IRgbVisualParams.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IRGBVISUALPARAMS_H
#define YARP_DEV_IRGBVISUALPARAMS_H
 
#include <yarp/dev/api.h>
 
#include <yarp/os/Property.h>
 
#include <yarp/os/ConnectionWriter.h>
#include <yarp/os/ConnectionReader.h>
#include <yarp/os/Portable.h>
 
#include <yarp/sig/Image.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/ReturnValue.h>
 
namespace yarp::dev {
 
class YARP_dev_API CameraConfig: public yarp::os::Portable
{
public:
    CameraConfig() = default;
    CameraConfig(int w, int h, double rate, YarpVocabPixelTypesEnum enc);
 
    int width {0};
    int height {0};
    double framerate {0.0};
    YarpVocabPixelTypesEnum pixelCoding {VOCAB_PIXEL_INVALID};
 
    bool read(yarp::os::ConnectionReader& connection) override;
    bool write(yarp::os::ConnectionWriter& connection) const override;
};
 
class YARP_dev_API IRgbVisualParams
{
public:
    virtual ~IRgbVisualParams();
 
    virtual int getRgbHeight() = 0;
 
    virtual int getRgbWidth() = 0;
 
    virtual yarp::dev::ReturnValue getRgbSupportedConfigurations(std::vector<yarp::dev::CameraConfig>& configurations) = 0;
 
    virtual yarp::dev::ReturnValue getRgbResolution(int& width, int& height) = 0;
 
    virtual yarp::dev::ReturnValue setRgbResolution(int width, int height) = 0;
 
    virtual yarp::dev::ReturnValue getRgbFOV(double& horizontalFov, double& verticalFov) = 0;
 
    virtual yarp::dev::ReturnValue setRgbFOV(double horizontalFov, double verticalFov) = 0;
 
    virtual yarp::dev::ReturnValue getRgbIntrinsicParam(yarp::os::Property& intrinsic) = 0;
 
    virtual yarp::dev::ReturnValue getRgbMirroring(bool& mirror) = 0;
 
    virtual yarp::dev::ReturnValue setRgbMirroring(bool mirror) = 0;
};
 
} // namespace yarp::dev
 
#endif // YARP_DEV_IRGBVISUALPARAMS_H