fakeFrameGrabber: A fake camera for testing. More...

#include <fakeFrameGrabber/FakeFrameGrabber.h>

Inheritance diagram for FakeFrameGrabber:

Public Member Functions
	FakeFrameGrabber ()=default

	FakeFrameGrabber (const FakeFrameGrabber &)=delete

	FakeFrameGrabber (FakeFrameGrabber &&)=delete

FakeFrameGrabber &	operator= (const FakeFrameGrabber &)=delete

FakeFrameGrabber &	operator= (FakeFrameGrabber &&)=delete

	~FakeFrameGrabber () override=default

bool	close () override
	Close the DeviceDriver. More...

bool	open (yarp::os::Searchable &config) override
	Configure with a set of options. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection. More...

void	run () override
	Main body of the new thread. More...

void	onStop () override
	Call-back, called while halting the thread (before join). More...

void	timing ()

int	height () const override
	Return the height of each frame. More...

int	width () const override
	Return the width of each frame. More...

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

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

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

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

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

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

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

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

bool	getRgbMirroring (bool &mirror) override
	Get the mirroring setting of the sensor. More...

bool	setRgbMirroring (bool mirror) override
	Set the mirroring setting of the sensor. More...

bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image) override
	Get an image from the frame grabber. More...

bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelMono > &image) override
	Get an image from the frame grabber. More...

bool	getImageCrop (cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, yarp::sig::ImageOf< yarp::sig::PixelRgb > &image) override
	Get a crop of the image from the frame grabber. More...

bool	getImageCrop (cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, yarp::sig::ImageOf< yarp::sig::PixelMono > &image) override

yarp::os::Stamp	getLastInputStamp () override
	Return the time stamp relative to the last acquisition. More...

bool	hasAudio () override

bool	hasVideo () override

bool	hasRawVideo () override

bool	getCameraDescription (CameraDescriptor *camera) override
	Get a basic description of the camera hw. More...

bool	hasFeature (int feature, bool *hasFeature) override
	Check if camera has the requested feature (saturation, brightness ... ) More...

bool	setFeature (int feature, double value) override
	Set the requested feature to a value (saturation, brightness ... ) More...

bool	getFeature (int feature, double *value) override
	Get the current value for the requested feature. More...

bool	setFeature (int feature, double value1, double value2) override
	Set the requested feature to a value using 2 params (like white balance) More...

bool	getFeature (int feature, double value1, double value2) override
	Get the current value for the requested feature. More...

bool	hasOnOff (int feature, bool *HasOnOff) override
	Check if the camera has the ability to turn on/off the requested feature. More...

bool	setActive (int feature, bool onoff) override
	Set the requested feature on or off. More...

bool	getActive (int feature, bool *isActive) override
	Get the current status of the feature, on or off. More...

bool	hasAuto (int feature, bool *hasAuto) override
	Check if the requested feature has the 'auto' mode. More...

bool	hasManual (int feature, bool *hasManual) override
	Check if the requested feature has the 'manual' mode. More...

bool	hasOnePush (int feature, bool *hasOnePush) override
	Check if the requested feature has the 'onePush' mode. More...

bool	setMode (int feature, FeatureMode mode) override
	Set the requested mode for the feature. More...

bool	getMode (int feature, FeatureMode *mode) override
	Get the current mode for the feature. More...

bool	setOnePush (int feature) override
	Set the requested feature to a value (saturation, brightness ... ) More...

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

	~DeviceDriver () override

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

bool	close () override
	Close the DeviceDriver. More...

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

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

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

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

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	open (Searchable &config)
	Initialize the object. More...

virtual bool	close ()
	Shut the object down. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

virtual bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image)=0
	Get an image from the frame grabber. More...

virtual bool	getImageCrop (cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, yarp::sig::ImageOf< yarp::sig::PixelRgb > &image)
	Get a crop of the image from the frame grabber. More...

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

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

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

virtual bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelMono > &image)=0
	Get an image from the frame grabber. More...

virtual bool	getImageCrop (cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, yarp::sig::ImageOf< yarp::sig::PixelMono > &image)
	Get a crop of the image from the frame grabber. More...

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

virtual bool	setBrightness (double v)
	Set the brightness. More...

virtual bool	setExposure (double v)
	Set the exposure. More...

virtual bool	setSharpness (double v)
	Set the sharpness. More...

virtual bool	setWhiteBalance (double blue, double red)
	Set the white balance for the frame grabber. More...

virtual bool	setHue (double v)
	Set the hue. More...

virtual bool	setSaturation (double v)
	Set the saturation. More...

virtual bool	setGamma (double v)
	Set the gamma. More...

virtual bool	setShutter (double v)
	Set the shutter parameter. More...

virtual bool	setGain (double v)
	Set the gain. More...

virtual bool	setIris (double v)
	Set the iris. More...

virtual double	getBrightness ()
	Read the brightness parameter. More...

virtual double	getExposure ()
	Read the exposure parameter. More...

virtual double	getSharpness ()
	Read the sharpness parameter. More...

virtual bool	getWhiteBalance (double &blue, double &red)
	Read the white balance parameters. More...

virtual double	getHue ()
	Read the hue parameter. More...

virtual double	getSaturation ()
	Read the saturation parameter. More...

virtual double	getGamma ()
	Read the gamma parameter. More...

virtual double	getShutter ()
	Read the shutter parameter. More...

virtual double	getGain ()
	Read the gain parameter. More...

virtual double	getIris ()
	Read the iris parameter. More...

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

virtual bool	getCameraDescription (CameraDescriptor *camera)=0
	Get a basic description of the camera hw. More...

virtual bool	hasFeature (int feature, bool *hasFeature)=0
	Check if camera has the requested feature (saturation, brightness ... ) More...

virtual bool	setFeature (int feature, double value)=0
	Set the requested feature to a value (saturation, brightness ... ) More...

virtual bool	getFeature (int feature, double *value)=0
	Get the current value for the requested feature. More...

virtual bool	setFeature (int feature, double value1, double value2)=0
	Set the requested feature to a value using 2 params (like white balance) More...

virtual bool	getFeature (int feature, double value1, double value2)=0
	Get the current value for the requested feature. More...

virtual bool	hasOnOff (int feature, bool *HasOnOff)=0
	Check if the camera has the ability to turn on/off the requested feature. More...

virtual bool	setActive (int feature, bool onoff)=0
	Set the requested feature on or off. More...

virtual bool	getActive (int feature, bool *isActive)=0
	Get the current status of the feature, on or off. More...

virtual bool	hasAuto (int feature, bool *hasAuto)=0
	Check if the requested feature has the 'auto' mode. More...

virtual bool	hasManual (int feature, bool *hasManual)=0
	Check if the requested feature has the 'manual' mode. More...

virtual bool	hasOnePush (int feature, bool *hasOnePush)=0
	Check if the requested feature has the 'onePush' mode. More...

virtual bool	setMode (int feature, FeatureMode mode)=0
	Set the requested mode for the feature. More...

virtual bool	getMode (int feature, FeatureMode *mode)=0
	Get the current mode for the feature. More...

virtual bool	setOnePush (int feature)=0
	Set the requested feature to a value (saturation, brightness ... ) More...

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

virtual yarp::os::Stamp	getLastInputStamp ()=0
	Return the time stamp relative to the last acquisition. More...

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

virtual bool	hasAudio ()=0

virtual bool	hasVideo ()=0

virtual bool	hasRawVideo ()

Public Member Functions inherited from yarp::dev::IRgbVisualParams
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...

Public Member Functions inherited from yarp::os::Thread
	Thread ()
	Constructor. More...

virtual	~Thread ()
	Destructor. More...

virtual void	run ()=0
	Main body of the new thread. More...

virtual void	onStop ()
	Call-back, called while halting the thread (before join). More...

bool	start ()
	Start the new thread running. More...

bool	stop ()
	Stop the thread. More...

virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

bool	isStopping ()
	Returns true if the thread is stopping (Thread::stop has been called). More...

bool	isRunning ()
	Returns true if the thread is running (Thread::start has been called successfully and the thread has not stopped). More...

long int	getKey ()
	Get a unique identifier for the thread. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority ()
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy ()
	Query the current scheduling policy of the thread, if the OS supports that. More...

bool	join (double seconds=-1)
	The function returns when the thread execution has completed. More...

void	setOptions (int stackSize=0)
	Set the stack size for the new thread. More...

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor. More...

virtual bool	read (ConnectionReader &reader)=0
	Read this object from a network connection. More...

virtual Type	getReadType () const

Additional Inherited Members
Static Public Member Functions inherited from yarp::os::Thread
static int	getCount ()
	Check how many threads are running. More...

static long int	getKeyOfCaller ()
	Get a unique identifier for the calling thread. More...

static void	yield ()
	Reschedule the execution of current thread, allowing other threads to run. More...

static void	setDefaultStackSize (int stackSize)
	Set the default stack size for all threads created after this point. More...

Detailed Description

fakeFrameGrabber: A fake camera for testing.

Implements the IFrameGrabberImage and IFrameGrabberControls interfaces.

Definition at line 37 of file FakeFrameGrabber.h.

Constructor & Destructor Documentation

◆ FakeFrameGrabber() [1/3]

FakeFrameGrabber::FakeFrameGrabber ( )

default

◆ FakeFrameGrabber() [2/3]

FakeFrameGrabber::FakeFrameGrabber ( const FakeFrameGrabber & )

delete

◆ FakeFrameGrabber() [3/3]

FakeFrameGrabber::FakeFrameGrabber ( FakeFrameGrabber && )

delete

◆ ~FakeFrameGrabber()

FakeFrameGrabber::~FakeFrameGrabber ( )

overridedefault

Member Function Documentation

◆ close()

bool FakeFrameGrabber::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 216 of file FakeFrameGrabber.cpp.

◆ getActive()

bool FakeFrameGrabber::getActive	(	int	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 593 of file FakeFrameGrabber.cpp.

◆ getCameraDescription()

bool FakeFrameGrabber::getCameraDescription ( 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 585 of file FakeFrameGrabber.cpp.

◆ getFeature() [1/2]

bool FakeFrameGrabber::getFeature	(	int	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 588 of file FakeFrameGrabber.cpp.

◆ getFeature() [2/2]

bool FakeFrameGrabber::getFeature	(	int	feature,
		double *	value1,
		double *	value2
	)

overridevirtual

Get the current value for the requested feature.

Parameters

feature	the identifier of the feaature 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 590 of file FakeFrameGrabber.cpp.

◆ getImage() [1/2]

bool FakeFrameGrabber::getImage ( yarp::sig::ImageOf< yarp::sig::PixelMono > & image )

overridevirtual

Get an image from the frame grabber.

Parameters

image the image to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelMono > >.

Definition at line 515 of file FakeFrameGrabber.cpp.

◆ getImage() [2/2]

bool FakeFrameGrabber::getImage ( yarp::sig::ImageOf< yarp::sig::PixelRgb > & image )

overridevirtual

Get an image from the frame grabber.

Parameters

image the image to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >.

Definition at line 478 of file FakeFrameGrabber.cpp.

◆ getImageCrop() [1/2]

bool FakeFrameGrabber::getImageCrop	(	cropType_id_t	cropType,
		yarp::sig::VectorOf< std::pair< int, int > >	vertices,
		yarp::sig::ImageOf< yarp::sig::PixelMono > &	image
	)

override

Definition at line 565 of file FakeFrameGrabber.cpp.

◆ getImageCrop() [2/2]

bool FakeFrameGrabber::getImageCrop	(	cropType_id_t	cropType,
		yarp::sig::VectorOf< std::pair< int, int > >	vertices,
		yarp::sig::ImageOf< yarp::sig::PixelRgb > &	image
	)

overridevirtual

Get a crop of the image from the frame grabber.

Note: this is not configuring the camera sensor to acquire a crop of the image, nor to generate a cropped version of the streaming. Instead, the full image is acquired and then a crop is created from it. If the hardware supports it, it is possible to override this method and request a hardware crop.

Parameters

cropType	enum specifying how the crop shall be generated
vertices	the input coordinate (u,v) required by the cropType
image	the image to be filled

Returns: true/false upon success/failure

Reimplemented from yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >.

Definition at line 557 of file FakeFrameGrabber.cpp.

◆ getLastInputStamp()

yarp::os::Stamp FakeFrameGrabber::getLastInputStamp ( )

overridevirtual

Return the time stamp relative to the last acquisition.

Implements yarp::dev::IPreciselyTimed.

Definition at line 573 of file FakeFrameGrabber.cpp.

◆ getMode()

bool FakeFrameGrabber::getMode	(	int	feature,
		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 598 of file FakeFrameGrabber.cpp.

◆ getRgbFOV()

bool FakeFrameGrabber::getRgbFOV	(	double &	horizontalFov,
		double &	verticalFov
	)

overridevirtual

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

Implements yarp::dev::IRgbVisualParams.

Definition at line 407 of file FakeFrameGrabber.cpp.

◆ getRgbHeight()

int FakeFrameGrabber::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRgbVisualParams.

Definition at line 382 of file FakeFrameGrabber.cpp.

◆ getRgbIntrinsicParam()

bool FakeFrameGrabber::getRgbIntrinsicParam ( yarp::os::Property & intrinsic )

overridevirtual

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
rectificationMatrix	-	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

Implements yarp::dev::IRgbVisualParams.

Definition at line 419 of file FakeFrameGrabber.cpp.

◆ getRgbMirroring()

bool FakeFrameGrabber::getRgbMirroring ( bool & mirror )

overridevirtual

Get the mirroring setting of the sensor.

Parameters

mirror true if image is mirrored, false otherwise

Returns: true if success

Implements yarp::dev::IRgbVisualParams.

Definition at line 424 of file FakeFrameGrabber.cpp.

◆ getRgbResolution()

bool FakeFrameGrabber::getRgbResolution	(	int &	width,
		int &	height
	)

overridevirtual

Get the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Reimplemented from yarp::dev::IRgbVisualParams.

Definition at line 395 of file FakeFrameGrabber.cpp.

◆ getRgbSupportedConfigurations()

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

overridevirtual

Get the possible configurations of the camera.

Parameters

configurations list of camera supported configurations as CameraConfig type

Returns: true on success

Reimplemented from yarp::dev::IRgbVisualParams.

Definition at line 390 of file FakeFrameGrabber.cpp.

◆ getRgbWidth()

int FakeFrameGrabber::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRgbVisualParams.

Definition at line 386 of file FakeFrameGrabber.cpp.

◆ hasAudio()

bool FakeFrameGrabber::hasAudio ( )

overridevirtual

Implements yarp::dev::IAudioVisualStream.

Definition at line 577 of file FakeFrameGrabber.cpp.

◆ hasAuto()

bool FakeFrameGrabber::hasAuto	(	int	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 594 of file FakeFrameGrabber.cpp.

◆ hasFeature()

bool FakeFrameGrabber::hasFeature	(	int	feature,
		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 586 of file FakeFrameGrabber.cpp.

◆ hasManual()

bool FakeFrameGrabber::hasManual	(	int	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 595 of file FakeFrameGrabber.cpp.

◆ hasOnePush()

bool FakeFrameGrabber::hasOnePush	(	int	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 596 of file FakeFrameGrabber.cpp.

◆ hasOnOff()

bool FakeFrameGrabber::hasOnOff	(	int	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 591 of file FakeFrameGrabber.cpp.

◆ hasRawVideo()

bool FakeFrameGrabber::hasRawVideo ( )

overridevirtual

Reimplemented from yarp::dev::IAudioVisualStream.

Definition at line 581 of file FakeFrameGrabber.cpp.

◆ hasVideo()

bool FakeFrameGrabber::hasVideo ( )

overridevirtual

Implements yarp::dev::IAudioVisualStream.

Definition at line 579 of file FakeFrameGrabber.cpp.

◆ height()

int FakeFrameGrabber::height ( ) const

overridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 374 of file FakeFrameGrabber.cpp.

◆ onStop()

void FakeFrameGrabber::onStop ( )

overridevirtual

Call-back, called while halting the thread (before join).

This callback is executed by the same thread that calls stop(). It should not be called directly. Override this method to do the right thing for your particular Thread::run.

Reimplemented from yarp::os::Thread.

Definition at line 463 of file FakeFrameGrabber.cpp.

◆ open()

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

overridevirtual

Configure with a set of options.

These are:

width	Width of image (default 128).
height	Height of image (default 128).
freq	Frequency in Hz to generate images (default 20Hz).
period	Inverse of freq - only set one of these.
mode	Can be [line] (default), [ball], [grid], [rand], [nois], [none].
src	Image file to read from (default: none).
bayer	Emit a bayer image.
mono	Emit a monochrome image.
snr	Signal noise ratio ([nois] mode only) (default 0.5).

Parameters

config The options to use

Returns: true iff the object could be configured.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 222 of file FakeFrameGrabber.cpp.

◆ operator=() [1/2]

FakeFrameGrabber & FakeFrameGrabber::operator= ( const FakeFrameGrabber & )

delete

◆ operator=() [2/2]

FakeFrameGrabber & FakeFrameGrabber::operator= ( FakeFrameGrabber && )

delete

◆ read()

bool FakeFrameGrabber::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 124 of file FakeFrameGrabber.cpp.

◆ run()

void FakeFrameGrabber::run ( )

overridevirtual

Main body of the new thread.

Override this method to do what you want. After Thread::start is called, this method will start running in a separate thread. It is important that this method either keeps checking Thread::isStopping to see if it should stop, or you override the Thread::onStop method to interact with it in some way to shut the new thread down. There is no really reliable, portable way to stop a thread cleanly unless that thread cooperates.

Implements yarp::os::Thread.

Definition at line 433 of file FakeFrameGrabber.cpp.

◆ setActive()

bool FakeFrameGrabber::setActive	(	int	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 592 of file FakeFrameGrabber.cpp.

◆ setFeature() [1/2]

bool FakeFrameGrabber::setFeature	(	int	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 587 of file FakeFrameGrabber.cpp.

◆ setFeature() [2/2]

bool FakeFrameGrabber::setFeature	(	int	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 589 of file FakeFrameGrabber.cpp.

◆ setMode()

bool FakeFrameGrabber::setMode	(	int	feature,
		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 597 of file FakeFrameGrabber.cpp.

◆ setOnePush()

bool FakeFrameGrabber::setOnePush ( int 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 599 of file FakeFrameGrabber.cpp.

◆ setRgbFOV()

bool FakeFrameGrabber::setRgbFOV	(	double	horizontalFov,
		double	verticalFov
	)

overridevirtual

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

Implements yarp::dev::IRgbVisualParams.

Definition at line 413 of file FakeFrameGrabber.cpp.

◆ setRgbMirroring()

bool FakeFrameGrabber::setRgbMirroring ( bool mirror )

overridevirtual

Set the mirroring setting of the sensor.

Parameters

mirror true if image should be mirrored, false otherwise

Returns: true if success

Implements yarp::dev::IRgbVisualParams.

Definition at line 428 of file FakeFrameGrabber.cpp.

◆ setRgbResolution()

bool FakeFrameGrabber::setRgbResolution	(	int	width,
		int	height
	)

overridevirtual

Set the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Implements yarp::dev::IRgbVisualParams.

Definition at line 401 of file FakeFrameGrabber.cpp.

◆ timing()

void FakeFrameGrabber::timing ( )

Definition at line 356 of file FakeFrameGrabber.cpp.

◆ width()

int FakeFrameGrabber::width ( ) const

overridevirtual

Return the width of each frame.

Returns: image width

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 378 of file FakeFrameGrabber.cpp.

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

src/devices/fakeFrameGrabber/FakeFrameGrabber.h
src/devices/fakeFrameGrabber/FakeFrameGrabber.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakeFrameGrabber() [1/3]

◆ FakeFrameGrabber() [2/3]

◆ FakeFrameGrabber() [3/3]

◆ ~FakeFrameGrabber()

Member Function Documentation

◆ close()

◆ getActive()

◆ getCameraDescription()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getImage() [1/2]

◆ getImage() [2/2]

◆ getImageCrop() [1/2]

◆ getImageCrop() [2/2]

◆ getLastInputStamp()

◆ getMode()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ hasAudio()

◆ hasAuto()

◆ hasFeature()

◆ hasManual()

◆ hasOnePush()

◆ hasOnOff()

◆ hasRawVideo()

◆ hasVideo()

◆ height()

◆ onStop()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ read()

◆ run()

◆ setActive()

◆ setFeature() [1/2]

◆ setFeature() [2/2]

◆ setMode()

◆ setOnePush()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()

◆ timing()

◆ width()