YARP
Yet Another Robot Platform
RGBDSensorParamParser.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 #include <vector>
7 
8 #include <yarp/os/Searchable.h>
9 #include <yarp/os/Value.h>
10 #include <yarp/sig/Matrix.h>
12 #include <yarp/dev/api.h>
13 
14 #ifndef YARP_DEV_RGBDSENSORPARAMPARSER_H
15 #define YARP_DEV_RGBDSENSORPARAMPARSER_H
16 
17 namespace yarp {
18 namespace dev {
19 
25 {
26 public:
27 
28 #ifndef YARP_NO_DEPRECATED // Since YARP 3.2.0
29  YARP_DEPRECATED_TYPEDEF_MSG("Use yarp::sig::IntrinsicParams instead") yarp::sig::IntrinsicParams IntrinsicParams;
30 #endif
37  {
41  RGBDParam() : name("unknown"), isSetting(false), isDescription(false), size(1)
42  {
43  val.resize(size);
44  }
45 
51  RGBDParam(const std::string& _name, const int _size) : name(_name), isSetting(false),
52  isDescription(false), size(_size)
53  {
54  val.resize(size);
55  }
56 
57 
59  bool isSetting;
61  size_t size;
62 
63  YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::vector<yarp::os::Value>) val;
64  };
65 
66 
70  RGBDSensorParamParser(): depthIntrinsic(), rgbIntrinsic(),
71  transformationMatrix(4,4), isOptionalExtrinsic(true) {
72  transformationMatrix.eye();
73  }
74 
82  bool parseParam(const yarp::os::Searchable& config, std::vector<RGBDParam *> &params);
83 
88 };
89 
90 } // dev
91 } // yarp
92 
93 #endif
contains the definition of a Matrix type
The RGBDSensorParamParser class.
RGBDSensorParamParser()
RGBDSensorParamParser, default constructor.
yarp::sig::IntrinsicParams rgbIntrinsic
yarp::sig::IntrinsicParams depthIntrinsic
A base class for nested structures that can be searched.
Definition: Searchable.h:66
A class for a Matrix.
Definition: Matrix.h:43
The main, catch-all namespace for YARP.
Definition: dirs.h:16
RGBDParam(const std::string &_name, const int _size)
RGBDParam.
RGBDParam()
RGBDParam, default constructor.
The IntrinsicParams struct to handle the intrinsic parameter of cameras(RGB and RGBD either).
#define YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(x)
Suppress MSVC C4251 warning for the declaration.
Definition: system.h:336
#define YARP_DEPRECATED_TYPEDEF_MSG(x)
Definition: api.h:99
#define YARP_dev_API
Definition: api.h:18