An interface for retrieving intrinsic parameter from a rgb camera. More...

#include <yarp/dev/IVisualParams.h>

Inheritance diagram for yarp::dev::IRgbVisualParams:

Public Member Functions
virtual	~IRgbVisualParams ()

virtual int	getRgbHeight ()=0
	Return the height of each frame. More...

virtual int	getRgbWidth ()=0
	Return the width of each frame. More...

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

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

virtual bool	setRgbResolution (int width, int height)=0
	Set the resolution of the rgb image from the camera. More...

virtual bool	getRgbFOV (double &horizontalFov, double &verticalFov)=0
	Get the field of view (FOV) of the rgb camera. More...

virtual bool	setRgbFOV (double horizontalFov, double verticalFov)=0
	Set the field of view (FOV) of the rgb camera. More...

virtual bool	getRgbIntrinsicParam (yarp::os::Property &intrinsic)=0
	Get the intrinsic parameters of the rgb camera. More...

virtual bool	getRgbMirroring (bool &mirror)=0
	Get the mirroring setting of the sensor. More...

virtual bool	setRgbMirroring (bool mirror)=0
	Set the mirroring setting of the sensor. More...

Detailed Description

An interface for retrieving intrinsic parameter from a rgb camera.

Definition at line 72 of file IVisualParams.h.

Constructor & Destructor Documentation

◆ ~IRgbVisualParams()

virtual yarp::dev::IRgbVisualParams::~IRgbVisualParams ( )

inlinevirtual

Definition at line 75 of file IVisualParams.h.

Member Function Documentation

◆ getRgbFOV()

virtual bool yarp::dev::IRgbVisualParams::getRgbFOV	(	double &	horizontalFov,
		double &	verticalFov
	)

pure virtual

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

Implemented in yarp::dev::IRGBDSensor, yarp::dev::Implement_RgbVisualParams_Sender, V4L_camera, USBCameraDriver, RGBDSensorFromRosTopic, RGBDSensorClient, FakeFrameGrabber, fakeDepthCameraDriver, and depthCameraDriver.

◆ getRgbHeight()

virtual int yarp::dev::IRgbVisualParams::getRgbHeight ( )

pure virtual

Return the height of each frame.

Returns: rgb image height

Implemented in yarp::dev::IRGBDSensor, yarp::dev::Implement_RgbVisualParams_Sender, V4L_camera, USBCameraDriver, RGBDSensorFromRosTopic, RGBDSensorClient, FakeFrameGrabber, fakeDepthCameraDriver, and depthCameraDriver.

◆ getRgbIntrinsicParam()

virtual bool yarp::dev::IRgbVisualParams::getRgbIntrinsicParam ( yarp::os::Property & intrinsic )

pure virtual

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
retificationMatrix	-	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

Implemented in yarp::dev::IRGBDSensor, yarp::dev::Implement_RgbVisualParams_Sender, V4L_camera, USBCameraDriver, RGBDSensorClient, FakeFrameGrabber, RGBDSensorFromRosTopic, fakeDepthCameraDriver, and depthCameraDriver.

◆ getRgbMirroring()

virtual bool yarp::dev::IRgbVisualParams::getRgbMirroring ( bool & mirror )

pure virtual

Get the mirroring setting of the sensor.

Parameters

mirror true if image is mirrored, false otherwise

Returns: true if success

Implemented in yarp::dev::Implement_RgbVisualParams_Sender, V4L_camera, USBCameraDriver, RGBDSensorFromRosTopic, RGBDSensorClient, FakeFrameGrabber, fakeDepthCameraDriver, and depthCameraDriver.

◆ getRgbResolution()

virtual bool yarp::dev::IRgbVisualParams::getRgbResolution	(	int &	width,
		int &	height
	)

inlinevirtual

Get the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Reimplemented in yarp::dev::Implement_RgbVisualParams_Sender, yarp::dev::IRGBDSensor, V4L_camera, USBCameraDriver, RGBDSensorFromRosTopic, RGBDSensorClient, FakeFrameGrabber, fakeDepthCameraDriver, and depthCameraDriver.

Definition at line 103 of file IVisualParams.h.

◆ getRgbSupportedConfigurations()

virtual bool yarp::dev::IRgbVisualParams::getRgbSupportedConfigurations ( yarp::sig::VectorOf< yarp::dev::CameraConfig > & configurations )

inlinevirtual

Get the possible configurations of the camera.

Parameters

configurations list of camera supported configurations as CameraConfig type

Returns: true on success

Reimplemented in V4L_camera, USBCameraDriver, RGBDSensorFromRosTopic, RGBDSensorClient, FakeFrameGrabber, fakeDepthCameraDriver, depthCameraDriver, yarp::dev::Implement_RgbVisualParams_Sender, and yarp::dev::IRGBDSensor.

Definition at line 95 of file IVisualParams.h.

◆ getRgbWidth()

virtual int yarp::dev::IRgbVisualParams::getRgbWidth ( )

pure virtual

Return the width of each frame.

Returns: rgb image width

Implemented in yarp::dev::IRGBDSensor, yarp::dev::Implement_RgbVisualParams_Sender, V4L_camera, USBCameraDriver, RGBDSensorFromRosTopic, RGBDSensorClient, FakeFrameGrabber, fakeDepthCameraDriver, and depthCameraDriver.

◆ setRgbFOV()

virtual bool yarp::dev::IRgbVisualParams::setRgbFOV	(	double	horizontalFov,
		double	verticalFov
	)

pure virtual

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

Implemented in yarp::dev::IRGBDSensor, yarp::dev::Implement_RgbVisualParams_Sender, V4L_camera, USBCameraDriver, RGBDSensorFromRosTopic, RGBDSensorClient, FakeFrameGrabber, fakeDepthCameraDriver, and depthCameraDriver.

◆ setRgbMirroring()

virtual bool yarp::dev::IRgbVisualParams::setRgbMirroring ( bool mirror )

pure virtual

Set the mirroring setting of the sensor.

Parameters

mirror true if image should be mirrored, false otherwise

Returns: true if success

Implemented in yarp::dev::Implement_RgbVisualParams_Sender, V4L_camera, USBCameraDriver, RGBDSensorFromRosTopic, RGBDSensorClient, FakeFrameGrabber, fakeDepthCameraDriver, and depthCameraDriver.

◆ setRgbResolution()

virtual bool yarp::dev::IRgbVisualParams::setRgbResolution	(	int	width,
		int	height
	)

pure virtual

Set the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implemented in yarp::dev::IRGBDSensor, yarp::dev::Implement_RgbVisualParams_Sender, V4L_camera, USBCameraDriver, RGBDSensorFromRosTopic, RGBDSensorClient, FakeFrameGrabber, fakeDepthCameraDriver, and depthCameraDriver.

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

src/libYARP_dev/src/yarp/dev/IVisualParams.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~IRgbVisualParams()

Member Function Documentation

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()