#include <messages/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.

int	getDepthWidth () override
	Return the height of each frame.

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

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

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

double	getDepthAccuracy () override
	Get the minimum detectable variation in distance [meter].

bool	setDepthAccuracy (double accuracy) override
	Set the minimum detectable variation in distance [meter] when possible.

bool	getDepthClipPlanes (double &nearPlane, double &farPlane) override
	Get the clipping planes of the sensor.

bool	setDepthClipPlanes (double nearPlane, double farPlane) override
	Set the clipping planes of the sensor.

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

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

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

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

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

nearPlane	minimum distance at which the sensor start measuring. Object closer than this distance will not be detected.
farPlane	maximum 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

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

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::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

mirror true 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

the	desired 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

nearPlane	minimum distance at which the sensor start measuring. Object closer than this distance will not be detected.
farPlane	maximum 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

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::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

mirror true 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

width	image width
height	image 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:

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ DepthVisualParams_Forwarder()

◆ ~DepthVisualParams_Forwarder()

Member Function Documentation

◆ getDepthAccuracy()

◆ getDepthClipPlanes()

◆ getDepthFOV()

◆ getDepthHeight()

◆ getDepthIntrinsicParam()

◆ getDepthMirroring()

◆ getDepthWidth()

◆ setDepthAccuracy()

◆ setDepthClipPlanes()

◆ setDepthFOV()

◆ setDepthMirroring()

◆ setDepthResolution()