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/sig/Image.h>
#include <yarp/sig/Vector.h>
 
namespace yarp::dev {
 
YARP_BEGIN_PACK
struct CameraConfig
{
    int width {0};
    int height {0};
    double framerate {0.0};
    YarpVocabPixelTypesEnum pixelCoding {VOCAB_PIXEL_INVALID};
};
YARP_END_PACK
 
class YARP_dev_API IRgbVisualParams
{
public:
    virtual ~IRgbVisualParams();
 
    virtual int getRgbHeight() = 0;
 
    virtual int getRgbWidth() = 0;
 
    virtual bool getRgbSupportedConfigurations(yarp::sig::VectorOf<yarp::dev::CameraConfig>& configurations)
    {
        YARP_UNUSED(configurations);
        return false;
    }
 
    virtual bool getRgbResolution(int& width, int& height)
    {
        YARP_UNUSED(width);
        YARP_UNUSED(height);
        return false;
    }
 
    virtual bool setRgbResolution(int width, int height) = 0;
 
    virtual bool getRgbFOV(double& horizontalFov, double& verticalFov) = 0;
 
    virtual bool setRgbFOV(double horizontalFov, double verticalFov) = 0;
 
    virtual bool getRgbIntrinsicParam(yarp::os::Property& intrinsic) = 0;
 
    virtual bool getRgbMirroring(bool& mirror) = 0;
 
    virtual bool setRgbMirroring(bool mirror) = 0;
};
 
} // namespace yarp::dev
 
#endif // YARP_DEV_IRGBVISUALPARAMS_H