#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-device-pylon/src/devices/pylonCamera/pylonCameraDriver.h>

Inheritance diagram for pylonCameraDriver:

Public Member Functions
	pylonCameraDriver ()=default

	~pylonCameraDriver () override=default

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

bool	close () override
	Close the DeviceDriver.

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

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

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

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

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

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

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

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

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

bool	getRgbIntrinsicParam (Property &intrinsic) override
	Get the intrinsic parameters of the rgb camera.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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::IFrameGrabberControls
virtual	~IFrameGrabberControls ()
	Destructor.

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

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

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

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

Detailed Description

Definition at line 58 of file pylonCameraDriver.h.

Constructor & Destructor Documentation

◆ pylonCameraDriver()

pylonCameraDriver::pylonCameraDriver ( )

default

◆ ~pylonCameraDriver()

pylonCameraDriver::~pylonCameraDriver ( )

overridedefault

Member Function Documentation

◆ close()

bool pylonCameraDriver::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 244 of file pylonCameraDriver.cpp.

◆ getActive()

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

overridevirtual

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

Parameters

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

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 504 of file pylonCameraDriver.cpp.

◆ getCameraDescription()

bool pylonCameraDriver::getCameraDescription ( CameraDescriptor * camera )

overridevirtual

Get a basic description of the camera hw.

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

Parameters

device returns an identifier for the bus

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 324 of file pylonCameraDriver.cpp.

◆ getFeature() [1/2]

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

overridevirtual

Get the current value for the requested feature.

Parameters

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

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 385 of file pylonCameraDriver.cpp.

◆ getFeature() [2/2]

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

overridevirtual

Get the current value for the requested feature.

Parameters

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

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 443 of file pylonCameraDriver.cpp.

◆ getImage()

bool pylonCameraDriver::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 637 of file pylonCameraDriver.cpp.

◆ getMode()

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

overridevirtual

Get the current mode for the feature.

Parameters

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

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 597 of file pylonCameraDriver.cpp.

◆ getRgbFOV()

bool pylonCameraDriver::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 300 of file pylonCameraDriver.cpp.

◆ getRgbHeight()

int pylonCameraDriver::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRgbVisualParams.

Definition at line 255 of file pylonCameraDriver.cpp.

◆ getRgbIntrinsicParam()

bool pylonCameraDriver::getRgbIntrinsicParam ( 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 318 of file pylonCameraDriver.cpp.

◆ getRgbMirroring()

bool pylonCameraDriver::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 306 of file pylonCameraDriver.cpp.

◆ getRgbResolution()

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

overridevirtual

Get the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Reimplemented from yarp::dev::IRgbVisualParams.

Definition at line 271 of file pylonCameraDriver.cpp.

◆ getRgbSupportedConfigurations()

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

overridevirtual

Get the possible configurations of the camera.

Parameters

configurations list of camera supported configurations as CameraConfig type

Returns: true on success

Reimplemented from yarp::dev::IRgbVisualParams.

Definition at line 265 of file pylonCameraDriver.cpp.

◆ getRgbWidth()

int pylonCameraDriver::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRgbVisualParams.

Definition at line 260 of file pylonCameraDriver.cpp.

◆ hasAuto()

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

overridevirtual

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

Parameters

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

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 550 of file pylonCameraDriver.cpp.

◆ hasFeature()

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

overridevirtual

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

Parameters

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

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 330 of file pylonCameraDriver.cpp.

◆ hasManual()

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

overridevirtual

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

Parameters

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

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 564 of file pylonCameraDriver.cpp.

◆ hasOnePush()

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

overridevirtual

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

Parameters

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

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 569 of file pylonCameraDriver.cpp.

◆ hasOnOff()

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

overridevirtual

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

Parameters

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

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 463 of file pylonCameraDriver.cpp.

◆ height()

int pylonCameraDriver::height ( ) const

overridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 731 of file pylonCameraDriver.cpp.

◆ open()

bool pylonCameraDriver::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 157 of file pylonCameraDriver.cpp.

◆ setActive()

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

overridevirtual

Set the requested feature on or off.

Parameters

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

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 468 of file pylonCameraDriver.cpp.

◆ setFeature() [1/2]

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

overridevirtual

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

Parameters

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

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 344 of file pylonCameraDriver.cpp.

◆ setFeature() [2/2]

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

overridevirtual

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

Parameters

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

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

Implements yarp::dev::IFrameGrabberControls.

Definition at line 427 of file pylonCameraDriver.cpp.

◆ setMode()

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

overridevirtual

Set the requested mode for the feature.

Parameters

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

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 574 of file pylonCameraDriver.cpp.

◆ setOnePush()

bool pylonCameraDriver::setOnePush ( int feature )

overridevirtual

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

Parameters

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

Returns: returns true on success, false on failure.

Implements yarp::dev::IFrameGrabberControls.

Definition at line 622 of file pylonCameraDriver.cpp.

◆ setRgbFOV()

bool pylonCameraDriver::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 294 of file pylonCameraDriver.cpp.

◆ setRgbMirroring()

bool pylonCameraDriver::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 312 of file pylonCameraDriver.cpp.

◆ setRgbResolution()

bool pylonCameraDriver::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 278 of file pylonCameraDriver.cpp.

◆ width()

int pylonCameraDriver::width ( ) const

overridevirtual

Return the width of each frame.

Returns: image width

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 736 of file pylonCameraDriver.cpp.

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

opt-modules/yarp-device-pylon/src/devices/pylonCamera/pylonCameraDriver.h
opt-modules/yarp-device-pylon/src/devices/pylonCamera/pylonCameraDriver.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ pylonCameraDriver()

◆ ~pylonCameraDriver()

Member Function Documentation

◆ close()

◆ getActive()

◆ getCameraDescription()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getImage()

◆ 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()