::getDepthClipPlanes	(	double &	nearPlane,
		double &	farPlane
	)

pure virtual

Get the clipping planes of the sensor.

Parameters

nearPlane	minimum distance at which the sensor start measuring. Object closer than this distance will not be detected.
farPlane	maximum distance beyond which the sensor stop measuring. Object farther than this distance will not be detected.

Returns: true if success

Implemented in RGBDSensor_nwc_yarp, realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, and depthCameraDriver.

◆ getDepthFOV()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::getDepthFOV	(	double &	horizontalFov,
		double &	verticalFov
	)

pure virtual

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

Parameters

horizontalFov	will return the value of the horizontal fov in degrees
verticalFov	will return the value of the vertical fov in degrees

Returns: true if success

Implemented in realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, RGBDSensor_nwc_yarp, and depthCameraDriver.

◆ getDepthHeight()

virtual int yarp::dev::IDepthVisualParams::getDepthHeight ( )

pure virtual

Return the height of each frame.

Returns: depth image height

Implemented in realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, RGBDSensor_nwc_yarp, and depthCameraDriver.

◆ getDepthIntrinsicParam()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::getDepthIntrinsicParam ( yarp::os::Property & intrinsic )

pure virtual

Get the intrinsic parameters of the depth camera.

Parameters

intrinsic return 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
physFocalLength	-	double	m	-	Yes	Physical focal length of the lens in meters
focalLengthX	-	double	pixel	-	Yes	Horizontal component of the focal length as a multiple of pixel width
focalLengthY	-	double	pixel	-	Yes	Vertical component of the focal length as a multiple of pixel height
principalPointX	-	double	pixel	-	Yes	X coordinate of the principal point
principalPointY	-	double	pixel	-	Yes	Y coordinate of the principal point
rectificationMatrix	-	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 realsense2Driver, FakeDepthCameraDriver_mini, depthCameraDriver, RgbdSensor_nwc_ros2, and RGBDSensor_nwc_yarp.

◆ getDepthMirroring()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::getDepthMirroring ( bool & mirror )

pure virtual

Get the mirroring setting of the sensor.

Parameters

mirror true if image is mirrored, false otherwise

Returns: true if success

Implemented in realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, RGBDSensor_nwc_yarp, and depthCameraDriver.

◆ getDepthResolution()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::getDepthResolution	(	int &	width,
		int &	height
	)

pure virtual

Get the resolution of the depth image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implemented in FakeDepthCameraDriver_mini, and RGBDSensor_nwc_yarp.

◆ getDepthWidth()

virtual int yarp::dev::IDepthVisualParams::getDepthWidth ( )

pure virtual

Return the height of each frame.

Returns: depth image height

Implemented in realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, RGBDSensor_nwc_yarp, and depthCameraDriver.

◆ setDepthAccuracy()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::setDepthAccuracy ( double accuracy )

pure virtual

Set the minimum detectable variation in distance [meter] when possible.

Parameters

the	desired resolution in meters.

Returns: true on success

Implemented in realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, RGBDSensor_nwc_yarp, and depthCameraDriver.

◆ setDepthClipPlanes()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::setDepthClipPlanes	(	double	nearPlane,
		double	farPlane
	)

pure virtual

Set the clipping planes of the sensor.

Parameters

nearPlane	minimum distance at which the sensor start measuring. Object closer than this distance will not be detected.
farPlane	maximum distance beyond which the sensor stop measuring. Object farther than this distance will not be detected.

Returns: true if success

Implemented in RGBDSensor_nwc_yarp, realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, and depthCameraDriver.

◆ setDepthFOV()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::setDepthFOV	(	double	horizontalFov,
		double	verticalFov
	)

pure virtual

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

Parameters

horizontalFov	will set the value of the horizontal fov in degrees
verticalFov	will set the value of the vertical fov in degrees

Returns: true on success

Implemented in realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, RGBDSensor_nwc_yarp, and depthCameraDriver.

◆ setDepthMirroring()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::setDepthMirroring ( bool mirror )

pure virtual

Set the mirroring setting of the sensor.

Parameters

mirror true if image should be mirrored, false otherwise

Returns: true if success

Implemented in realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, RGBDSensor_nwc_yarp, and depthCameraDriver.

◆ setDepthResolution()

virtual yarp::dev::ReturnValue yarp::dev::IDepthVisualParams::setDepthResolution	(	int	width,
		int	height
	)

pure virtual

Set the resolution of the depth image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implemented in realsense2Driver, RgbdSensor_nwc_ros2, FakeDepthCameraDriver_mini, RGBDSensor_nwc_yarp, and depthCameraDriver.

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

src/libYARP_dev/src/yarp/dev/IDepthVisualParams.h
src/libYARP_dev/src/yarp/dev/IDepthVisualParams.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~IDepthVisualParams()

Member Function Documentation

◆ getDepthAccuracy()

◆ getDepthClipPlanes()

◆ getDepthFOV()

◆ getDepthHeight()

◆ getDepthIntrinsicParam()

◆ getDepthMirroring()

◆ getDepthResolution()

◆ getDepthWidth()

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthMirroring()

◆ setDepthResolution()