#include <messages/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.

int	getRgbWidth () override
	Return the width of each frame.

bool	getRgbSupportedConfigurations (yarp::sig::VectorOf< yarp::dev::CameraConfig > &configurations) override
	Get the possible configurations of the camera.

bool	getRgbResolution (int &width, int &height) override
	Get the resolution of the rgb image from the camera.

bool	setRgbResolution (int width, int height) override
	Set the resolution of the rgb image from the camera.

bool	getRgbFOV (double &horizontalFov, double &verticalFov) override
	Get the field of view (FOV) of the rgb camera.

bool	setRgbFOV (double horizontalFov, double verticalFov) override
	Set the field of view (FOV) of the rgb camera.

bool	getRgbIntrinsicParam (yarp::os::Property &intrinsic) override
	Get the intrinsic parameters of the rgb camera.

bool	getRgbMirroring (bool &mirror) override
	Get the mirroring setting of the sensor.

bool	setRgbMirroring (bool mirror) override
	Set the mirroring setting of the sensor.

Public Member Functions inherited from yarp::dev::IRgbVisualParams
virtual	~IRgbVisualParams ()

Protected Attributes
yarp::os::Port &	m_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

horizontalFov	will return the value of the horizontal fov in degrees
verticalFov	will 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

intrinsic return 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

mirror true 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

width	image width
height	image 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

configurations list 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

horizontalFov	will set the value of the horizontal fov in degrees
verticalFov	will 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

mirror true 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

width	image width
height	image 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:

src/devices/messages/framegrabber_protocol/yarp/proto/framegrabber/RgbVisualParams_Forwarder.h
src/devices/messages/framegrabber_protocol/yarp/proto/framegrabber/RgbVisualParams_Forwarder.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RgbVisualParams_Forwarder()

◆ ~RgbVisualParams_Forwarder()

Member Function Documentation

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()

Member Data Documentation

◆ m_port