#include <frameGrabberCropper/frameGrabberCropper.h>

Inheritance diagram for FrameGrabberCropper:

Public Member Functions
	FrameGrabberCropper ()=default

	FrameGrabberCropper (const FrameGrabberCropper &)=delete

	FrameGrabberCropper (FrameGrabberCropper &&)=delete

FrameGrabberCropper &	operator= (const FrameGrabberCropper &)=delete

FrameGrabberCropper &	operator= (FrameGrabberCropper &&)=delete

	~FrameGrabberCropper () override

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

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

bool	attach (yarp::dev::PolyDriver *poly) override
	Attach to another object. More...

bool	detach () override
	Detach the object (you must have first called attach). More...

bool	attachAll (const yarp::dev::PolyDriverList &device2attach) override
	Attach to a list of objects. More...

bool	detachAll () override
	Detach the object (you must have first called attach). More...

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...

unsigned int	getVideoModeMaskDC1394 () override

unsigned int	getVideoModeDC1394 () override

bool	setVideoModeDC1394 (int video_mode) override

unsigned int	getFPSMaskDC1394 () override

unsigned int	getFPSDC1394 () override

bool	setFPSDC1394 (int fps) override

unsigned int	getISOSpeedDC1394 () override

bool	setISOSpeedDC1394 (int speed) override

unsigned int	getColorCodingMaskDC1394 (unsigned int video_mode) override

unsigned int	getColorCodingDC1394 () override

bool	setColorCodingDC1394 (int coding) override

bool	getFormat7MaxWindowDC1394 (unsigned int &xdim, unsigned int &ydim, unsigned int &xstep, unsigned int &ystep, unsigned int &xoffstep, unsigned int &yoffstep) override

bool	getFormat7WindowDC1394 (unsigned int &xdim, unsigned int &ydim, int &x0, int &y0) override

bool	setFormat7WindowDC1394 (unsigned int xdim, unsigned int ydim, int x0, int y0) override

bool	setOperationModeDC1394 (bool b1394b) override

bool	getOperationModeDC1394 () override

bool	setTransmissionDC1394 (bool bTxON) override

bool	getTransmissionDC1394 () override

bool	setBroadcastDC1394 (bool onoff) override

bool	setDefaultsDC1394 () override

bool	setResetDC1394 () override

bool	setPowerDC1394 (bool onoff) override

bool	setCaptureDC1394 (bool bON) override

unsigned int	getBytesPerPacketDC1394 () override

bool	setBytesPerPacketDC1394 (unsigned int bpp) override

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

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

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

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

virtual bool	attach (PolyDriver *driver)=0
	Attach to another object. More...

virtual bool	detach ()=0
	Detach the object (you must have first called attach). More...

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

virtual bool	attachAll (const PolyDriverList &drivers)=0
	Attach to a list of objects. More...

virtual bool	detachAll ()=0
	Detach the object (you must have first called attach). More...

Public Member Functions inherited from FrameGrabberCropperOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >
	~FrameGrabberCropperOf () override=default

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

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

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

Public Member Functions inherited from yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >
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...

Public Member Functions inherited from FrameGrabberCropperOf< yarp::sig::ImageOf< yarp::sig::PixelMono > >
	~FrameGrabberCropperOf () override=default

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

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

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

Public Member Functions inherited from yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelMono > >
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::IFrameGrabberControlsDC1394
virtual	~IFrameGrabberControlsDC1394 ()

virtual unsigned int	getVideoModeMaskDC1394 ()=0

virtual unsigned int	getVideoModeDC1394 ()=0

virtual bool	setVideoModeDC1394 (int video_mode)=0

virtual unsigned int	getFPSMaskDC1394 ()=0

virtual unsigned int	getFPSDC1394 ()=0

virtual bool	setFPSDC1394 (int fps)=0

virtual unsigned int	getISOSpeedDC1394 ()=0

virtual bool	setISOSpeedDC1394 (int speed)=0

virtual unsigned int	getColorCodingMaskDC1394 (unsigned int video_mode)=0

virtual unsigned int	getColorCodingDC1394 ()=0

virtual bool	setColorCodingDC1394 (int coding)=0

virtual bool	getFormat7MaxWindowDC1394 (unsigned int &xdim, unsigned int &ydim, unsigned int &xstep, unsigned int &ystep, unsigned int &xoffstep, unsigned int &yoffstep)=0

virtual bool	getFormat7WindowDC1394 (unsigned int &xdim, unsigned int &ydim, int &x0, int &y0)=0

virtual bool	setFormat7WindowDC1394 (unsigned int xdim, unsigned int ydim, int x0, int y0)=0

virtual bool	setOperationModeDC1394 (bool b1394b)=0

virtual bool	getOperationModeDC1394 ()=0

virtual bool	setTransmissionDC1394 (bool bTxON)=0

virtual bool	getTransmissionDC1394 ()=0

virtual bool	setBroadcastDC1394 (bool onoff)=0

virtual bool	setDefaultsDC1394 ()=0

virtual bool	setResetDC1394 ()=0

virtual bool	setPowerDC1394 (bool onoff)=0

virtual bool	setCaptureDC1394 (bool bON)=0

virtual unsigned int	getBytesPerPacketDC1394 ()=0

virtual bool	setBytesPerPacketDC1394 (unsigned int bpp)=0

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::dev::IPreciselyTimed
virtual	~IPreciselyTimed ()

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

Additional Inherited Members
Protected Attributes inherited from FrameGrabberCropperOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >
yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > > *	iFrameGrabberOf

yarp::sig::VectorOf< std::pair< int, int > >	vertices

Protected Attributes inherited from FrameGrabberCropperOf< yarp::sig::ImageOf< yarp::sig::PixelMono > >
yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelMono > > *	iFrameGrabberOf

yarp::sig::VectorOf< std::pair< int, int > >	vertices

Static Protected Attributes inherited from FrameGrabberCropperOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >
static constexpr cropType_id_t	cropType

Static Protected Attributes inherited from FrameGrabberCropperOf< yarp::sig::ImageOf< yarp::sig::PixelMono > >
static constexpr cropType_id_t	cropType

Detailed Description

Definition at line 58 of file frameGrabberCropper.h.

Constructor & Destructor Documentation

◆ FrameGrabberCropper() [1/3]

FrameGrabberCropper::FrameGrabberCropper ( )

default

◆ FrameGrabberCropper() [2/3]

FrameGrabberCropper::FrameGrabberCropper ( const FrameGrabberCropper & )

delete

◆ FrameGrabberCropper() [3/3]

FrameGrabberCropper::FrameGrabberCropper ( FrameGrabberCropper && )

delete

◆ ~FrameGrabberCropper()

FrameGrabberCropper::~FrameGrabberCropper ( )

override

Definition at line 15 of file frameGrabberCropper.cpp.

Member Function Documentation

◆ attach()

bool FrameGrabberCropper::attach ( yarp::dev::PolyDriver * driver )

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 98 of file frameGrabberCropper.cpp.

◆ attachAll()

bool FrameGrabberCropper::attachAll ( const yarp::dev::PolyDriverList & drivers )

overridevirtual

Attach to a list of objects.

Parameters

drivers the polydriver list that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 131 of file frameGrabberCropper.cpp.

◆ close()

bool FrameGrabberCropper::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 88 of file frameGrabberCropper.cpp.

◆ detach()

bool FrameGrabberCropper::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 120 of file frameGrabberCropper.cpp.

◆ detachAll()

bool FrameGrabberCropper::detachAll ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 141 of file frameGrabberCropper.cpp.

◆ getActive()

bool FrameGrabberCropper::getActive	(	int	feature,
		bool *	isActive
	)

inlineoverridevirtual

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 164 of file frameGrabberCropper.h.

◆ getBytesPerPacketDC1394()

unsigned int FrameGrabberCropper::getBytesPerPacketDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 414 of file frameGrabberCropper.h.

◆ getCameraDescription()

bool FrameGrabberCropper::getCameraDescription ( CameraDescriptor * camera )

inlineoverridevirtual

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 101 of file frameGrabberCropper.h.

◆ getColorCodingDC1394()

unsigned int FrameGrabberCropper::getColorCodingDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 297 of file frameGrabberCropper.h.

◆ getColorCodingMaskDC1394()

unsigned int FrameGrabberCropper::getColorCodingMaskDC1394 ( unsigned int video_mode )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 289 of file frameGrabberCropper.h.

◆ getFeature() [1/2]

bool FrameGrabberCropper::getFeature	(	int	feature,
		double *	value
	)

inlineoverridevirtual

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 124 of file frameGrabberCropper.h.

◆ getFeature() [2/2]

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

inlineoverridevirtual

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 140 of file frameGrabberCropper.h.

◆ getFormat7MaxWindowDC1394()

bool FrameGrabberCropper::getFormat7MaxWindowDC1394	(	unsigned int &	xdim,
		unsigned int &	ydim,
		unsigned int &	xstep,
		unsigned int &	ystep,
		unsigned int &	xoffstep,
		unsigned int &	yoffstep
	)

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 313 of file frameGrabberCropper.h.

◆ getFormat7WindowDC1394()

bool FrameGrabberCropper::getFormat7WindowDC1394	(	unsigned int &	xdim,
		unsigned int &	ydim,
		int &	x0,
		int &	y0
	)

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 326 of file frameGrabberCropper.h.

◆ getFPSDC1394()

unsigned int FrameGrabberCropper::getFPSDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 254 of file frameGrabberCropper.h.

◆ getFPSMaskDC1394()

unsigned int FrameGrabberCropper::getFPSMaskDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 246 of file frameGrabberCropper.h.

◆ getISOSpeedDC1394()

unsigned int FrameGrabberCropper::getISOSpeedDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 272 of file frameGrabberCropper.h.

◆ getLastInputStamp()

yarp::os::Stamp FrameGrabberCropper::getLastInputStamp ( )

inlineoverridevirtual

Return the time stamp relative to the last acquisition.

Implements yarp::dev::IPreciselyTimed.

Definition at line 497 of file frameGrabberCropper.h.

◆ getMode()

bool FrameGrabberCropper::getMode	(	int	feature,
		FeatureMode *	mode
	)

inlineoverridevirtual

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 204 of file frameGrabberCropper.h.

◆ getOperationModeDC1394()

bool FrameGrabberCropper::getOperationModeDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 350 of file frameGrabberCropper.h.

◆ getRgbFOV()

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

inlineoverridevirtual

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 450 of file frameGrabberCropper.h.

◆ getRgbHeight()

int FrameGrabberCropper::getRgbHeight ( )

inlineoverridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRgbVisualParams.

Definition at line 432 of file frameGrabberCropper.h.

◆ getRgbIntrinsicParam()

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

inlineoverridevirtual

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 468 of file frameGrabberCropper.h.

◆ getRgbMirroring()

bool FrameGrabberCropper::getRgbMirroring ( bool & mirror )

inlineoverridevirtual

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 477 of file frameGrabberCropper.h.

◆ getRgbWidth()

int FrameGrabberCropper::getRgbWidth ( )

inlineoverridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRgbVisualParams.

Definition at line 437 of file frameGrabberCropper.h.

◆ getTransmissionDC1394()

bool FrameGrabberCropper::getTransmissionDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 366 of file frameGrabberCropper.h.

◆ getVideoModeDC1394()

unsigned int FrameGrabberCropper::getVideoModeDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 230 of file frameGrabberCropper.h.

◆ getVideoModeMaskDC1394()

unsigned int FrameGrabberCropper::getVideoModeMaskDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 222 of file frameGrabberCropper.h.

◆ hasAuto()

bool FrameGrabberCropper::hasAuto	(	int	feature,
		bool *	hasAuto
	)

inlineoverridevirtual

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 172 of file frameGrabberCropper.h.

◆ hasFeature()

bool FrameGrabberCropper::hasFeature	(	int	feature,
		bool *	hasFeature
	)

inlineoverridevirtual

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 109 of file frameGrabberCropper.h.

◆ hasManual()

bool FrameGrabberCropper::hasManual	(	int	feature,
		bool *	hasManual
	)

inlineoverridevirtual

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 180 of file frameGrabberCropper.h.

◆ hasOnePush()

bool FrameGrabberCropper::hasOnePush	(	int	feature,
		bool *	hasOnePush
	)

inlineoverridevirtual

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 188 of file frameGrabberCropper.h.

◆ hasOnOff()

bool FrameGrabberCropper::hasOnOff	(	int	feature,
		bool *	HasOnOff
	)

inlineoverridevirtual

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 148 of file frameGrabberCropper.h.

◆ open()

bool FrameGrabberCropper::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. See device invocation examples. 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 21 of file frameGrabberCropper.cpp.

◆ operator=() [1/2]

FrameGrabberCropper & FrameGrabberCropper::operator= ( const FrameGrabberCropper & )

delete

◆ operator=() [2/2]

FrameGrabberCropper & FrameGrabberCropper::operator= ( FrameGrabberCropper && )

delete

◆ setActive()

bool FrameGrabberCropper::setActive	(	int	feature,
		bool	onoff
	)

inlineoverridevirtual

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 156 of file frameGrabberCropper.h.

◆ setBroadcastDC1394()

bool FrameGrabberCropper::setBroadcastDC1394 ( bool onoff )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 374 of file frameGrabberCropper.h.

◆ setBytesPerPacketDC1394()

bool FrameGrabberCropper::setBytesPerPacketDC1394 ( unsigned int bpp )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 422 of file frameGrabberCropper.h.

◆ setCaptureDC1394()

bool FrameGrabberCropper::setCaptureDC1394 ( bool bON )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 406 of file frameGrabberCropper.h.

◆ setColorCodingDC1394()

bool FrameGrabberCropper::setColorCodingDC1394 ( int coding )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 305 of file frameGrabberCropper.h.

◆ setDefaultsDC1394()

bool FrameGrabberCropper::setDefaultsDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 382 of file frameGrabberCropper.h.

◆ setFeature() [1/2]

bool FrameGrabberCropper::setFeature	(	int	feature,
		double	value
	)

inlineoverridevirtual

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 117 of file frameGrabberCropper.h.

◆ setFeature() [2/2]

bool FrameGrabberCropper::setFeature	(	int	feature,
		double	value1,
		double	value2
	)

inlineoverridevirtual

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 132 of file frameGrabberCropper.h.

◆ setFormat7WindowDC1394()

bool FrameGrabberCropper::setFormat7WindowDC1394	(	unsigned int	xdim,
		unsigned int	ydim,
		int	x0,
		int	y0
	)

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 334 of file frameGrabberCropper.h.

◆ setFPSDC1394()

bool FrameGrabberCropper::setFPSDC1394 ( int fps )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 263 of file frameGrabberCropper.h.

◆ setISOSpeedDC1394()

bool FrameGrabberCropper::setISOSpeedDC1394 ( int speed )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 280 of file frameGrabberCropper.h.

◆ setMode()

bool FrameGrabberCropper::setMode	(	int	feature,
		FeatureMode	mode
	)

inlineoverridevirtual

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 196 of file frameGrabberCropper.h.

◆ setOnePush()

bool FrameGrabberCropper::setOnePush ( int feature )

inlineoverridevirtual

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 212 of file frameGrabberCropper.h.

◆ setOperationModeDC1394()

bool FrameGrabberCropper::setOperationModeDC1394 ( bool b1394b )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 342 of file frameGrabberCropper.h.

◆ setPowerDC1394()

bool FrameGrabberCropper::setPowerDC1394 ( bool onoff )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 398 of file frameGrabberCropper.h.

◆ setResetDC1394()

bool FrameGrabberCropper::setResetDC1394 ( )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 390 of file frameGrabberCropper.h.

◆ setRgbFOV()

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

inlineoverridevirtual

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 460 of file frameGrabberCropper.h.

◆ setRgbMirroring()

bool FrameGrabberCropper::setRgbMirroring ( bool mirror )

inlineoverridevirtual

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 487 of file frameGrabberCropper.h.

◆ setRgbResolution()

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

inlineoverridevirtual

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 442 of file frameGrabberCropper.h.

◆ setTransmissionDC1394()

bool FrameGrabberCropper::setTransmissionDC1394 ( bool bTxON )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 358 of file frameGrabberCropper.h.

◆ setVideoModeDC1394()

bool FrameGrabberCropper::setVideoModeDC1394 ( int video_mode )

inlineoverridevirtual

Implements yarp::dev::IFrameGrabberControlsDC1394.

Definition at line 238 of file frameGrabberCropper.h.

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

src/devices/frameGrabberCropper/frameGrabberCropper.h
src/devices/frameGrabberCropper/frameGrabberCropper.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FrameGrabberCropper() [1/3]

◆ FrameGrabberCropper() [2/3]

◆ FrameGrabberCropper() [3/3]

◆ ~FrameGrabberCropper()

Member Function Documentation

◆ attach()

◆ attachAll()

◆ close()

◆ detach()

◆ detachAll()

◆ getActive()

◆ getBytesPerPacketDC1394()

◆ getCameraDescription()

◆ getColorCodingDC1394()

◆ getColorCodingMaskDC1394()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getFormat7MaxWindowDC1394()

◆ getFormat7WindowDC1394()

◆ getFPSDC1394()

◆ getFPSMaskDC1394()

◆ getISOSpeedDC1394()

◆ getLastInputStamp()

◆ getMode()

◆ getOperationModeDC1394()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbWidth()

◆ getTransmissionDC1394()

◆ getVideoModeDC1394()

◆ getVideoModeMaskDC1394()

◆ hasAuto()

◆ hasFeature()

◆ hasManual()

◆ hasOnePush()

◆ hasOnOff()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setActive()

◆ setBroadcastDC1394()

◆ setBytesPerPacketDC1394()

◆ setCaptureDC1394()

◆ setColorCodingDC1394()

◆ setDefaultsDC1394()

◆ setFeature() [1/2]

◆ setFeature() [2/2]

◆ setFormat7WindowDC1394()

◆ setFPSDC1394()

◆ setISOSpeedDC1394()

◆ setMode()

◆ setOnePush()

◆ setOperationModeDC1394()

◆ setPowerDC1394()

◆ setResetDC1394()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()

◆ setTransmissionDC1394()

◆ setVideoModeDC1394()