Specify the IRGBDCamera interface class. More...

#include <IRGBDCamera.h>

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

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

Public Member Functions
	IRGBDCamera ()=default
	Specify the IRGBDCamera constructor class.

virtual	~IRGBDCamera ()=default
	Specify the IRGBDCamera destructor class.

virtual FrameworkReturnCode	getNextRGBDFrame (SRef< SolAR::datastructure::Image > &colorImg, SRef< SolAR::datastructure::Image > &depthImg)=0
	Provides the last color image, depth image, corresponding 3D point cloud, and aligned images (RGB on depth and depth on RGB). If output parameters are null (nullptr), it means that the implementation, or the requested mode does not provide this feature. More...

virtual FrameworkReturnCode	alignDepthToColor (SRef< SolAR::datastructure::Image > &alignedDepthImg) const =0
	Provides a depth image alingned on the color image. More...

virtual FrameworkReturnCode	alignColorToDepth (SRef< SolAR::datastructure::Image > &alignedColorImg) const =0
	Provides a color image alingned on the depth image. More...

virtual SolAR::datastructure::Point3Df	getPixelToWorld (const SolAR::datastructure::Point2Di &inPixel) const =0
	Provides the 3D point in the depth sensor coordinate system corresponding to a given pixel of the color image. More...

virtual SolAR::datastructure::Point2Di	getWorldToPixel (const SolAR::datastructure::CloudPoint &in3DPoint) const =0
	Provides the pixel of the color image to the projection of a given 3D point. More...

virtual std::vector< SolAR::datastructure::Point2Df >	getWorldToPixels (const std::vector< SRef< SolAR::datastructure::CloudPoint > > &in3DPoints) const =0
	Provides the pixels of the color image to the projection of given 3D points. More...

Public Member Functions inherited from SolAR::api::input::devices::ICamera
	ICamera ()=default
	Specify the ICamera constructor class.

virtual	~ICamera ()=default
	Specify the ICamera destructor class.

virtual FrameworkReturnCode	getNextImage (SRef< SolAR::datastructure::Image > &img)=0
	Fill the SRef img buffer with a new image captured by the camera device. More...

virtual void	setResolution (const SolAR::datastructure::Sizei &resolution)=0
	Set the acquisition device image resolution. More...

virtual void	setIntrinsicParameters (const SolAR::datastructure::CamCalibration &intrinsic_parameters)=0
	Set the intrinsic camera parameters. More...

virtual void	setDistortionParameters (const SolAR::datastructure::CamDistortion &distortion_parameters)=0
	Set the distortion camera parameters. More...

virtual void	setParameters (const SolAR::datastructure::CameraParameters &parameters)=0
	Set the distortion and intrinsic camera parameters. More...

virtual SolAR::datastructure::Sizei	getResolution () const =0
	Get the acquisition device image resolution. More...

virtual const SolAR::datastructure::CamCalibration &	getIntrinsicsParameters () const =0
	Get the intrinsic camera parameters. More...

virtual const SolAR::datastructure::CameraParameters &	getParameters () const =0
	Get the camera parameters. More...

virtual const SolAR::datastructure::CamDistortion &	getDistortionParameters () const =0
	Get the distortion camera lens parameters. 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...

Public Member Functions inherited from SolAR::api::input::devices::IDepthCamera
	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...

Detailed Description

Specify the IRGBDCamera interface class.

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

Member Function Documentation

◆ alignColorToDepth()

virtual FrameworkReturnCode SolAR::api::input::devices::IRGBDCamera::alignColorToDepth ( SRef< SolAR::datastructure::Image > & alignedColorImg ) const

pure virtual

Provides a color image alingned on the depth image.

Parameters

[in,out] alignedColorImg the RGB image captured by the RGBD camera and aligned on the depth image

Returns: FrameworkReturnCode to track sucessful or failing event.

◆ alignDepthToColor()

virtual FrameworkReturnCode SolAR::api::input::devices::IRGBDCamera::alignDepthToColor ( SRef< SolAR::datastructure::Image > & alignedDepthImg ) const

pure virtual

Provides a depth image alingned on the color image.

Parameters

[in,out] alignedDepthImg the depth image captured by the RGBD camera and aligned on the color image

Returns: FrameworkReturnCode to track sucessful or failing event.

◆ getNextRGBDFrame()

virtual FrameworkReturnCode SolAR::api::input::devices::IRGBDCamera::getNextRGBDFrame	(	SRef< SolAR::datastructure::Image > &	colorImg,
		SRef< SolAR::datastructure::Image > &	depthImg
	)

pure virtual

Provides the last color image, depth image, corresponding 3D point cloud, and aligned images (RGB on depth and depth on RGB). If output parameters are null (nullptr), it means that the implementation, or the requested mode does not provide this feature.

Parameters

[in,out]	colorImg	the RGB image captured by the RGBD camera
[in,out]	depthImg	the depth image captured by the RGBD camera

Returns: FrameworkReturnCode to track sucessful or failing event.

◆ getPixelToWorld()

virtual SolAR::datastructure::Point3Df SolAR::api::input::devices::IRGBDCamera::getPixelToWorld ( const SolAR::datastructure::Point2Di & inPixel ) const

pure virtual

Provides the 3D point in the depth sensor coordinate system corresponding to a given pixel of the color image.

Parameters

[in] inPixel The pixel for which we want the 3 position

Returns: a 3D point corresponding to the input pixel

◆ getWorldToPixel()

virtual SolAR::datastructure::Point2Di SolAR::api::input::devices::IRGBDCamera::getWorldToPixel ( const SolAR::datastructure::CloudPoint & in3DPoint ) const

pure virtual

Provides the pixel of the color image to the projection of a given 3D point.

Parameters

[in] in3DPoint The 3D point we want to project on the color image

Returns: a 2D point representing a pixel of the color image on which the 3D point in projected

◆ getWorldToPixels()

virtual std::vector< SolAR::datastructure::Point2Df > SolAR::api::input::devices::IRGBDCamera::getWorldToPixels ( const std::vector< SRef< SolAR::datastructure::CloudPoint > > & in3DPoints ) const

pure virtual

Provides the pixels of the color image to the projection of given 3D points.

Parameters

[in] in3DPoints The 3D points we want to project on the color image

Returns: a 2D points vector representing the pixels of the color image on which the 3D points are projected

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

interfaces/api/input/devices/IRGBDCamera.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ alignColorToDepth()

◆ alignDepthToColor()

◆ getNextRGBDFrame()

◆ getPixelToWorld()

◆ getWorldToPixel()

◆ getWorldToPixels()