YARP
Yet Another Robot Platform
yarp::dev::IDepthVisualParams Class Referenceabstract

An interface for retrieving intrinsic parameter from a depth camera. More...

#include <yarp/dev/IDepthVisualParams.h>

+ Inheritance diagram for yarp::dev::IDepthVisualParams:

Public Member Functions

virtual ~IDepthVisualParams ()
 
virtual int getDepthHeight ()=0
 Return the height of each frame. More...
 
virtual int getDepthWidth ()=0
 Return the height of each frame. More...
 
virtual bool setDepthResolution (int width, int height)=0
 Set the resolution of the depth image from the camera. More...
 
virtual bool getDepthFOV (double &horizontalFov, double &verticalFov)=0
 Get the field of view (FOV) of the depth camera. More...
 
virtual bool setDepthFOV (double horizontalFov, double verticalFov)=0
 Set the field of view (FOV) of the depth camera. More...
 
virtual bool getDepthIntrinsicParam (yarp::os::Property &intrinsic)=0
 Get the intrinsic parameters of the depth camera. More...
 
virtual double getDepthAccuracy ()=0
 Get the minimum detectable variation in distance [meter]. More...
 
virtual bool setDepthAccuracy (double accuracy)=0
 Set the minimum detectable variation in distance [meter] when possible. More...
 
virtual bool getDepthClipPlanes (double &nearPlane, double &farPlane)=0
 Get the clipping planes of the sensor. More...
 
virtual bool setDepthClipPlanes (double nearPlane, double farPlane)=0
 Set the clipping planes of the sensor. More...
 
virtual bool getDepthMirroring (bool &mirror)=0
 Get the mirroring setting of the sensor. More...
 
virtual bool setDepthMirroring (bool mirror)=0
 Set the mirroring setting of the sensor. More...
 

Detailed Description

An interface for retrieving intrinsic parameter from a depth camera.

Definition at line 19 of file IDepthVisualParams.h.

Constructor & Destructor Documentation

◆ ~IDepthVisualParams()

yarp::dev::IDepthVisualParams::~IDepthVisualParams ( )
virtualdefault

Member Function Documentation

◆ getDepthAccuracy()

virtual double yarp::dev::IDepthVisualParams::getDepthAccuracy ( )
pure virtual

Get the minimum detectable variation in distance [meter].

Returns
the sensor resolution in meters.

Implemented in yarp::dev::IRGBDSensor, RGBDSensorFromRosTopic, RGBDSensorClient, yarp::proto::framegrabber::DepthVisualParams_Forwarder, fakeDepthCameraDriver, and depthCameraDriver.

◆ getDepthClipPlanes()

virtual bool yarp::dev::IDepthVisualParams::getDepthClipPlanes ( double &  nearPlane,
double &  farPlane 
)
pure virtual

Get the clipping planes of the sensor.

Parameters
nearPlaneminimum distance at which the sensor start measuring. Object closer than this distance will not be detected.
farPlanemaximum distance beyond which the sensor stop measuring. Object farther than this distance will not be detected.
Returns
true if success

Implemented in yarp::dev::IRGBDSensor, RGBDSensorFromRosTopic, yarp::proto::framegrabber::DepthVisualParams_Forwarder, fakeDepthCameraDriver, depthCameraDriver, and RGBDSensorClient.

◆ getDepthFOV()

virtual bool yarp::dev::IDepthVisualParams::getDepthFOV ( double &  horizontalFov,
double &  verticalFov 
)
pure virtual

Get the field of view (FOV) of the depth camera.

Parameters
horizontalFovwill return the value of the horizontal fov in degrees
verticalFovwill return the value of the vertical fov in degrees
Returns
true if success

Implemented in yarp::dev::IRGBDSensor, RGBDSensorFromRosTopic, RGBDSensorClient, yarp::proto::framegrabber::DepthVisualParams_Forwarder, fakeDepthCameraDriver, and depthCameraDriver.

◆ getDepthHeight()

virtual int yarp::dev::IDepthVisualParams::getDepthHeight ( )
pure virtual

◆ getDepthIntrinsicParam()

virtual bool yarp::dev::IDepthVisualParams::getDepthIntrinsicParam ( yarp::os::Property intrinsic)
pure virtual

Get the intrinsic parameters of the depth camera.

Parameters
intrinsicreturn a Property containing intrinsic parameters of the optical model of the camera.
Returns
true if success

The yarp::os::Property describing the intrinsic parameters is expected to be in the form:

Parameter name SubParameter Type Units Default Value Required Description Notes
physFocalLength - double m - Yes Physical focal length of the lens in meters
focalLengthX - double pixel - Yes Horizontal component of the focal length as a multiple of pixel width
focalLengthY - double pixel - Yes Vertical component of the focal length as a multiple of pixel height
principalPointX - double pixel - Yes X coordinate of the principal point
principalPointY - double pixel - Yes Y coordinate of the principal point
rectificationMatrix - 4x4 double matrix - - Yes Matrix that describes the lens' distortion
distortionModel - string - - Yes Reference to group of parameters describing the distortion model of the camera, example 'cameraDistortionModelGroup' This is another group's name to be searched for in the config file
cameraDistortionModelGroup
name string - - Yes Name of the distortion model, see notes right now only 'plumb_bob' is supported
k1 double - - Yes Radial distortion coefficient of the lens
k2 double - - Yes Radial distortion coefficient of the lens
k3 double - - Yes Radial distortion coefficient of the lens
t1 double - - Yes Tangential distortion of the lens
t2 double - - Yes Tangential distortion of the lens

Implemented in yarp::dev::IRGBDSensor, RGBDSensorClient, yarp::proto::framegrabber::DepthVisualParams_Forwarder, RGBDSensorFromRosTopic, fakeDepthCameraDriver, and depthCameraDriver.

◆ getDepthMirroring()

virtual bool yarp::dev::IDepthVisualParams::getDepthMirroring ( bool &  mirror)
pure virtual

Get the mirroring setting of the sensor.

Parameters
mirrortrue if image is mirrored, false otherwise
Returns
true if success

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, yarp::proto::framegrabber::DepthVisualParams_Forwarder, fakeDepthCameraDriver, and depthCameraDriver.

◆ getDepthWidth()

virtual int yarp::dev::IDepthVisualParams::getDepthWidth ( )
pure virtual

◆ setDepthAccuracy()

virtual bool yarp::dev::IDepthVisualParams::setDepthAccuracy ( double  accuracy)
pure virtual

Set the minimum detectable variation in distance [meter] when possible.

Parameters
thedesired resolution in meters.
Returns
true on success

Implemented in yarp::dev::IRGBDSensor, RGBDSensorFromRosTopic, RGBDSensorClient, yarp::proto::framegrabber::DepthVisualParams_Forwarder, fakeDepthCameraDriver, and depthCameraDriver.

◆ setDepthClipPlanes()

virtual bool yarp::dev::IDepthVisualParams::setDepthClipPlanes ( double  nearPlane,
double  farPlane 
)
pure virtual

Set the clipping planes of the sensor.

Parameters
nearPlaneminimum distance at which the sensor start measuring. Object closer than this distance will not be detected.
farPlanemaximum distance beyond which the sensor stop measuring. Object farther than this distance will not be detected.
Returns
true if success

Implemented in yarp::dev::IRGBDSensor, RGBDSensorFromRosTopic, yarp::proto::framegrabber::DepthVisualParams_Forwarder, fakeDepthCameraDriver, depthCameraDriver, and RGBDSensorClient.

◆ setDepthFOV()

virtual bool yarp::dev::IDepthVisualParams::setDepthFOV ( double  horizontalFov,
double  verticalFov 
)
pure virtual

Set the field of view (FOV) of the depth camera.

Parameters
horizontalFovwill set the value of the horizontal fov in degrees
verticalFovwill set the value of the vertical fov in degrees
Returns
true on success

Implemented in yarp::dev::IRGBDSensor, RGBDSensorFromRosTopic, RGBDSensorClient, yarp::proto::framegrabber::DepthVisualParams_Forwarder, fakeDepthCameraDriver, and depthCameraDriver.

◆ setDepthMirroring()

virtual bool yarp::dev::IDepthVisualParams::setDepthMirroring ( bool  mirror)
pure virtual

Set the mirroring setting of the sensor.

Parameters
mirrortrue if image should be mirrored, false otherwise
Returns
true if success

Implemented in RGBDSensorFromRosTopic, RGBDSensorClient, yarp::proto::framegrabber::DepthVisualParams_Forwarder, fakeDepthCameraDriver, and depthCameraDriver.

◆ setDepthResolution()

virtual bool yarp::dev::IDepthVisualParams::setDepthResolution ( int  width,
int  height 
)
pure virtual

Set the resolution of the depth image from the camera.

Parameters
widthimage width
heightimage height
Returns
true on success

Implemented in yarp::dev::IRGBDSensor, RGBDSensorFromRosTopic, RGBDSensorClient, yarp::proto::framegrabber::DepthVisualParams_Forwarder, fakeDepthCameraDriver, and depthCameraDriver.


The documentation for this class was generated from the following files: