fakeFrameGrabber: A fake camera for testing. More...

#include <fakeFrameGrabber/FakeFrameGrabber.h>

Inheritance diagram for FakeFrameGrabber:

Public Member Functions
	FakeFrameGrabber ()
	Constructor. More...

bool	close () override
	Close the DeviceDriver. More...

bool	open (yarp::os::Searchable &config) override
	Configure with a set of options. More...

void	timing ()

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

int	width () const override
	Return the width of each frame. 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	getRgbIntrinsicParam (yarp::os::Property &intrinsic) override
	Get the intrinsic parameters 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	getImage (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image) override
	Get an rgb image from the frame grabber, if required demosaicking/color reconstruction is applied. More...

bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelMono > &image) override
	Get a raw image from the frame grabber. More...

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

bool	hasAudio () override

bool	hasVideo () override

bool	hasRawVideo () override

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...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::dev::IFrameGrabberImage
virtual	~IFrameGrabberImage ()
	Destructor. 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 rgb image from the frame grabber, if required demosaicking/color reconstruction is applied. More...

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

virtual bool	getImageCrop (cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, yarp::sig::ImageOf< yarp::sig::PixelMono > &image)
	Get a crop of the rgb image from the frame grabber, if required demosaicking/color reconstruction is applied. 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...

cameraFeature_id_t	featureVOCABEnum (int vocab)

int	featureEnum2Vocab (cameraFeature_id_t _enum)

std::string	busType2String (BusType type)

FeatureMode	toFeatureMode (bool _auto)

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

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

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

Detailed Description

fakeFrameGrabber: A fake camera for testing.

Implements the IFrameGrabberImage and IFrameGrabberControls interfaces.

Definition at line 37 of file FakeFrameGrabber.h.

Constructor & Destructor Documentation

◆ FakeFrameGrabber()

FakeFrameGrabber::FakeFrameGrabber ( )

Constructor.

Definition at line 34 of file FakeFrameGrabber.cpp.

Member Function Documentation

◆ close()

bool FakeFrameGrabber::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 69 of file FakeFrameGrabber.cpp.

◆ getActive()

bool FakeFrameGrabber::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 275 of file FakeFrameGrabber.cpp.

◆ getCameraDescription()

bool FakeFrameGrabber::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 267 of file FakeFrameGrabber.cpp.

◆ getFeature() [1/2]

bool FakeFrameGrabber::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 270 of file FakeFrameGrabber.cpp.

◆ getFeature() [2/2]

bool FakeFrameGrabber::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 272 of file FakeFrameGrabber.cpp.

◆ getImage() [1/2]

bool FakeFrameGrabber::getImage ( yarp::sig::ImageOf< yarp::sig::PixelMono > & image )

overridevirtual

Get a raw image from the frame grabber.

Parameters

image the image to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberImageRaw.

Definition at line 243 of file FakeFrameGrabber.cpp.

◆ getImage() [2/2]

bool FakeFrameGrabber::getImage ( yarp::sig::ImageOf< yarp::sig::PixelRgb > & image )

overridevirtual

Get an rgb image from the frame grabber, if required demosaicking/color reconstruction is applied.

Parameters

image the image to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberImage.

Definition at line 236 of file FakeFrameGrabber.cpp.

◆ getLastInputStamp()

yarp::os::Stamp FakeFrameGrabber::getLastInputStamp ( )

overridevirtual

Return the time stamp relative to the last acquisition.

Implements yarp::dev::IPreciselyTimed.

Definition at line 255 of file FakeFrameGrabber.cpp.

◆ getMode()

bool FakeFrameGrabber::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 280 of file FakeFrameGrabber.cpp.

◆ getRgbFOV()

bool FakeFrameGrabber::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 210 of file FakeFrameGrabber.cpp.

◆ getRgbHeight()

int FakeFrameGrabber::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRgbVisualParams.

Definition at line 185 of file FakeFrameGrabber.cpp.

◆ getRgbIntrinsicParam()

bool FakeFrameGrabber::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
retificationMatrix	-	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 222 of file FakeFrameGrabber.cpp.

◆ getRgbMirroring()

bool FakeFrameGrabber::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 227 of file FakeFrameGrabber.cpp.

◆ getRgbResolution()

bool FakeFrameGrabber::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 198 of file FakeFrameGrabber.cpp.

◆ getRgbSupportedConfigurations()

bool FakeFrameGrabber::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 193 of file FakeFrameGrabber.cpp.

◆ getRgbWidth()

int FakeFrameGrabber::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRgbVisualParams.

Definition at line 189 of file FakeFrameGrabber.cpp.

◆ hasAudio()

bool FakeFrameGrabber::hasAudio ( )

overridevirtual

Implements yarp::dev::IAudioVisualStream.

Definition at line 259 of file FakeFrameGrabber.cpp.

◆ hasAuto()

bool FakeFrameGrabber::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 276 of file FakeFrameGrabber.cpp.

◆ hasFeature()

bool FakeFrameGrabber::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 268 of file FakeFrameGrabber.cpp.

◆ hasManual()

bool FakeFrameGrabber::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 277 of file FakeFrameGrabber.cpp.

◆ hasOnePush()

bool FakeFrameGrabber::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 278 of file FakeFrameGrabber.cpp.

◆ hasOnOff()

bool FakeFrameGrabber::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 273 of file FakeFrameGrabber.cpp.

◆ hasRawVideo()

bool FakeFrameGrabber::hasRawVideo ( )

overridevirtual

Reimplemented from yarp::dev::IAudioVisualStream.

Definition at line 263 of file FakeFrameGrabber.cpp.

◆ hasVideo()

bool FakeFrameGrabber::hasVideo ( )

overridevirtual

Implements yarp::dev::IAudioVisualStream.

Definition at line 261 of file FakeFrameGrabber.cpp.

◆ height()

int FakeFrameGrabber::height ( ) const

overridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImage.

Definition at line 177 of file FakeFrameGrabber.cpp.

◆ open()

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

overridevirtual

Configure with a set of options.

These are:

width	Width of image (default 128).
height	Height of image (default 128).
freq	Frequency in Hz to generate images (default 20Hz).
period	Inverse of freq - only set one of these.
mode	Can be [line] (default), [ball], [grid], [rand], [none].
src	Image file to read from (default: none).
bayer	Emit a bayer image.
mono	Emit a monochrome image.

Parameters

config The options to use

Returns: true iff the object could be configured.

Reimplemented from yarp::dev::DeviceDriver.

Reimplemented in TestFrameGrabber.

Definition at line 73 of file FakeFrameGrabber.cpp.

◆ setActive()

bool FakeFrameGrabber::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 274 of file FakeFrameGrabber.cpp.

◆ setFeature() [1/2]

bool FakeFrameGrabber::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 269 of file FakeFrameGrabber.cpp.

◆ setFeature() [2/2]

bool FakeFrameGrabber::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 271 of file FakeFrameGrabber.cpp.

◆ setMode()

bool FakeFrameGrabber::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 279 of file FakeFrameGrabber.cpp.

◆ setOnePush()

bool FakeFrameGrabber::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 281 of file FakeFrameGrabber.cpp.

◆ setRgbFOV()

bool FakeFrameGrabber::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 216 of file FakeFrameGrabber.cpp.

◆ setRgbMirroring()

bool FakeFrameGrabber::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 231 of file FakeFrameGrabber.cpp.

◆ setRgbResolution()

bool FakeFrameGrabber::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 204 of file FakeFrameGrabber.cpp.

◆ timing()

void FakeFrameGrabber::timing ( )

Definition at line 159 of file FakeFrameGrabber.cpp.

◆ width()

int FakeFrameGrabber::width ( ) const

overridevirtual

Return the width of each frame.

Returns: image width

Implements yarp::dev::IFrameGrabberImage.

Definition at line 181 of file FakeFrameGrabber.cpp.

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

src/devices/fakeFrameGrabber/FakeFrameGrabber.h
src/devices/fakeFrameGrabber/FakeFrameGrabber.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ FakeFrameGrabber()

Member Function Documentation

◆ close()

◆ getActive()

◆ getCameraDescription()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getImage() [1/2]

◆ getImage() [2/2]

◆ getLastInputStamp()

◆ getMode()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ hasAudio()

◆ hasAuto()

◆ hasFeature()

◆ hasManual()

◆ hasOnePush()

◆ hasOnOff()

◆ hasRawVideo()

◆ hasVideo()

◆ height()

◆ open()

◆ setActive()

◆ setFeature() [1/2]

◆ setFeature() [2/2]

◆ setMode()

◆ setOnePush()

◆ setRgbFOV()

◆ setRgbMirroring()

◆ setRgbResolution()

◆ timing()

◆ width()