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

#include <fake/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.

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

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

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

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

void	timing ()

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	getRgbIntrinsicParam (yarp::os::Property &intrinsic) override
	Get the intrinsic parameters 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.

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

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

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

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

yarp::dev::ReturnValue	getImageCrop (yarp::dev::cropType_id_t cropType, std::vector< yarp::dev::vertex_t > vertices, yarp::sig::ImageOf< yarp::sig::PixelRgb > &image) override
	Get a crop of the image from the frame grabber.

yarp::dev::ReturnValue	getImageCrop (yarp::dev::cropType_id_t cropType, std::vector< yarp::dev::vertex_t > vertices, yarp::sig::ImageOf< yarp::sig::PixelMono > &image) override

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

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

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

yarp::dev::ReturnValue	getVideoModeMaskDC1394 (unsigned int &val) override

yarp::dev::ReturnValue	getVideoModeDC1394 (unsigned int &val) override

yarp::dev::ReturnValue	setVideoModeDC1394 (int video_mode) override

yarp::dev::ReturnValue	getFPSMaskDC1394 (unsigned int &val) override

yarp::dev::ReturnValue	getFPSDC1394 (unsigned int &val) override

yarp::dev::ReturnValue	setFPSDC1394 (int fps) override

yarp::dev::ReturnValue	getISOSpeedDC1394 (unsigned int &val) override

yarp::dev::ReturnValue	setISOSpeedDC1394 (int speed) override

yarp::dev::ReturnValue	getColorCodingMaskDC1394 (unsigned int video_mode, unsigned int &val) override

yarp::dev::ReturnValue	getColorCodingDC1394 (unsigned int &val) override

yarp::dev::ReturnValue	setColorCodingDC1394 (int coding) override

yarp::dev::ReturnValue	getFormat7MaxWindowDC1394 (unsigned int &xdim, unsigned int &ydim, unsigned int &xstep, unsigned int &ystep, unsigned int &xoffstep, unsigned int &yoffstep) override

yarp::dev::ReturnValue	getFormat7WindowDC1394 (unsigned int &xdim, unsigned int &ydim, int &x0, int &y0) override

yarp::dev::ReturnValue	setFormat7WindowDC1394 (unsigned int xdim, unsigned int ydim, int x0, int y0) override

yarp::dev::ReturnValue	setOperationModeDC1394 (bool b1394b) override

yarp::dev::ReturnValue	getOperationModeDC1394 (bool &b1394) override

yarp::dev::ReturnValue	setTransmissionDC1394 (bool bTxON) override

yarp::dev::ReturnValue	getTransmissionDC1394 (bool &bTxON) override

yarp::dev::ReturnValue	setBroadcastDC1394 (bool onoff) override

yarp::dev::ReturnValue	setDefaultsDC1394 () override

yarp::dev::ReturnValue	setResetDC1394 () override

yarp::dev::ReturnValue	setPowerDC1394 (bool onoff) override

yarp::dev::ReturnValue	setCaptureDC1394 (bool bON) override

yarp::dev::ReturnValue	getBytesPerPacketDC1394 (unsigned int &bpp) override

yarp::dev::ReturnValue	setBytesPerPacketDC1394 (unsigned int bpp) override

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::IFrameGrabberImageBase
virtual	~IFrameGrabberImageBase ()
	Destructor.

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

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

Public Member Functions inherited from yarp::dev::IFrameGrabberControlsDC1394
virtual	~IFrameGrabberControlsDC1394 ()

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

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

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

virtual	~Thread ()
	Destructor.

bool	start ()
	Start the new thread running.

bool	stop ()
	Stop the thread.

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

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().

virtual bool	threadInit ()
	Initialization method.

virtual void	threadRelease ()
	Release method.

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

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

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

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

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

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

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

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

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

virtual Type	getReadType () const

Public Member Functions inherited from FakeFrameGrabber_ParamsParser
	FakeFrameGrabber_ParamsParser ()

	~FakeFrameGrabber_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 ()

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

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

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

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

Public Attributes inherited from FakeFrameGrabber_ParamsParser
const std::string	m_device_classname = {"FakeFrameGrabber"}

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_width_defaultValue = {"320"}

const std::string	m_height_defaultValue = {"240"}

const std::string	m_horizontalFov_defaultValue = {"1.0"}

const std::string	m_verticalFov_defaultValue = {"2.0"}

const std::string	m_fakeFrameGrabber_rpc_port_defaultValue = {"/fakeFrameGrabber/rpc"}

const std::string	m_mirror_defaultValue = {"false"}

const std::string	m_syncro_defaultValue = {"false"}

const std::string	m_physFocalLength_defaultValue = {"3.0"}

const std::string	m_focalLengthX_defaultValue = {"4.0"}

const std::string	m_focalLengthY_defaultValue = {"5.0"}

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

const std::string	m_principalPointY_defaultValue = {"7.0"}

const std::string	m_distortionModel_defaultValue = {"FishEye"}

const std::string	m_k1_defaultValue = {"8.0"}

const std::string	m_k2_defaultValue = {"9.0"}

const std::string	m_k3_defaultValue = {"10.0"}

const std::string	m_t1_defaultValue = {"11.0"}

const std::string	m_t2_defaultValue = {"12.0"}

const std::string	m_freq_defaultValue = {"0"}

const std::string	m_period_defaultValue = {"0"}

const std::string	m_mode_defaultValue = {"[line]"}

const std::string	m_src_defaultValue = {""}

const std::string	m_add_timestamp_defaultValue = {"false"}

const std::string	m_add_noise_defaultValue = {"false"}

const std::string	m_bayer_defaultValue = {"false"}

const std::string	m_mono_defaultValue = {"false"}

const std::string	m_snr_defaultValue = {"0.5"}

const std::string	m_rectificationMatrix_defaultValue = {"(1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0)"}

int	m_width = {320}

int	m_height = {240}

double	m_horizontalFov = {1.0}

double	m_verticalFov = {2.0}

std::string	m_fakeFrameGrabber_rpc_port = {"/fakeFrameGrabber/rpc"}

bool	m_mirror = {false}

bool	m_syncro = {false}

double	m_physFocalLength = {3.0}

double	m_focalLengthX = {4.0}

double	m_focalLengthY = {5.0}

double	m_principalPointX = {6.0}

double	m_principalPointY = {7.0}

std::string	m_distortionModel = {"FishEye"}

double	m_k1 = {8.0}

double	m_k2 = {9.0}

double	m_k3 = {10.0}

double	m_t1 = {11.0}

double	m_t2 = {12.0}

double	m_freq = {0}

double	m_period = {0}

std::string	m_mode = {"[line]"}

std::string	m_src = {}

bool	m_add_timestamp = {false}

bool	m_add_noise = {false}

bool	m_bayer = {false}

bool	m_mono = {false}

double	m_snr = {0.5}

std::vector< double >	m_rectificationMatrix = { }

Detailed Description

fakeFrameGrabber: A fake camera for testing.

Implements the IFrameGrabberImage and IFrameGrabberControls interfaces.

Parameters required by this device are shown in class: FakeFrameGrabber_ParamsParser

Definition at line 40 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 105 of file FakeFrameGrabber.cpp.

◆ getActive()

ReturnValue FakeFrameGrabber::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 FakeFrameGrabber_Controls.cpp.

◆ getBytesPerPacketDC1394()

ReturnValue FakeFrameGrabber::getBytesPerPacketDC1394 ( unsigned int & bpp )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 190 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getCameraDescription()

ReturnValue FakeFrameGrabber::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 37 of file FakeFrameGrabber_Controls.cpp.

◆ getColorCodingDC1394()

ReturnValue FakeFrameGrabber::getColorCodingDC1394 ( unsigned int & val )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 100 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getColorCodingMaskDC1394()

ReturnValue FakeFrameGrabber::getColorCodingMaskDC1394	(	unsigned int	video_mode,
		unsigned int &	val
	)

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 93 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getFeature() [1/2]

ReturnValue FakeFrameGrabber::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 58 of file FakeFrameGrabber_Controls.cpp.

◆ getFeature() [2/2]

ReturnValue FakeFrameGrabber::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 73 of file FakeFrameGrabber_Controls.cpp.

◆ getFormat7MaxWindowDC1394()

ReturnValue FakeFrameGrabber::getFormat7MaxWindowDC1394	(	unsigned int &	xdim,
		unsigned int &	ydim,
		unsigned int &	xstep,
		unsigned int &	ystep,
		unsigned int &	xoffstep,
		unsigned int &	yoffstep
	)

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 114 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getFormat7WindowDC1394()

ReturnValue FakeFrameGrabber::getFormat7WindowDC1394	(	unsigned int &	xdim,
		unsigned int &	ydim,
		int &	x0,
		int &	y0
	)

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 120 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getFPSDC1394()

ReturnValue FakeFrameGrabber::getFPSDC1394 ( unsigned int & val )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 65 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getFPSMaskDC1394()

ReturnValue FakeFrameGrabber::getFPSMaskDC1394 ( unsigned int & val )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 58 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getImage() [1/2]

ReturnValue 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 329 of file FakeFrameGrabber.cpp.

◆ getImage() [2/2]

ReturnValue 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 292 of file FakeFrameGrabber.cpp.

◆ getImageCrop() [1/2]

ReturnValue FakeFrameGrabber::getImageCrop	(	yarp::dev::cropType_id_t	cropType,
		std::vector< yarp::dev::vertex_t >	vertices,
		yarp::sig::ImageOf< yarp::sig::PixelMono > &	image
	)

override

Definition at line 379 of file FakeFrameGrabber.cpp.

◆ getImageCrop() [2/2]

ReturnValue FakeFrameGrabber::getImageCrop	(	yarp::dev::cropType_id_t	cropType,
		std::vector< yarp::dev::vertex_t >	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 371 of file FakeFrameGrabber.cpp.

◆ getISOSpeedDC1394()

ReturnValue FakeFrameGrabber::getISOSpeedDC1394 ( unsigned int & val )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 79 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getLastInputStamp()

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

overridevirtual

Return the time stamp relative to the last acquisition.

Implements yarp::dev::IPreciselyTimed.

Definition at line 387 of file FakeFrameGrabber.cpp.

◆ getMode()

ReturnValue FakeFrameGrabber::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 130 of file FakeFrameGrabber_Controls.cpp.

◆ getOperationModeDC1394()

ReturnValue FakeFrameGrabber::getOperationModeDC1394 ( bool & b1394 )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 139 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getRgbFOV()

ReturnValue 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 61 of file FakeFrameGrabber_RGBVisualParams.cpp.

◆ getRgbHeight()

int FakeFrameGrabber::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRgbVisualParams.

Definition at line 26 of file FakeFrameGrabber_RGBVisualParams.cpp.

◆ getRgbIntrinsicParam()

ReturnValue 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 77 of file FakeFrameGrabber_RGBVisualParams.cpp.

◆ getRgbMirroring()

ReturnValue 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 84 of file FakeFrameGrabber_RGBVisualParams.cpp.

◆ getRgbResolution()

ReturnValue 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

Implements yarp::dev::IRgbVisualParams.

Definition at line 45 of file FakeFrameGrabber_RGBVisualParams.cpp.

◆ getRgbSupportedConfigurations()

ReturnValue FakeFrameGrabber::getRgbSupportedConfigurations ( std::vector< 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

Implements yarp::dev::IRgbVisualParams.

Definition at line 38 of file FakeFrameGrabber_RGBVisualParams.cpp.

◆ getRgbWidth()

int FakeFrameGrabber::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRgbVisualParams.

Definition at line 32 of file FakeFrameGrabber_RGBVisualParams.cpp.

◆ getTransmissionDC1394()

ReturnValue FakeFrameGrabber::getTransmissionDC1394 ( bool & bTxON )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 153 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getVideoModeDC1394()

ReturnValue FakeFrameGrabber::getVideoModeDC1394 ( unsigned int & val )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 44 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ getVideoModeMaskDC1394()

ReturnValue FakeFrameGrabber::getVideoModeMaskDC1394 ( unsigned int & val )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 37 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ hasAuto()

ReturnValue FakeFrameGrabber::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 102 of file FakeFrameGrabber_Controls.cpp.

◆ hasFeature()

ReturnValue FakeFrameGrabber::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 44 of file FakeFrameGrabber_Controls.cpp.

◆ hasManual()

ReturnValue FakeFrameGrabber::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 109 of file FakeFrameGrabber_Controls.cpp.

◆ hasOnePush()

ReturnValue FakeFrameGrabber::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 116 of file FakeFrameGrabber_Controls.cpp.

◆ hasOnOff()

ReturnValue FakeFrameGrabber::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 81 of file FakeFrameGrabber_Controls.cpp.

◆ height()

int FakeFrameGrabber::height ( ) const

overridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 235 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 277 of file FakeFrameGrabber.cpp.

◆ open()

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

overridevirtual

Parameters

config The options to use

Returns: true iff the object could be configured.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 111 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 26 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 247 of file FakeFrameGrabber.cpp.

◆ setActive()

ReturnValue FakeFrameGrabber::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 88 of file FakeFrameGrabber_Controls.cpp.

◆ setBroadcastDC1394()

ReturnValue FakeFrameGrabber::setBroadcastDC1394 ( bool onoff )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 160 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ setBytesPerPacketDC1394()

ReturnValue FakeFrameGrabber::setBytesPerPacketDC1394 ( unsigned int bpp )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 197 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ setCaptureDC1394()

ReturnValue FakeFrameGrabber::setCaptureDC1394 ( bool bON )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 184 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ setColorCodingDC1394()

ReturnValue FakeFrameGrabber::setColorCodingDC1394 ( int coding )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 107 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ setDefaultsDC1394()

ReturnValue FakeFrameGrabber::setDefaultsDC1394 ( )

overridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 166 of file FakeFrameGrabber_ControlsDC1394.cpp.

◆ setFeature() [1/2]

ReturnValue FakeFrameGrabber::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 51 of file FakeFrameGrabber_Controls.cpp.

◆ setFeature() [2/2]

ReturnValue FakeFrameGrabber::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