YARP
Yet Another Robot Platform
pylonCameraDriver Class Reference

#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. More...
 
bool close () override
 Close the DeviceDriver. More...
 
int getRgbHeight () override
 Return the height of each frame. More...
 
int getRgbWidth () override
 Return the width of each frame. More...
 
bool getRgbSupportedConfigurations (yarp::sig::VectorOf< yarp::dev::CameraConfig > &configurations) override
 Get the possible configurations of the camera. More...
 
bool getRgbResolution (int &width, int &height) override
 Get the resolution of the rgb image from the camera. 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 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...
 
bool getRgbIntrinsicParam (Property &intrinsic) override
 Get the intrinsic parameters of the rgb camera. 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...
 
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::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (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 DeviceDrivergetImplementation ()
 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::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::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 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...
 

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
featurethe identifier of the feature to check
isActiveflag 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
devicereturns 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
featurethe identifier of the feature to read
valuepointer 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
featurethe identifier of the feaature to read
value1returns the current value of the feature, from 0 to 1 expressed as a percentage
value2returns 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
imagethe 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
featurethe identifier of the feature to change
hasAutoflag 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
horizontalFovwill return the value of the horizontal fov in degrees
verticalFovwill 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
intrinsicreturn 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
mirrortrue 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
widthimage width
heightimage 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
configurationslist 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
featurethe identifier of the feature to check
hasAutoflag 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
featurethe identifier of the feature to check
hasFeatureflag 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
featurethe identifier of the feature to check
hasAutoflag 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
featurethe identifier of the feature to check
hasAutoflag 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
featurethe identifier of the feature to change
hasOnOffflag 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
configis 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
featurethe identifier of the feature to change
onofftrue 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
featurethe identifier of the feature to change
valuenew 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
featurethe identifier of the feature to change
value1first param, from 0 to 1 expressed as a percentage
value2second 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
featurethe identifier of the feature to change
auto_onofftrue 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
featurethe identifier of the feature to change
valuenew 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
horizontalFovwill set the value of the horizontal fov in degrees
verticalFovwill 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
mirrortrue 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
widthimage width
heightimage 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: