usbCamera: YARP device driver implementation for acquiring images from USB cameras. More...

#include <usbCamera/common/USBcamera.h>

Inheritance diagram for USBCameraDriver:

Public Member Functions
	USBCameraDriver ()
	Constructor.

	~USBCameraDriver () override
	Destructor.

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

bool	close () override
	Close the DeviceDriver.

int	height () const

int	width () const

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

yarp::dev::ReturnValue	getCameraDescription (yarp::dev::CameraDescriptor &camera) override
	Implementation of IFrameGrabberControls2 interface.

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 ... )

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.

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::IPreciselyTimed
virtual	~IPreciselyTimed ()

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::IRgbVisualParams
virtual	~IRgbVisualParams ()

Protected Attributes
yarp::dev::IPreciselyTimed *	deviceTimed

yarp::dev::IFrameGrabberImage *	frameGrabberImage

yarp::dev::IFrameGrabberImageRaw *	frameGrabberImageRaw

yarp::dev::DeviceDriver *	os_device

yarp::dev::IFrameGrabberControls *	deviceControls

yarp::dev::IRgbVisualParams *	deviceRgbVisualParam

size_t	_width

size_t	_height

int	pixelType

Detailed Description

usbCamera: YARP device driver implementation for acquiring images from USB cameras.

Documentation to be added

Definition at line 29 of file USBcamera.h.

Constructor & Destructor Documentation

◆ USBCameraDriver()

USBCameraDriver::USBCameraDriver ( )

Constructor.

Definition at line 27 of file USBcamera.cpp.

◆ ~USBCameraDriver()

USBCameraDriver::~USBCameraDriver ( )

override

Destructor.

Definition at line 33 of file USBcamera.cpp.

Member Function Documentation

◆ close()

bool USBCameraDriver::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 87 of file USBcamera.cpp.

◆ getActive()

yarp::dev::ReturnValue USBCameraDriver::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 347 of file USBcamera.cpp.

◆ getCameraDescription()

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

overridevirtual

Implementation of IFrameGrabberControls2 interface.

Actual function will be implemented by OS specific devices

Implements yarp::dev::IFrameGrabberControls.

Definition at line 283 of file USBcamera.cpp.

◆ getFeature() [1/2]

yarp::dev::ReturnValue USBCameraDriver::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 307 of file USBcamera.cpp.

◆ getFeature() [2/2]

yarp::dev::ReturnValue USBCameraDriver::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 315 of file USBcamera.cpp.

◆ getLastInputStamp()

yarp::os::Stamp USBCameraDriver::getLastInputStamp ( )

overridevirtual

Return the time stamp relative to the last acquisition.

Implements yarp::dev::IPreciselyTimed.

Definition at line 119 of file USBcamera.cpp.

◆ getMode()

yarp::dev::ReturnValue USBCameraDriver::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 387 of file USBcamera.cpp.

◆ getRgbFOV()

yarp::dev::ReturnValue USBCameraDriver::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 175 of file USBcamera.cpp.

◆ getRgbHeight()

int USBCameraDriver::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRgbVisualParams.

Definition at line 128 of file USBcamera.cpp.

◆ getRgbIntrinsicParam()

yarp::dev::ReturnValue USBCameraDriver::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 191 of file USBcamera.cpp.

◆ getRgbMirroring()

yarp::dev::ReturnValue USBCameraDriver::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 199 of file USBcamera.cpp.

◆ getRgbResolution()

yarp::dev::ReturnValue USBCameraDriver::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 153 of file USBcamera.cpp.

◆ getRgbSupportedConfigurations()

yarp::dev::ReturnValue USBCameraDriver::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 145 of file USBcamera.cpp.

◆ getRgbWidth()

int USBCameraDriver::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRgbVisualParams.

Definition at line 136 of file USBcamera.cpp.

◆ hasAuto()

yarp::dev::ReturnValue USBCameraDriver::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 355 of file USBcamera.cpp.

◆ hasFeature()

yarp::dev::ReturnValue USBCameraDriver::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 291 of file USBcamera.cpp.

◆ hasManual()

yarp::dev::ReturnValue USBCameraDriver::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 363 of file USBcamera.cpp.

◆ hasOnePush()

yarp::dev::ReturnValue USBCameraDriver::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 371 of file USBcamera.cpp.

◆ hasOnOff()

yarp::dev::ReturnValue USBCameraDriver::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 331 of file USBcamera.cpp.

◆ height()

int USBCameraDriver::height ( ) const

Definition at line 107 of file USBcamera.cpp.

◆ open()

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

overridevirtual

Open the DeviceDriver.

Parameters

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

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 39 of file USBcamera.cpp.

◆ setActive()

yarp::dev::ReturnValue USBCameraDriver::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 339 of file USBcamera.cpp.

◆ setFeature() [1/2]

yarp::dev::ReturnValue USBCameraDriver::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 299 of file USBcamera.cpp.

◆ setFeature() [2/2]

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

overridevirtual

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

Parameters

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

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 323 of file USBcamera.cpp.

◆ setMode()

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

overridevirtual

Set the requested mode for the feature.

Parameters

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

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 379 of file USBcamera.cpp.

◆ setOnePush()

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

overridevirtual

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

Parameters

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

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 395 of file USBcamera.cpp.

◆ setRgbFOV()

yarp::dev::ReturnValue USBCameraDriver::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 183 of file USBcamera.cpp.

◆ setRgbMirroring()

yarp::dev::ReturnValue USBCameraDriver::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 207 of file USBcamera.cpp.

◆ setRgbResolution()

yarp::dev::ReturnValue USBCameraDriver::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 161 of file USBcamera.cpp.

◆ width()

int USBCameraDriver::width ( ) const

Definition at line 95 of file USBcamera.cpp.

Member Data Documentation

◆ _height

size_t USBCameraDriver::_height

protected

Definition at line 47 of file USBcamera.h.

◆ _width

size_t USBCameraDriver::_width

protected

Definition at line 46 of file USBcamera.h.

◆ deviceControls

yarp::dev::IFrameGrabberControls* USBCameraDriver::deviceControls

protected

Definition at line 43 of file USBcamera.h.

◆ deviceRgbVisualParam

yarp::dev::IRgbVisualParams* USBCameraDriver::deviceRgbVisualParam

protected

Definition at line 44 of file USBcamera.h.

◆ deviceTimed

yarp::dev::IPreciselyTimed* USBCameraDriver::deviceTimed

protected

Definition at line 39 of file USBcamera.h.

◆ frameGrabberImage

yarp::dev::IFrameGrabberImage* USBCameraDriver::frameGrabberImage

protected

Definition at line 40 of file USBcamera.h.

◆ frameGrabberImageRaw

yarp::dev::IFrameGrabberImageRaw* USBCameraDriver::frameGrabberImageRaw

protected

Definition at line 41 of file USBcamera.h.

◆ os_device

yarp::dev::DeviceDriver* USBCameraDriver::os_device

protected

Definition at line 42 of file USBcamera.h.

◆ pixelType

int USBCameraDriver::pixelType

protected

Definition at line 48 of file USBcamera.h.

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

src/devices/usbCamera/common/USBcamera.h
src/devices/usbCamera/common/USBcamera.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ USBCameraDriver()

◆ ~USBCameraDriver()

Member Function Documentation

◆ close()

◆ getActive()

◆ getCameraDescription()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getLastInputStamp()

◆ getMode()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ hasAuto()

◆ hasFeature()

◆ hasManual()

◆ hasOnePush()

◆ hasOnOff()

◆ height()

◆ open()

◆ setActive()

◆ setFeature() [1/2]

◆ setFeature() [2/2]

◆ setMode()

◆ setOnePush()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()

◆ width()

Member Data Documentation

◆ _height

◆ _width

◆ deviceControls

◆ deviceRgbVisualParam

◆ deviceTimed

◆ frameGrabberImage

◆ frameGrabberImageRaw

◆ os_device

◆ pixelType