YARP
Yet Another Robot Platform
yarp::proto::framegrabber::DepthVisualParams_Forwarder Class Reference

#include <framegrabber_protocol/yarp/proto/framegrabber/DepthVisualParams_Forwarder.h>

+ Inheritance diagram for yarp::proto::framegrabber::DepthVisualParams_Forwarder:

Public Member Functions

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

Definition at line 14 of file DepthVisualParams_Forwarder.h.

Constructor & Destructor Documentation

◆ DepthVisualParams_Forwarder()

DepthVisualParams_Forwarder::DepthVisualParams_Forwarder ( yarp::os::Port port)

Definition at line 11 of file DepthVisualParams_Forwarder.cpp.

◆ ~DepthVisualParams_Forwarder()

yarp::proto::framegrabber::DepthVisualParams_Forwarder::~DepthVisualParams_Forwarder ( )
overridedefault

Member Function Documentation

◆ getDepthAccuracy()

double DepthVisualParams_Forwarder::getDepthAccuracy ( )
overridevirtual

Get the minimum detectable variation in distance [meter].

Returns
the sensor resolution in meters.

Implements yarp::dev::IDepthVisualParams.

Definition at line 84 of file DepthVisualParams_Forwarder.cpp.

◆ getDepthClipPlanes()

bool DepthVisualParams_Forwarder::getDepthClipPlanes ( double &  nearPlane,
double &  farPlane 
)
overridevirtual

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

Implements yarp::dev::IDepthVisualParams.

Definition at line 107 of file DepthVisualParams_Forwarder.cpp.

◆ getDepthFOV()

bool DepthVisualParams_Forwarder::getDepthFOV ( double &  horizontalFov,
double &  verticalFov 
)
overridevirtual

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

Implements yarp::dev::IDepthVisualParams.

Definition at line 51 of file DepthVisualParams_Forwarder.cpp.

◆ getDepthHeight()

int DepthVisualParams_Forwarder::getDepthHeight ( )
overridevirtual

Return the height of each frame.

Returns
depth image height

Implements yarp::dev::IDepthVisualParams.

Definition at line 16 of file DepthVisualParams_Forwarder.cpp.

◆ getDepthIntrinsicParam()

bool DepthVisualParams_Forwarder::getDepthIntrinsicParam ( yarp::os::Property intrinsic)
overridevirtual

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

Implements yarp::dev::IDepthVisualParams.

Definition at line 140 of file DepthVisualParams_Forwarder.cpp.

◆ getDepthMirroring()

bool DepthVisualParams_Forwarder::getDepthMirroring ( bool &  mirror)
overridevirtual

Get the mirroring setting of the sensor.

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

Implements yarp::dev::IDepthVisualParams.

Definition at line 159 of file DepthVisualParams_Forwarder.cpp.

◆ getDepthWidth()

int DepthVisualParams_Forwarder::getDepthWidth ( )
overridevirtual

Return the height of each frame.

Returns
depth image height

Implements yarp::dev::IDepthVisualParams.

Definition at line 27 of file DepthVisualParams_Forwarder.cpp.

◆ setDepthAccuracy()

bool DepthVisualParams_Forwarder::setDepthAccuracy ( double  accuracy)
overridevirtual

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

Parameters
thedesired resolution in meters.
Returns
true on success

Implements yarp::dev::IDepthVisualParams.

Definition at line 95 of file DepthVisualParams_Forwarder.cpp.

◆ setDepthClipPlanes()

bool DepthVisualParams_Forwarder::setDepthClipPlanes ( double  nearPlane,
double  farPlane 
)
overridevirtual

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

Implements yarp::dev::IDepthVisualParams.

Definition at line 127 of file DepthVisualParams_Forwarder.cpp.

◆ setDepthFOV()

bool DepthVisualParams_Forwarder::setDepthFOV ( double  horizontalFov,
double  verticalFov 
)
overridevirtual

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

Implements yarp::dev::IDepthVisualParams.

Definition at line 71 of file DepthVisualParams_Forwarder.cpp.

◆ setDepthMirroring()

bool DepthVisualParams_Forwarder::setDepthMirroring ( bool  mirror)
overridevirtual

Set the mirroring setting of the sensor.

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

Implements yarp::dev::IDepthVisualParams.

Definition at line 174 of file DepthVisualParams_Forwarder.cpp.

◆ setDepthResolution()

bool DepthVisualParams_Forwarder::setDepthResolution ( int  width,
int  height 
)
overridevirtual

Set the resolution of the depth image from the camera.

Parameters
widthimage width
heightimage height
Returns
true on success

Implements yarp::dev::IDepthVisualParams.

Definition at line 38 of file DepthVisualParams_Forwarder.cpp.


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