IRGBDSensor.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_IRGBDSENSOR_H
#define YARP_DEV_IRGBDSENSOR_H
 
#include <yarp/os/Vocab.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/Property.h>
#include <yarp/sig/Image.h>
#include <yarp/sig/Matrix.h>
#include <yarp/dev/api.h>
#include <yarp/dev/IVisualParams.h>
 
 
// Interface name
constexpr yarp::conf::vocab32_t VOCAB_RGBD_SENSOR            = yarp::os::createVocab('r','g','d','b');
constexpr yarp::conf::vocab32_t VOCAB_RGBD_PROTOCOL_VERSION  = yarp::os::createVocab('p','r','o','t');
 
// Methods
constexpr yarp::conf::vocab32_t VOCAB_EXTRINSIC_PARAM   = yarp::os::createVocab('e','x','t');
constexpr yarp::conf::vocab32_t VOCAB_ERROR_MSG         = yarp::os::createVocab('m','e','s','s');
constexpr yarp::conf::vocab32_t VOCAB_RGB_IMAGE         = yarp::os::createVocab('i','m','g','r');
constexpr yarp::conf::vocab32_t VOCAB_DEPTH_IMAGE       = yarp::os::createVocab('i','m','g','d');
constexpr yarp::conf::vocab32_t VOCAB_IMAGES            = yarp::os::createVocab('i','m','m','s');
constexpr yarp::conf::vocab32_t VOCAB_STATUS            = yarp::os::createVocab('s','t','a','t');
 
 
namespace yarp {
namespace dev {
 
class YARP_dev_API IRGBDSensor :
        public IRgbVisualParams,
        public IDepthVisualParams
{
public:
 
    // We should distinguish between rgb and depth sensors, which one is working
    // and which one isn't. Maybe a specific function with two separated values is better.
    // Here values are referred to the sensor as a whole.
    enum RGBDSensor_status
    {
        RGBD_SENSOR_NOT_READY        = 0,
        RGBD_SENSOR_OK_STANBY        = 1,
        RGBD_SENSOR_OK_IN_USE        = 2,
        RGB_SENSOR_ERROR             = 3,
        DEPTH_SENSOR_ERROR           = 4,
        RGBD_SENSOR_GENERIC_ERROR    = 5,
        RGBD_SENSOR_TIMEOUT          = 6
    };
 
    virtual ~IRGBDSensor();
 
    /*
     *  IRgbVisualParams interface. Look at IVisualParams.h for documentation
     */
    int  getRgbHeight() override = 0;
    int  getRgbWidth() override = 0;
    bool getRgbSupportedConfigurations(yarp::sig::VectorOf<CameraConfig> &configurations) override { return false;};
    bool getRgbResolution(int &width, int &height) override { return false;};
    bool setRgbResolution(int width, int height) override = 0;
    bool getRgbFOV(double &horizontalFov, double &verticalFov) override = 0;
    bool setRgbFOV(double horizontalFov, double verticalFov) override = 0;
    bool getRgbIntrinsicParam(yarp::os::Property &intrinsic) override = 0;
 
    /*
     * IDepthVisualParams interface. Look at IVisualParams.h for documentation
     */
    int    getDepthHeight() override = 0;
    int    getDepthWidth() override = 0;
    bool   setDepthResolution(int width, int height) override = 0;
    bool   getDepthFOV(double &horizontalFov, double &verticalFov) override = 0;
    bool   setDepthFOV(double horizontalFov, double verticalFov) override = 0;
    double getDepthAccuracy() override = 0;
    bool   setDepthAccuracy(double accuracy) override = 0;
    bool   getDepthClipPlanes(double &nearPlane, double &farPlane) override = 0;
    bool   setDepthClipPlanes(double nearPlane, double farPlane) override = 0;
    bool   getDepthIntrinsicParam(yarp::os::Property &intrinsic) override = 0;
 
    /*
     * IRGBDSensor specific interface methods
     */
 
    virtual bool getExtrinsicParam(yarp::sig::Matrix &extrinsic) = 0;
 
    virtual std::string getLastErrorMsg(yarp::os::Stamp *timeStamp = NULL) = 0;
 
    virtual bool getRgbImage(yarp::sig::FlexImage &rgbImage, yarp::os::Stamp *timeStamp = NULL) = 0;
 
    virtual bool getDepthImage(yarp::sig::ImageOf<yarp::sig::PixelFloat> &depthImage, yarp::os::Stamp *timeStamp = NULL) = 0;
 
    virtual bool getImages(yarp::sig::FlexImage &colorFrame, yarp::sig::ImageOf<yarp::sig::PixelFloat> &depthFrame, yarp::os::Stamp *colorStamp=NULL, yarp::os::Stamp *depthStamp=NULL) = 0;
 
    virtual RGBDSensor_status getSensorStatus() = 0;
};
 
} // namespace dev
} // namespace yarp
 
#endif   // YARP_DEV_IRGBDSENSOR_H