YARP
Yet Another Robot Platform
IRgbVisualParams.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_DEV_IRGBVISUALPARAMS_H
7 #define YARP_DEV_IRGBVISUALPARAMS_H
8 
9 #include <yarp/dev/api.h>
10 
11 #include <yarp/os/Property.h>
12 
13 #include <yarp/sig/Image.h>
14 #include <yarp/sig/Vector.h>
15 
16 namespace yarp::dev {
17 
27 {
28  int width {0};
29  int height {0};
30  double framerate {0.0};
32 };
34 
41 {
42 public:
43  virtual ~IRgbVisualParams();
44 
49  virtual int getRgbHeight() = 0;
50 
55  virtual int getRgbWidth() = 0;
56 
63  {
64  YARP_UNUSED(configurations);
65  return false;
66  }
67 
74  virtual bool getRgbResolution(int& width, int& height)
75  {
76  YARP_UNUSED(width);
77  YARP_UNUSED(height);
78  return false;
79  }
80 
87  virtual bool setRgbResolution(int width, int height) = 0;
88 
96  virtual bool getRgbFOV(double& horizontalFov, double& verticalFov) = 0;
97 
105  virtual bool setRgbFOV(double horizontalFov, double verticalFov) = 0;
106 
133  virtual bool getRgbIntrinsicParam(yarp::os::Property& intrinsic) = 0;
134 
141  virtual bool getRgbMirroring(bool& mirror) = 0;
142 
149  virtual bool setRgbMirroring(bool mirror) = 0;
150 };
151 
152 } // namespace yarp::dev
153 
154 #endif // YARP_DEV_IRGBVISUALPARAMS_H
contains the definition of a Vector type
An interface for retrieving intrinsic parameter from a rgb camera.
virtual bool getRgbSupportedConfigurations(yarp::sig::VectorOf< yarp::dev::CameraConfig > &configurations)
Get the possible configurations of the camera.
virtual bool setRgbMirroring(bool mirror)=0
Set the mirroring setting of the sensor.
virtual bool getRgbIntrinsicParam(yarp::os::Property &intrinsic)=0
Get the intrinsic parameters of the rgb camera.
virtual bool getRgbResolution(int &width, int &height)
Get the resolution of the rgb image from the camera.
virtual bool setRgbResolution(int width, int height)=0
Set the resolution of the rgb image from the camera.
virtual bool getRgbMirroring(bool &mirror)=0
Get the mirroring setting of the sensor.
virtual int getRgbHeight()=0
Return the height of each frame.
virtual bool getRgbFOV(double &horizontalFov, double &verticalFov)=0
Get the field of view (FOV) of the rgb camera.
virtual bool setRgbFOV(double horizontalFov, double verticalFov)=0
Set the field of view (FOV) of the rgb camera.
virtual int getRgbWidth()=0
Return the width of each frame.
A class for storing options and configuration information.
Definition: Property.h:33
YarpVocabPixelTypesEnum
Definition: Image.h:40
@ VOCAB_PIXEL_INVALID
Definition: Image.h:41
For streams capable of holding different kinds of content, check what they actually have.
Struct describing a possible camera configuration.
YarpVocabPixelTypesEnum pixelCoding
#define YARP_END_PACK
Ends 1 byte packing for structs/classes.
Definition: system.h:193
#define YARP_BEGIN_PACK
Starts 1 byte packing for structs/classes.
Definition: system.h:192
#define YARP_UNUSED(var)
Definition: api.h:162
#define YARP_dev_API
Definition: api.h:18