fakeDepthCamera: Documentation to be added More...

#include <fake/fakeDepthCamera/FakeDepthCameraDriver.h>

Inheritance diagram for FakeDepthCameraDriver:

Public Member Functions
	FakeDepthCameraDriver ()

	~FakeDepthCameraDriver () override

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

yarp::dev::ReturnValue	getCameraDescription (yarp::dev::CameraDescriptor &camera) override
	Get a basic description of the camera hw.

yarp::dev::ReturnValue	hasFeature (yarp::dev::cameraFeature_id_t feature, bool &hasFeature) override
	Check if camera has the requested feature (saturation, brightness ... )

yarp::dev::ReturnValue	setFeature (yarp::dev::cameraFeature_id_t feature, double value) override
	Set the requested feature to a value (saturation, brightness ... )

yarp::dev::ReturnValue	getFeature (yarp::dev::cameraFeature_id_t feature, double &value) override
	Get the current value for the requested feature.

yarp::dev::ReturnValue	setFeature (yarp::dev::cameraFeature_id_t feature, double value1, double value2) override
	Set the requested feature to a value using 2 params (like white balance)

yarp::dev::ReturnValue	getFeature (yarp::dev::cameraFeature_id_t feature, double &value1, double &value2) override
	Get the current value for the requested feature.

yarp::dev::ReturnValue	hasOnOff (yarp::dev::cameraFeature_id_t feature, bool &HasOnOff) override
	Check if the camera has the ability to turn on/off the requested feature.

yarp::dev::ReturnValue	setActive (yarp::dev::cameraFeature_id_t feature, bool onoff) override
	Set the requested feature on or off.

yarp::dev::ReturnValue	getActive (yarp::dev::cameraFeature_id_t feature, bool &isActive) override
	Get the current status of the feature, on or off.

yarp::dev::ReturnValue	hasAuto (yarp::dev::cameraFeature_id_t feature, bool &hasAuto) override
	Check if the requested feature has the 'auto' mode.

yarp::dev::ReturnValue	hasManual (yarp::dev::cameraFeature_id_t feature, bool &hasManual) override
	Check if the requested feature has the 'manual' mode.

yarp::dev::ReturnValue	hasOnePush (yarp::dev::cameraFeature_id_t feature, bool &hasOnePush) override
	Check if the requested feature has the 'onePush' mode.

yarp::dev::ReturnValue	setMode (yarp::dev::cameraFeature_id_t feature, yarp::dev::FeatureMode mode) override
	Set the requested mode for the feature.

yarp::dev::ReturnValue	getMode (yarp::dev::cameraFeature_id_t feature, yarp::dev::FeatureMode &mode) override
	Get the current mode for the feature.

yarp::dev::ReturnValue	setOnePush (yarp::dev::cameraFeature_id_t feature) override
	Set the requested feature to a value (saturation, brightness ... )

Public Member Functions inherited from FakeDepthCameraDriver_mini
	FakeDepthCameraDriver_mini ()

	~FakeDepthCameraDriver_mini () override

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

int	getRgbHeight () override
	Return the height of each frame.

int	getRgbWidth () override
	Return the width of each frame.

yarp::dev::ReturnValue	getRgbSupportedConfigurations (std::vector< yarp::dev::CameraConfig > &configurations) override
	Get the possible configurations of the camera.

yarp::dev::ReturnValue	getRgbResolution (int &width, int &height) override
	Get the resolution of the rgb image from the camera.

yarp::dev::ReturnValue	setRgbResolution (int width, int height) override
	Set the resolution of the rgb image from the camera.

yarp::dev::ReturnValue	getRgbFOV (double &horizontalFov, double &verticalFov) override
	Get the field of view (FOV) of the rgb camera.

yarp::dev::ReturnValue	setRgbFOV (double horizontalFov, double verticalFov) override
	Set the field of view (FOV) of the rgb camera.

yarp::dev::ReturnValue	getRgbMirroring (bool &mirror) override
	Get the mirroring setting of the sensor.

yarp::dev::ReturnValue	setRgbMirroring (bool mirror) override
	Set the mirroring setting of the sensor.

yarp::dev::ReturnValue	getRgbIntrinsicParam (Property &intrinsic) override
	Get the intrinsic parameters of the rgb camera.

int	getDepthHeight () override
	Return the height of each frame.

int	getDepthWidth () override
	Return the height of each frame.

yarp::dev::ReturnValue	getDepthResolution (int &width, int &height) override
	Get the resolution of the depth image from the camera.

yarp::dev::ReturnValue	setDepthResolution (int width, int height) override
	Set the resolution of the depth image from the camera.

yarp::dev::ReturnValue	getDepthFOV (double &horizontalFov, double &verticalFov) override
	Get the field of view (FOV) of the depth camera.

yarp::dev::ReturnValue	setDepthFOV (double horizontalFov, double verticalFov) override
	Set the field of view (FOV) of the depth camera.

yarp::dev::ReturnValue	getDepthIntrinsicParam (Property &intrinsic) override
	Get the intrinsic parameters of the depth camera.

yarp::dev::ReturnValue	getDepthAccuracy (double &accuracy) override
	Get the minimum detectable variation in distance [meter].

yarp::dev::ReturnValue	setDepthAccuracy (double accuracy) override
	Set the minimum detectable variation in distance [meter] when possible.

yarp::dev::ReturnValue	getDepthClipPlanes (double &nearPlane, double &farPlane) override
	Get the clipping planes of the sensor.

yarp::dev::ReturnValue	setDepthClipPlanes (double nearPlane, double farPlane) override
	Set the clipping planes of the sensor.

yarp::dev::ReturnValue	getDepthMirroring (bool &mirror) override
	Get the mirroring setting of the sensor.

yarp::dev::ReturnValue	setDepthMirroring (bool mirror) override
	Set the mirroring setting of the sensor.

yarp::dev::ReturnValue	getExtrinsicParam (yarp::sig::Matrix &extrinsic) override
	Get the extrinsic parameters from the device.

yarp::dev::ReturnValue	getRgbImage (FlexImage &rgbImage, Stamp *timeStamp=nullptr) override
	Get the rgb frame from the device.

yarp::dev::ReturnValue	getDepthImage (depthImage &depthImage, Stamp *timeStamp=nullptr) override

yarp::dev::ReturnValue	getImages (FlexImage &colorFrame, depthImage &depthFrame, Stamp colorStamp=nullptr, Stamp depthStamp=nullptr) override

yarp::dev::ReturnValue	getSensorStatus (RGBDSensor_status &status) override

yarp::dev::ReturnValue	getLastErrorMsg (std::string &mesg, Stamp *timeStamp=nullptr) override
	Return an error message in case of error.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::dev::IRGBDSensor
virtual	~IRGBDSensor ()

virtual yarp::dev::ReturnValue	getDepthImage (yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthImage, yarp::os::Stamp *timeStamp=nullptr)=0
	Get the depth frame from the device.

virtual yarp::dev::ReturnValue	getImages (yarp::sig::FlexImage &colorFrame, yarp::sig::ImageOf< yarp::sig::PixelFloat > &depthFrame, yarp::os::Stamp colorStamp=nullptr, yarp::os::Stamp depthStamp=nullptr)=0
	Get the both the color and depth frame in a single call.

virtual yarp::dev::ReturnValue	getSensorStatus (RGBDSensor_status &status)=0
	Get the current status of the sensor, using enum type.

Public Member Functions inherited from yarp::dev::IRgbVisualParams
virtual	~IRgbVisualParams ()

Public Member Functions inherited from yarp::dev::IDepthVisualParams
virtual	~IDepthVisualParams ()

Public Member Functions inherited from FakeDepthCameraDriver_ParamsParser
	FakeDepthCameraDriver_ParamsParser ()

	~FakeDepthCameraDriver_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

bool	getParamValue (const std::string &paramName, std::string &paramValue) const override
	Return the value (represented as a string) of the requested parameter.

std::string	getConfiguration () const override
	Return the configuration of the device.

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Public Member Functions inherited from yarp::dev::IFrameGrabberControls
virtual	~IFrameGrabberControls ()
	Destructor.

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

Additional Inherited Members
Public Types inherited from yarp::dev::IRGBDSensor
enum	RGBDSensor_status { RGBD_SENSOR_NOT_READY = 0 , RGBD_SENSOR_OK_STANDBY = 1 , RGBD_SENSOR_OK_IN_USE = 2 , RGB_SENSOR_ERROR = 3 , DEPTH_SENSOR_ERROR = 4 , RGBD_SENSOR_GENERIC_ERROR = 5 , RGBD_SENSOR_TIMEOUT = 6 }

Public Attributes inherited from FakeDepthCameraDriver_ParamsParser
const std::string	m_device_classname = {"FakeDepthCameraDriver"}

const std::string	m_device_name = {"fakeDepthCamera"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_rgb_h_defaultValue = {"480.0"}

const std::string	m_rgb_w_defaultValue = {"640.0"}

const std::string	m_dep_h_defaultValue = {"480.0"}

const std::string	m_dep_w_defaultValue = {"640.0"}

const std::string	m_accuracy_defaultValue = {"0.001"}

const std::string	m_rgb_Vfov_defaultValue = {"50.0"}

const std::string	m_rgb_Hfov_defaultValue = {"36.0"}

const std::string	m_dep_Vfov_defaultValue = {"50.0"}

const std::string	m_dep_Hfov_defaultValue = {"36.0"}

const std::string	m_dep_near_defaultValue = {"0.2"}

const std::string	m_dep_far_defaultValue = {"6.0"}

double	m_rgb_h = {480.0}

double	m_rgb_w = {640.0}

double	m_dep_h = {480.0}

double	m_dep_w = {640.0}

double	m_accuracy = {0.001}

double	m_rgb_Vfov = {50.0}

double	m_rgb_Hfov = {36.0}

double	m_dep_Vfov = {50.0}

double	m_dep_Hfov = {36.0}

double	m_dep_near = {0.2}

double	m_dep_far = {6.0}

Protected Types inherited from FakeDepthCameraDriver_mini
typedef yarp::sig::ImageOf< yarp::sig::PixelFloat >	depthImage

typedef yarp::os::Stamp	Stamp

typedef yarp::os::Property	Property

typedef yarp::sig::FlexImage	FlexImage

Protected Member Functions inherited from FakeDepthCameraDriver_mini
void	regenerate_rgb_image ()

void	regenerate_depth_image ()

Protected Attributes inherited from FakeDepthCameraDriver_mini
FlexImage	m_rgbImage

depthImage	m_depthImage

bool	m_depth_mirror = false

bool	m_rgb_mirror = false

std::recursive_mutex	m_mutex

Detailed Description

fakeDepthCamera: Documentation to be added

Parameters required by this device are shown in class: FakeDepthCameraDriver_ParamsParser

Definition at line 21 of file FakeDepthCameraDriver.h.

Constructor & Destructor Documentation

◆ FakeDepthCameraDriver()

FakeDepthCameraDriver::FakeDepthCameraDriver ( )

Definition at line 24 of file FakeDepthCameraDriver.cpp.

◆ ~FakeDepthCameraDriver()

FakeDepthCameraDriver::~FakeDepthCameraDriver ( )

overridedefault

Member Function Documentation

◆ close()

bool FakeDepthCameraDriver::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 40 of file FakeDepthCameraDriver.cpp.

◆ getActive()

ReturnValue FakeDepthCameraDriver::getActive	(	yarp::dev::cameraFeature_id_t	feature,
		bool &	isActive
	)

overridevirtual

Get the current status of the feature, on or off.

Parameters

feature	the identifier of the feature to check
isActive	flag true if the feature is active, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 95 of file FakeDepthCameraDriver.cpp.

◆ getCameraDescription()

ReturnValue FakeDepthCameraDriver::getCameraDescription ( yarp::dev::CameraDescriptor & camera )

overridevirtual

Get a basic description of the camera hw.

This is mainly used to determine the HW bus type in order to choose the corresponding interface for advanced controls.

Parameters

device returns an identifier for the bus

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 46 of file FakeDepthCameraDriver.cpp.

◆ getFeature() [1/2]

ReturnValue FakeDepthCameraDriver::getFeature	(	yarp::dev::cameraFeature_id_t	feature,
		double &	value
	)

overridevirtual

Get the current value for the requested feature.

Parameters

feature	the identifier of the feature to read
value	pointer to current value of the feature, from 0 to 1 expressed as a percentage

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 65 of file FakeDepthCameraDriver.cpp.

◆ getFeature() [2/2]

ReturnValue FakeDepthCameraDriver::getFeature	(	yarp::dev::cameraFeature_id_t	feature,
		double &	value1,
		double &	value2
	)

overridevirtual

Get the current value for the requested feature.

Parameters

feature	the identifier of the feature to read
value1	returns the current value of the feature, from 0 to 1 expressed as a percentage
value2	returns the current value of the feature, from 0 to 1 expressed as a percentage

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 77 of file FakeDepthCameraDriver.cpp.

◆ getMode()

ReturnValue FakeDepthCameraDriver::getMode	(	yarp::dev::cameraFeature_id_t	feature,
		yarp::dev::FeatureMode &	mode
	)

overridevirtual

Get the current mode for the feature.

Parameters

feature	the identifier of the feature to change
hasAuto	flag true if the feature is has 'auto' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 125 of file FakeDepthCameraDriver.cpp.

◆ hasAuto()

ReturnValue FakeDepthCameraDriver::hasAuto	(	yarp::dev::cameraFeature_id_t	feature,
		bool &	hasAuto
	)

overridevirtual

Check if the requested feature has the 'auto' mode.

Parameters

feature	the identifier of the feature to check
hasAuto	flag true if the feature is has 'auto' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 101 of file FakeDepthCameraDriver.cpp.

◆ hasFeature()

ReturnValue FakeDepthCameraDriver::hasFeature	(	yarp::dev::cameraFeature_id_t	,
		bool &	hasFeature
	)

overridevirtual

Check if camera has the requested feature (saturation, brightness ... )

Parameters

feature	the identifier of the feature to check
hasFeature	flag value: true if the feature is present, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 53 of file FakeDepthCameraDriver.cpp.

◆ hasManual()

ReturnValue FakeDepthCameraDriver::hasManual	(	yarp::dev::cameraFeature_id_t	feature,
		bool &	hasManual
	)

overridevirtual

Check if the requested feature has the 'manual' mode.

Parameters

feature	the identifier of the feature to check
hasAuto	flag true if the feature is has 'manual' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 107 of file FakeDepthCameraDriver.cpp.

◆ hasOnePush()

ReturnValue FakeDepthCameraDriver::hasOnePush	(	yarp::dev::cameraFeature_id_t	feature,
		bool &	hasOnePush
	)

overridevirtual

Check if the requested feature has the 'onePush' mode.

Parameters

feature	the identifier of the feature to check
hasAuto	flag true if the feature is has 'onePush' mode, false otherwise

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 113 of file FakeDepthCameraDriver.cpp.

◆ hasOnOff()

ReturnValue FakeDepthCameraDriver::hasOnOff	(	yarp::dev::cameraFeature_id_t	feature,
		bool &	HasOnOff
	)

overridevirtual

Check if the camera has the ability to turn on/off the requested feature.

Parameters

feature	the identifier of the feature to change
hasOnOff	flag true if this feature can be turned on/off, false otherwise.

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 83 of file FakeDepthCameraDriver.cpp.

◆ open()

bool FakeDepthCameraDriver::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 30 of file FakeDepthCameraDriver.cpp.

◆ setActive()

ReturnValue FakeDepthCameraDriver::setActive	(	yarp::dev::cameraFeature_id_t	feature,
		bool	onoff
	)

overridevirtual

Set the requested feature on or off.

Parameters

feature	the identifier of the feature to change
onoff	true to activate, off to deactivate the feature

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 89 of file FakeDepthCameraDriver.cpp.

◆ setFeature() [1/2]

ReturnValue FakeDepthCameraDriver::setFeature	(	yarp::dev::cameraFeature_id_t	feature,
		double	value
	)

overridevirtual

Set the requested feature to a value (saturation, brightness ... )

Parameters

feature	the identifier of the feature to change
value	new value of the feature, range from 0 to 1 expressed as a percentage

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 59 of file FakeDepthCameraDriver.cpp.

◆ setFeature() [2/2]

ReturnValue FakeDepthCameraDriver::setFeature	(	yarp::dev::cameraFeature_id_t	feature,
		double	value1,
		double	value2
	)

overridevirtual

Set the requested feature to a value using 2 params (like white balance)

Parameters

feature	the identifier of the feature to change
value1	first param, from 0 to 1 expressed as a percentage
value2	second param, from 0 to 1 expressed as a percentage

Returns: returns true if success, false otherwise (e.g. the interface is not implemented)

Implements yarp::dev::IFrameGrabberControls.

Definition at line 71 of file FakeDepthCameraDriver.cpp.

◆ setMode()

ReturnValue FakeDepthCameraDriver::setMode	(	yarp::dev::cameraFeature_id_t	feature,
		yarp::dev::FeatureMode	mode
	)

overridevirtual

Set the requested mode for the feature.

Parameters

feature	the identifier of the feature to change
auto_onoff	true to activate 'auto' mode, false to activate 'manual' mode

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 119 of file FakeDepthCameraDriver.cpp.

◆ setOnePush()

ReturnValue FakeDepthCameraDriver::setOnePush ( yarp::dev::cameraFeature_id_t feature )

overridevirtual

Set the requested feature to a value (saturation, brightness ... )

Parameters

feature	the identifier of the feature to change
value	new value of the feature, from 0 to 1 as a percentage of param range

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 131 of file FakeDepthCameraDriver.cpp.

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

src/devices/fake/fakeDepthCamera/FakeDepthCameraDriver.h
src/devices/fake/fakeDepthCamera/FakeDepthCameraDriver.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakeDepthCameraDriver()

◆ ~FakeDepthCameraDriver()

Member Function Documentation

◆ close()

◆ getActive()

◆ getCameraDescription()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getMode()

◆ hasAuto()

◆ hasFeature()

◆ hasManual()

◆ hasOnePush()

◆ hasOnOff()

◆ open()

◆ setActive()

◆ setFeature() [1/2]

◆ setFeature() [2/2]

◆ setMode()

◆ setOnePush()