#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-device-argus/src/devices/argusCamera/argusCameraDriver.h>

Inheritance diagram for argusCameraDriver:

Public Member Functions
	argusCameraDriver ()=default

	~argusCameraDriver () 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

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 (yarp::os::Property &intrinsic) override
	Get the intrinsic parameters of the rgb camera.

bool	getCameraDescription (CameraDescriptor *camera) override

bool	hasFeature (int feature, bool *hasFeature) override

bool	setFeature (int feature, double value) override

bool	getFeature (int feature, double *value) override

bool	setFeature (int feature, double value1, double value2) override

bool	getFeature (int feature, double value1, double value2) override

bool	hasOnOff (int feature, bool *HasOnOff) override

bool	setActive (int feature, bool onoff) override

bool	getActive (int feature, bool *isActive) override

bool	hasAuto (int feature, bool *hasAuto) override

bool	hasManual (int feature, bool *hasManual) override

bool	hasOnePush (int feature, bool *hasOnePush) override

bool	setMode (int feature, FeatureMode mode) override

bool	getMode (int feature, FeatureMode *mode) override

bool	setOnePush (int feature) override

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)

virtual yarp::dev::ReturnValue	getCameraDescription (CameraDescriptor &camera)=0
	Get a basic description of the camera hw.

virtual yarp::dev::ReturnValue	hasFeature (cameraFeature_id_t, bool &hasFeature)=0
	Check if camera has the requested feature (saturation, brightness ... )

virtual yarp::dev::ReturnValue	setFeature (cameraFeature_id_t feature, double value)=0
	Set the requested feature to a value (saturation, brightness ... )

virtual yarp::dev::ReturnValue	getFeature (cameraFeature_id_t feature, double &value)=0
	Get the current value for the requested feature.

virtual yarp::dev::ReturnValue	setFeature (cameraFeature_id_t feature, double value1, double value2)=0
	Set the requested feature to a value using 2 params (like white balance)

virtual yarp::dev::ReturnValue	getFeature (cameraFeature_id_t feature, double &value1, double &value2)=0
	Get the current value for the requested feature.

virtual yarp::dev::ReturnValue	hasOnOff (cameraFeature_id_t feature, bool &HasOnOff)=0
	Check if the camera has the ability to turn on/off the requested feature.

virtual yarp::dev::ReturnValue	setActive (cameraFeature_id_t feature, bool onoff)=0
	Set the requested feature on or off.

virtual yarp::dev::ReturnValue	getActive (cameraFeature_id_t feature, bool &isActive)=0
	Get the current status of the feature, on or off.

virtual yarp::dev::ReturnValue	hasAuto (cameraFeature_id_t feature, bool &hasAuto)=0
	Check if the requested feature has the 'auto' mode.

virtual yarp::dev::ReturnValue	hasManual (cameraFeature_id_t feature, bool &hasManual)=0
	Check if the requested feature has the 'manual' mode.

virtual yarp::dev::ReturnValue	hasOnePush (cameraFeature_id_t feature, bool &hasOnePush)=0
	Check if the requested feature has the 'onePush' mode.

virtual yarp::dev::ReturnValue	setMode (cameraFeature_id_t feature, FeatureMode mode)=0
	Set the requested mode for the feature.

virtual yarp::dev::ReturnValue	getMode (cameraFeature_id_t feature, FeatureMode &mode)=0
	Get the current mode for the feature.

virtual yarp::dev::ReturnValue	setOnePush (cameraFeature_id_t feature)=0
	Set the requested feature to a value (saturation, brightness ... )

Public Member Functions inherited from yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >
virtual yarp::dev::ReturnValue	getImageCrop (yarp::dev::cropType_id_t cropType, std::vector< vertex_t > 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 ()

virtual yarp::dev::ReturnValue	getRgbSupportedConfigurations (std::vector< yarp::dev::CameraConfig > &configurations)=0
	Get the possible configurations of the camera.

Public Member Functions inherited from argusCameraDriver_ParamsParser
	argusCameraDriver_ParamsParser ()

	~argusCameraDriver_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

bool	getParamValue (const std::string &paramName, std::string &paramValue) const override
	Return the value (represented as a string) of the requested parameter.

std::string	getConfiguration () const override
	Return the configuration of the device.

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

Additional Inherited Members
Public Attributes inherited from argusCameraDriver_ParamsParser
const std::string	m_device_classname = {"argusCameraDriver"}

const std::string	m_device_name = {"argusCamera"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_d_defaultValue = {"0"}

const std::string	m_period_defaultValue = {"0.033"}

const std::string	m_rotation_defaultValue = {"0.0"}

const std::string	m_width_defaultValue = {"640"}

const std::string	m_height_defaultValue = {"480"}

const std::string	m_rotation_with_crop_defaultValue = {"false"}

int	m_d = {0}

double	m_period = {0.033}

double	m_rotation = {0.0}

int	m_width = {640}

int	m_height = {480}

bool	m_rotation_with_crop = {false}

Detailed Description

Definition at line 44 of file argusCameraDriver.h.

Constructor & Destructor Documentation

◆ argusCameraDriver()

argusCameraDriver::argusCameraDriver ( )

default

◆ ~argusCameraDriver()

argusCameraDriver::~argusCameraDriver ( )

overridedefault

Member Function Documentation

◆ close()

bool argusCameraDriver::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 214 of file argusCameraDriver.cpp.

◆ getActive()

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

override

Definition at line 563 of file argusCameraDriver.cpp.

◆ getCameraDescription()

bool argusCameraDriver::getCameraDescription ( CameraDescriptor * camera )

override

Definition at line 359 of file argusCameraDriver.cpp.

◆ getFeature() [1/2]

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

override

Definition at line 427 of file argusCameraDriver.cpp.

◆ getFeature() [2/2]

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

override

Definition at line 499 of file argusCameraDriver.cpp.

◆ getImage()

bool argusCameraDriver::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 698 of file argusCameraDriver.cpp.

◆ getMode()

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

override

Definition at line 658 of file argusCameraDriver.cpp.

◆ getRgbFOV()

bool argusCameraDriver::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 335 of file argusCameraDriver.cpp.

◆ getRgbHeight()

int argusCameraDriver::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRgbVisualParams.

Definition at line 219 of file argusCameraDriver.cpp.

◆ getRgbIntrinsicParam()

bool argusCameraDriver::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 353 of file argusCameraDriver.cpp.

◆ getRgbMirroring()

bool argusCameraDriver::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 341 of file argusCameraDriver.cpp.

◆ getRgbResolution()

bool argusCameraDriver::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 235 of file argusCameraDriver.cpp.

◆ getRgbSupportedConfigurations()

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

override

Definition at line 229 of file argusCameraDriver.cpp.

◆ getRgbWidth()

int argusCameraDriver::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRgbVisualParams.

Definition at line 224 of file argusCameraDriver.cpp.

◆ hasAuto()

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

override

Definition at line 611 of file argusCameraDriver.cpp.

◆ hasFeature()

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

override

Definition at line 367 of file argusCameraDriver.cpp.

◆ hasManual()

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

override

Definition at line 625 of file argusCameraDriver.cpp.

◆ hasOnePush()

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

override

Definition at line 630 of file argusCameraDriver.cpp.

◆ hasOnOff()

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

override

Definition at line 518 of file argusCameraDriver.cpp.

◆ height()

int argusCameraDriver::height ( ) const

overridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 802 of file argusCameraDriver.cpp.

◆ open()

bool argusCameraDriver::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 135 of file argusCameraDriver.cpp.

◆ setActive()

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

override

Definition at line 523 of file argusCameraDriver.cpp.

◆ setFeature() [1/2]

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

override

Definition at line 381 of file argusCameraDriver.cpp.

◆ setFeature() [2/2]

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

override

Definition at line 475 of file argusCameraDriver.cpp.

◆ setMode()

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

override

Definition at line 635 of file argusCameraDriver.cpp.

◆ setOnePush()

bool argusCameraDriver::setOnePush ( int feature )

override

Definition at line 683 of file argusCameraDriver.cpp.

◆ setRgbFOV()

bool argusCameraDriver::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 329 of file argusCameraDriver.cpp.

◆ setRgbMirroring()

bool argusCameraDriver::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 347 of file argusCameraDriver.cpp.

◆ setRgbResolution()

bool argusCameraDriver::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 242 of file argusCameraDriver.cpp.

◆ width()

int argusCameraDriver::width ( ) const

overridevirtual

Return the width of each frame.

Returns: image width

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 807 of file argusCameraDriver.cpp.

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

opt-modules/yarp-device-argus/src/devices/argusCamera/argusCameraDriver.h
opt-modules/yarp-device-argus/src/devices/argusCamera/argusCameraDriver.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ argusCameraDriver()

◆ ~argusCameraDriver()

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()