YARP
Yet Another Robot Platform
DepthVisualParams_Forwarder.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6#ifndef YARP_FRAMEGRABBER_PROTOCOL_DEPTHVISUALPARAMS_FORWARDER_H
7#define YARP_FRAMEGRABBER_PROTOCOL_DEPTHVISUALPARAMS_FORWARDER_H
8
10#include <yarp/os/Port.h>
11
13
16{
17private:
18 yarp::os::Port& m_port;
19
20public:
22 ~DepthVisualParams_Forwarder() override = default;
23
24 int getDepthHeight() override;
25 int getDepthWidth() override;
26 bool setDepthResolution(int width, int height) override;
27 bool getDepthFOV(double& horizontalFov, double& verticalFov) override;
28 bool setDepthFOV(double horizontalFov, double verticalFov) override;
29 double getDepthAccuracy() override;
30 bool setDepthAccuracy(double accuracy) override;
31 bool getDepthClipPlanes(double& nearPlane, double& farPlane) override;
32 bool setDepthClipPlanes(double nearPlane, double farPlane) override;
33 bool getDepthIntrinsicParam(yarp::os::Property& intrinsic) override;
34 bool getDepthMirroring(bool& mirror) override;
35 bool setDepthMirroring(bool mirror) override;
36};
37
38} // namespace yarp::proto::framegrabber
39
40#endif // YARP_FRAMEGRABBER_PROTOCOL_DEPTHVISUALPARAMS_FORWARDER_H
An interface for retrieving intrinsic parameter from a depth camera.
A mini-server for network communication.
Definition: Port.h:46
A class for storing options and configuration information.
Definition: Property.h:33
bool setDepthMirroring(bool mirror) override
Set the mirroring setting of the sensor.
bool setDepthFOV(double horizontalFov, double verticalFov) override
Set the field of view (FOV) of the depth camera.
bool getDepthClipPlanes(double &nearPlane, double &farPlane) override
Get the clipping planes of the sensor.
bool setDepthClipPlanes(double nearPlane, double farPlane) override
Set the clipping planes of the sensor.
int getDepthWidth() override
Return the height of each frame.
bool getDepthMirroring(bool &mirror) override
Get the mirroring setting of the sensor.
bool setDepthResolution(int width, int height) override
Set the resolution of the depth image from the camera.
double getDepthAccuracy() override
Get the minimum detectable variation in distance [meter].
bool getDepthFOV(double &horizontalFov, double &verticalFov) override
Get the field of view (FOV) of the depth camera.
bool setDepthAccuracy(double accuracy) override
Set the minimum detectable variation in distance [meter] when possible.
bool getDepthIntrinsicParam(yarp::os::Property &intrinsic) override
Get the intrinsic parameters of the depth camera.
int getDepthHeight() override
Return the height of each frame.
constexpr char accuracy[]