IVisualParams.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_IVISUALPARAMS_H
#define YARP_DEV_IVISUALPARAMS_H
 
#include <yarp/dev/api.h>
#include <yarp/os/Vocab.h>
#include <yarp/os/Property.h>
#include <yarp/sig/Image.h>
#include <yarp/sig/Vector.h>
 
namespace yarp {
    namespace dev {
        class IRgbVisualParams;
        class IDepthVisualParams;
        struct CameraConfig;
    }
}
YARP_BEGIN_PACK
struct yarp::dev::CameraConfig {
    int width;
    int height;
    double framerate;
    YarpVocabPixelTypesEnum pixelCoding;
 
    CameraConfig() : width(0), height(0), framerate(0.0), pixelCoding(VOCAB_PIXEL_INVALID) {}
};
YARP_END_PACK
 
// Interface name
constexpr yarp::conf::vocab32_t VOCAB_RGB_VISUAL_PARAMS       = yarp::os::createVocab('v','i','s','r');
constexpr yarp::conf::vocab32_t VOCAB_DEPTH_VISUAL_PARAMS     = yarp::os::createVocab('v','i','s','d');
 
// Common
 
// Rgb and depth
constexpr yarp::conf::vocab32_t VOCAB_RGB               = yarp::os::createVocab('r','g','b');
constexpr yarp::conf::vocab32_t VOCAB_DEPTH             = yarp::os::createVocab('d','e','p','t');
constexpr yarp::conf::vocab32_t VOCAB_MIRROR            = yarp::os::createVocab('m','i','r','r');
 
// Methods
constexpr yarp::conf::vocab32_t VOCAB_RESOLUTION        = yarp::os::createVocab('r','e','s');
constexpr yarp::conf::vocab32_t VOCAB_FOV               = yarp::os::createVocab('f','o','v');
constexpr yarp::conf::vocab32_t VOCAB_INTRINSIC_PARAM   = yarp::os::createVocab('i','n','t','p');
constexpr yarp::conf::vocab32_t VOCAB_SUPPORTED_CONF    = yarp::os::createVocab('c','o','n','f');
 
// Depth only
constexpr yarp::conf::vocab32_t VOCAB_ACCURACY          = yarp::os::createVocab('a','c','r','c');
constexpr yarp::conf::vocab32_t VOCAB_CLIP_PLANES       = yarp::os::createVocab('c','l','i','p');
 
 
 
class YARP_dev_API yarp::dev::IRgbVisualParams
{
public:
    virtual ~IRgbVisualParams(){}
 
    virtual int getRgbHeight() = 0;
 
    virtual int getRgbWidth() = 0;
 
    virtual bool getRgbSupportedConfigurations(yarp::sig::VectorOf<yarp::dev::CameraConfig> &configurations) {return false;}
    virtual bool getRgbResolution(int &width, int &height) {return false;}
    virtual bool setRgbResolution(int width, int height) = 0;
 
    virtual bool getRgbFOV(double &horizontalFov, double &verticalFov) = 0;
 
    virtual bool setRgbFOV(double horizontalFov, double verticalFov) = 0;
 
    virtual bool getRgbIntrinsicParam(yarp::os::Property &intrinsic) = 0;
 
    virtual bool getRgbMirroring(bool &mirror) = 0;
 
    virtual bool setRgbMirroring(bool mirror) = 0;
};
 
 
class YARP_dev_API yarp::dev::IDepthVisualParams
{
public:
 
    virtual ~IDepthVisualParams(){}
    virtual int getDepthHeight() = 0;
 
    virtual int getDepthWidth() = 0;
 
    virtual bool setDepthResolution(int width, int height) = 0;
 
    virtual bool getDepthFOV(double &horizontalFov, double &verticalFov) = 0;
 
    virtual bool setDepthFOV(double horizontalFov, double verticalFov) = 0;
 
    virtual bool getDepthIntrinsicParam(yarp::os::Property &intrinsic) = 0;
 
    virtual double getDepthAccuracy() = 0;
 
    virtual bool setDepthAccuracy(double accuracy) = 0;
 
    virtual bool getDepthClipPlanes(double &nearPlane, double &farPlane) = 0;
 
    virtual bool setDepthClipPlanes(double nearPlane, double farPlane) = 0;
 
    virtual bool getDepthMirroring(bool &mirror) = 0;
 
    virtual bool setDepthMirroring(bool mirror) = 0;
 
 
};
 
#endif   // YARP_DEV_IVISUALPARAMS_H