SolAR::api::input::devices::IDepthCamera Class Reference

Specify the IDepthCamera interface class. More...

#include <IDepthCamera.h>

Inheritance diagram for SolAR::api::input::devices::IDepthCamera:

Collaboration diagram for SolAR::api::input::devices::IDepthCamera:

Public Member Functions
	IDepthCamera ()=default
	Specify the IDepthCamera constructor class.
virtual	~IDepthCamera ()=default
	Specify the IDepthCamera destructor class.
virtual FrameworkReturnCode	getNextDepthFrame (SRef< SolAR::datastructure::Image > &img)=0
	Provides the last depth image. If output parameters are null (nullptr), it means that the implementation, or the requested mode does not provide this feature. More...
virtual FrameworkReturnCode	getPointCloud (SRef< SolAR::datastructure::PointCloud > &pc)=0
	Provides the corresponding 3D point cloud corresponding to last depth image aquiered (getNextDepthFrame()) Should have no effect if the user didn't call getNextDepthFrame beforehand. More...
virtual FrameworkReturnCode	setDepthResolution (SolAR::datastructure::Sizei resolution)=0
	Set the depth image resolution of the acquisition device. More...
virtual FrameworkReturnCode	setIntrinsicDepthParameters (const SolAR::datastructure::CamCalibration &intrinsic_parameters)=0
	Set the intrinsic parameters of the depth camera. More...
virtual FrameworkReturnCode	setDistortionDepthParameters (const SolAR::datastructure::CamDistortion &distortion_parameters)=0
	Set the distortion intrinsic parameters of the depth camera. More...
virtual SolAR::datastructure::Sizei	getDepthResolution () const =0
	Get the image resolution of the depth acquisition device. More...
virtual float	getDepthMinDistance () const =0
	Get the min acquisition distance of the device. More...
virtual const SolAR::datastructure::CamCalibration &	getIntrinsicsDepthParameters () const =0
	Get the intrinsic depth of the device. More...
virtual const SolAR::datastructure::CamDistortion &	getDistortionDepthParameters () const =0
	Get the distortion depth of the camera lens. More...
Public Member Functions inherited from SolAR::api::input::devices::IDevice
	IDevice ()=default
	Specify the IDevice constructor class.
virtual	~IDevice () override=default
	Specify the IDevice destructor class.
virtual FrameworkReturnCode	start ()=0
	Start the acquisition device referenced by its device_id. More...
virtual FrameworkReturnCode	stop ()=0
	Stop the acquisition device. More...

Detailed Description

Specify the IDepthCamera interface class.

This class describes the interface of a depth camera capture device.

Member Function Documentation

getDepthMinDistance()

virtual float SolAR::api::input::devices::IDepthCamera::getDepthMinDistance ( ) const

pure virtual

Get the min acquisition distance of the device.

Returns

float the min acquisition distance

getDepthResolution()

virtual SolAR::datastructure::Sizei SolAR::api::input::devices::IDepthCamera::getDepthResolution ( ) const

pure virtual

Get the image resolution of the depth acquisition device.

Returns

SolAR::datastructure::Size the image resolution

getDistortionDepthParameters()

virtual const SolAR::datastructure::CamDistortion & SolAR::api::input::devices::IDepthCamera::getDistortionDepthParameters ( ) const

pure virtual

Get the distortion depth of the camera lens.

Returns

Return the distortion depth camera lens parameters

getIntrinsicsDepthParameters()

virtual const SolAR::datastructure::CamCalibration & SolAR::api::input::devices::IDepthCamera::getIntrinsicsDepthParameters ( ) const

pure virtual

Get the intrinsic depth of the device.

Returns

SolAR::datastructure::CamCalibration the intrinsic depth camera parameters

getNextDepthFrame()

virtual FrameworkReturnCode SolAR::api::input::devices::IDepthCamera::getNextDepthFrame ( SRef< SolAR::datastructure::Image > &  img )

pure virtual

Provides the last depth image. If output parameters are null (nullptr), it means that the implementation, or the requested mode does not provide this feature.

Parameters

[out]

img

the image captured by the RGBD camera

Returns

FrameworkReturnCode to track sucessful or failing event.

getPointCloud()

virtual FrameworkReturnCode SolAR::api::input::devices::IDepthCamera::getPointCloud ( SRef< SolAR::datastructure::PointCloud > &  pc )

pure virtual

Provides the corresponding 3D point cloud corresponding to last depth image aquiered (getNextDepthFrame()) Should have no effect if the user didn't call getNextDepthFrame beforehand.

Parameters

[out]

pc

the 3D point cloud reconstructed from the depth image. Points coordinates are defined according to the RGBD camera coordinate system.

Returns

FrameworkReturnCode to track sucessful or failing event.

setDepthResolution()

virtual FrameworkReturnCode SolAR::api::input::devices::IDepthCamera::setDepthResolution ( SolAR::datastructure::Sizei  resolution )

pure virtual

Set the depth image resolution of the acquisition device.

Parameters

[in]

SolAR::datastructure::Sizei

Returns

FrameworkReturnCode to track sucessful or failing event.

setDistortionDepthParameters()

virtual FrameworkReturnCode SolAR::api::input::devices::IDepthCamera::setDistortionDepthParameters ( const SolAR::datastructure::CamDistortion &  distortion_parameters )

pure virtual

Set the distortion intrinsic parameters of the depth camera.

Parameters

[in]

distortion_parameters

distortion parameters

Returns

FrameworkReturnCode to track sucessful or failing event.

setIntrinsicDepthParameters()

virtual FrameworkReturnCode SolAR::api::input::devices::IDepthCamera::setIntrinsicDepthParameters ( const SolAR::datastructure::CamCalibration &  intrinsic_parameters )

pure virtual

Set the intrinsic parameters of the depth camera.

Parameters

[in]

intrinsic_parameters

intrinsic parameters

Returns

FrameworkReturnCode to track sucessful or failing event.

---

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

• interfaces/api/input/devices/IDepthCamera.h