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

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

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

Public Member Functions

 RgbVisualParams_Forwarder (yarp::os::Port &port)
 
 ~RgbVisualParams_Forwarder () override=default
 
int getRgbHeight () override
 Return the height of each frame. More...
 
int getRgbWidth () override
 Return the width of each frame. More...
 
bool getRgbSupportedConfigurations (yarp::sig::VectorOf< yarp::dev::CameraConfig > &configurations) override
 Get the possible configurations of the camera. More...
 
bool getRgbResolution (int &width, int &height) override
 Get the resolution of the rgb image from the camera. More...
 
bool setRgbResolution (int width, int height) override
 Set the resolution of the rgb image from the camera. More...
 
bool getRgbFOV (double &horizontalFov, double &verticalFov) override
 Get the field of view (FOV) of the rgb camera. More...
 
bool setRgbFOV (double horizontalFov, double verticalFov) override
 Set the field of view (FOV) of the rgb camera. More...
 
bool getRgbIntrinsicParam (yarp::os::Property &intrinsic) override
 Get the intrinsic parameters of the rgb camera. More...
 
bool getRgbMirroring (bool &mirror) override
 Get the mirroring setting of the sensor. More...
 
bool setRgbMirroring (bool mirror) override
 Set the mirroring setting of the sensor. More...
 
- Public Member Functions inherited from yarp::dev::IRgbVisualParams
virtual ~IRgbVisualParams ()
 

Protected Attributes

yarp::os::Portm_port
 

Detailed Description

Definition at line 14 of file RgbVisualParams_Forwarder.h.

Constructor & Destructor Documentation

◆ RgbVisualParams_Forwarder()

RgbVisualParams_Forwarder::RgbVisualParams_Forwarder ( yarp::os::Port port)

Definition at line 11 of file RgbVisualParams_Forwarder.cpp.

◆ ~RgbVisualParams_Forwarder()

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

Member Function Documentation

◆ getRgbFOV()

bool RgbVisualParams_Forwarder::getRgbFOV ( double &  horizontalFov,
double &  verticalFov 
)
overridevirtual

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

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

Implements yarp::dev::IRgbVisualParams.

Definition at line 92 of file RgbVisualParams_Forwarder.cpp.

◆ getRgbHeight()

int RgbVisualParams_Forwarder::getRgbHeight ( )
overridevirtual

Return the height of each frame.

Returns
rgb image height

Implements yarp::dev::IRgbVisualParams.

Definition at line 16 of file RgbVisualParams_Forwarder.cpp.

◆ getRgbIntrinsicParam()

bool RgbVisualParams_Forwarder::getRgbIntrinsicParam ( yarp::os::Property intrinsic)
overridevirtual

Get the intrinsic parameters of the rgb 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::IRgbVisualParams.

Definition at line 125 of file RgbVisualParams_Forwarder.cpp.

◆ getRgbMirroring()

bool RgbVisualParams_Forwarder::getRgbMirroring ( 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::IRgbVisualParams.

Definition at line 149 of file RgbVisualParams_Forwarder.cpp.

◆ getRgbResolution()

bool RgbVisualParams_Forwarder::getRgbResolution ( int &  width,
int &  height 
)
overridevirtual

Get the resolution of the rgb image from the camera.

Parameters
widthimage width
heightimage height
Returns
true on success

Reimplemented from yarp::dev::IRgbVisualParams.

Definition at line 59 of file RgbVisualParams_Forwarder.cpp.

◆ getRgbSupportedConfigurations()

bool RgbVisualParams_Forwarder::getRgbSupportedConfigurations ( yarp::sig::VectorOf< yarp::dev::CameraConfig > &  configurations)
overridevirtual

Get the possible configurations of the camera.

Parameters
configurationslist of camera supported configurations as CameraConfig type
Returns
true on success

Reimplemented from yarp::dev::IRgbVisualParams.

Definition at line 37 of file RgbVisualParams_Forwarder.cpp.

◆ getRgbWidth()

int RgbVisualParams_Forwarder::getRgbWidth ( )
overridevirtual

Return the width of each frame.

Returns
rgb image width

Implements yarp::dev::IRgbVisualParams.

Definition at line 27 of file RgbVisualParams_Forwarder.cpp.

◆ setRgbFOV()

bool RgbVisualParams_Forwarder::setRgbFOV ( double  horizontalFov,
double  verticalFov 
)
overridevirtual

Set the field of view (FOV) of the rgb 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::IRgbVisualParams.

Definition at line 112 of file RgbVisualParams_Forwarder.cpp.

◆ setRgbMirroring()

bool RgbVisualParams_Forwarder::setRgbMirroring ( 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::IRgbVisualParams.

Definition at line 164 of file RgbVisualParams_Forwarder.cpp.

◆ setRgbResolution()

bool RgbVisualParams_Forwarder::setRgbResolution ( int  width,
int  height 
)
overridevirtual

Set the resolution of the rgb image from the camera.

Parameters
widthimage width
heightimage height
Returns
true on success

Implements yarp::dev::IRgbVisualParams.

Definition at line 79 of file RgbVisualParams_Forwarder.cpp.

Member Data Documentation

◆ m_port

yarp::os::Port& yarp::proto::framegrabber::RgbVisualParams_Forwarder::m_port
protected

Definition at line 18 of file RgbVisualParams_Forwarder.h.


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