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. | |
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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. | |
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virtual | ~IFrameGrabberControls () |
Destructor. | |
std::string | busType2String (BusType type) |
FeatureMode | toFeatureMode (bool _auto) |
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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. | |
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virtual | ~IFrameGrabberImageBase () |
Destructor. | |
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virtual | ~IRgbVisualParams () |
Definition at line 58 of file pylonCameraDriver.h.
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default |
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overridedefault |
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overridevirtual |
Close the DeviceDriver.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 244 of file pylonCameraDriver.cpp.
Get the current status of the feature, on or off.
feature | the identifier of the feature to check |
isActive | flag true if the feature is active, false otherwise |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 504 of file pylonCameraDriver.cpp.
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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.
device | returns an identifier for the bus |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 324 of file pylonCameraDriver.cpp.
Get the current value for the requested feature.
feature | the identifier of the feature to read |
value | pointer to current value of the feature, from 0 to 1 expressed as a percentage |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 385 of file pylonCameraDriver.cpp.
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overridevirtual |
Get the current value for the requested feature.
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 |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 443 of file pylonCameraDriver.cpp.
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overridevirtual |
Get an image from the frame grabber.
image | the image to be filled |
Implements yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >.
Definition at line 637 of file pylonCameraDriver.cpp.
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overridevirtual |
Get the current mode for the feature.
feature | the identifier of the feature to change |
hasAuto | flag true if the feature is has 'auto' mode, false otherwise |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 597 of file pylonCameraDriver.cpp.
Get the field of view (FOV) of the rgb camera.
horizontalFov | will return the value of the horizontal fov in degrees |
verticalFov | will return the value of the vertical fov in degrees |
Implements yarp::dev::IRgbVisualParams.
Definition at line 300 of file pylonCameraDriver.cpp.
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overridevirtual |
Return the height of each frame.
Implements yarp::dev::IRgbVisualParams.
Definition at line 255 of file pylonCameraDriver.cpp.
Get the intrinsic parameters of the rgb camera.
intrinsic | return a Property containing intrinsic parameters of the optical model of the camera. |
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 |
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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.
Get the mirroring setting of the sensor.
mirror | true if image is mirrored, false otherwise |
Implements yarp::dev::IRgbVisualParams.
Definition at line 306 of file pylonCameraDriver.cpp.
Get the resolution of the rgb image from the camera.
width | image width |
height | image height |
Reimplemented from yarp::dev::IRgbVisualParams.
Definition at line 271 of file pylonCameraDriver.cpp.
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overridevirtual |
Get the possible configurations of the camera.
configurations | list of camera supported configurations as CameraConfig type |
Reimplemented from yarp::dev::IRgbVisualParams.
Definition at line 265 of file pylonCameraDriver.cpp.
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overridevirtual |
Return the width of each frame.
Implements yarp::dev::IRgbVisualParams.
Definition at line 260 of file pylonCameraDriver.cpp.
Check if the requested feature has the 'auto' mode.
feature | the identifier of the feature to check |
hasAuto | flag true if the feature is has 'auto' mode, false otherwise |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 550 of file pylonCameraDriver.cpp.
Check if camera has the requested feature (saturation, brightness ... )
feature | the identifier of the feature to check |
hasFeature | flag value: true if the feature is present, false otherwise |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 330 of file pylonCameraDriver.cpp.
Check if the requested feature has the 'manual' mode.
feature | the identifier of the feature to check |
hasAuto | flag true if the feature is has 'manual' mode, false otherwise |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 564 of file pylonCameraDriver.cpp.
Check if the requested feature has the 'onePush' mode.
feature | the identifier of the feature to check |
hasAuto | flag true if the feature is has 'onePush' mode, false otherwise |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 569 of file pylonCameraDriver.cpp.
Check if the camera has the ability to turn on/off the requested feature.
feature | the identifier of the feature to change |
hasOnOff | flag true if this feature can be turned on/off, false otherwise. |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 463 of file pylonCameraDriver.cpp.
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overridevirtual |
Return the height of each frame.
Implements yarp::dev::IFrameGrabberImageBase.
Definition at line 731 of file pylonCameraDriver.cpp.
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overridevirtual |
Open the DeviceDriver.
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). |
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 157 of file pylonCameraDriver.cpp.
Set the requested feature on or off.
feature | the identifier of the feature to change |
onoff | true to activate, off to deactivate the feature |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 468 of file pylonCameraDriver.cpp.
Set the requested feature to a value (saturation, brightness ... )
feature | the identifier of the feature to change |
value | new value of the feature, range from 0 to 1 expressed as a percentage |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 344 of file pylonCameraDriver.cpp.
Set the requested feature to a value using 2 params (like white balance)
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 |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 427 of file pylonCameraDriver.cpp.
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overridevirtual |
Set the requested mode for the feature.
feature | the identifier of the feature to change |
auto_onoff | true to activate 'auto' mode, false to activate 'manual' mode |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 574 of file pylonCameraDriver.cpp.
Set the requested feature to a value (saturation, brightness ... )
feature | the identifier of the feature to change |
value | new value of the feature, from 0 to 1 as a percentage of param range |
Implements yarp::dev::IFrameGrabberControls.
Definition at line 622 of file pylonCameraDriver.cpp.
Set the field of view (FOV) of the rgb camera.
horizontalFov | will set the value of the horizontal fov in degrees |
verticalFov | will set the value of the vertical fov in degrees |
Implements yarp::dev::IRgbVisualParams.
Definition at line 294 of file pylonCameraDriver.cpp.
Set the mirroring setting of the sensor.
mirror | true if image should be mirrored, false otherwise |
Implements yarp::dev::IRgbVisualParams.
Definition at line 312 of file pylonCameraDriver.cpp.
Set the resolution of the rgb image from the camera.
width | image width |
height | image height |
Implements yarp::dev::IRgbVisualParams.
Definition at line 278 of file pylonCameraDriver.cpp.
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overridevirtual |
Return the width of each frame.
Implements yarp::dev::IFrameGrabberImageBase.
Definition at line 736 of file pylonCameraDriver.cpp.