usbCamera: YARP device driver implementation for acquiring images from USB cameras. More...

#include <usbCamera/common/USBcamera.h>

Inheritance diagram for USBCameraDriver:

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

	~USBCameraDriver () override
	Destructor. More...

bool	open (yarp::os::Searchable &config) override
	Open the device driver. More...

bool	close () override
	Closes the device driver. More...

int	height () const override
	Implements FrameGrabber basic interface. More...

int	width () const override
	Implements FrameGrabber basic interface. More...

bool	getRawBuffer (unsigned char *buffer) override
	Implements FrameGrabber basic interface. More...

int	getRawBufferSize () override
	Implements the Frame grabber basic interface. More...

bool	getRgbBuffer (unsigned char *buffer) override
	FrameGrabber bgr interface, returns the last acquired frame as a buffer of bgr triplets. More...

yarp::os::Stamp	getLastInputStamp () override
	Implements the IPreciselyTimed interface. More...

bool	getCameraDescription (CameraDescriptor *camera) override
	Implementation of IFrameGrabberControls2 interface. 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...

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...

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::IPreciselyTimed
virtual	~IPreciselyTimed ()

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

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

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::IRgbVisualParams
virtual	~IRgbVisualParams ()

Protected Attributes
yarp::dev::IFrameGrabberRgb *	deviceRgb

yarp::dev::IPreciselyTimed *	deviceTimed

yarp::dev::IFrameGrabber *	deviceRaw

yarp::dev::DeviceDriver *	os_device

yarp::dev::IFrameGrabberControls *	deviceControls

yarp::dev::IRgbVisualParams *	deviceRgbVisualParam

size_t	_width

size_t	_height

int	pixelType

Detailed Description

usbCamera: YARP device driver implementation for acquiring images from USB cameras.

Documentation to be added

Definition at line 41 of file USBcamera.h.

Constructor & Destructor Documentation

◆ USBCameraDriver()

USBCameraDriver::USBCameraDriver ( )

Constructor.

Definition at line 42 of file USBcamera.cpp.

◆ ~USBCameraDriver()

USBCameraDriver::~USBCameraDriver ( )

override

Destructor.

Definition at line 48 of file USBcamera.cpp.

Member Function Documentation

◆ close()

bool USBCameraDriver::close ( )

overridevirtual

Closes the device driver.

Returns: returns true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 102 of file USBcamera.cpp.

◆ getActive()

bool USBCameraDriver::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 392 of file USBcamera.cpp.

◆ getCameraDescription()

bool USBCameraDriver::getCameraDescription ( CameraDescriptor * camera )

overridevirtual

Implementation of IFrameGrabberControls2 interface.

Actual function will be implemented by OS specific devices

Implements yarp::dev::IFrameGrabberControls.

Definition at line 328 of file USBcamera.cpp.

◆ getFeature() [1/2]

bool USBCameraDriver::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 352 of file USBcamera.cpp.

◆ getFeature() [2/2]

bool USBCameraDriver::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 360 of file USBcamera.cpp.

◆ getLastInputStamp()

yarp::os::Stamp USBCameraDriver::getLastInputStamp ( )

overridevirtual

Implements the IPreciselyTimed interface.

Returns: the yarp::os::Stamp of the last image acquired

Implements yarp::dev::IPreciselyTimed.

Definition at line 150 of file USBcamera.cpp.

◆ getMode()

bool USBCameraDriver::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 432 of file USBcamera.cpp.

◆ getRawBuffer()

bool USBCameraDriver::getRawBuffer ( unsigned char * buffer )

overridevirtual

Implements FrameGrabber basic interface.

Parameters

buffer the pointer to the array to store the last frame.

Returns: returns true/false on success/failure.

Implements yarp::dev::IFrameGrabber.

Definition at line 135 of file USBcamera.cpp.

◆ getRawBufferSize()

int USBCameraDriver::getRawBufferSize ( )

overridevirtual

Implements the Frame grabber basic interface.

Returns: the size of the raw buffer (for the Dragonfly camera this is 1x640x480).

Implements yarp::dev::IFrameGrabber.

Definition at line 140 of file USBcamera.cpp.

◆ getRgbBuffer()

bool USBCameraDriver::getRgbBuffer ( unsigned char * buffer )

overridevirtual

FrameGrabber bgr interface, returns the last acquired frame as a buffer of bgr triplets.

A demosaicking method is applied to reconstuct the color from the Bayer pattern of the sensor.

Parameters

buffer pointer to the array that will contain the last frame.

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberRgb.

Definition at line 145 of file USBcamera.cpp.

◆ getRgbFOV()

bool USBCameraDriver::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 206 of file USBcamera.cpp.

◆ getRgbHeight()

int USBCameraDriver::getRgbHeight ( )

overridevirtual

Return the height of each frame.

Returns: rgb image height

Implements yarp::dev::IRgbVisualParams.

Definition at line 159 of file USBcamera.cpp.

◆ getRgbIntrinsicParam()

bool USBCameraDriver::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

Look at IVisualParams.h for more details

Implements yarp::dev::IRgbVisualParams.

Definition at line 222 of file USBcamera.cpp.

◆ getRgbMirroring()

bool USBCameraDriver::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 230 of file USBcamera.cpp.

◆ getRgbResolution()

bool USBCameraDriver::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 184 of file USBcamera.cpp.

◆ getRgbSupportedConfigurations()

bool USBCameraDriver::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 176 of file USBcamera.cpp.

◆ getRgbWidth()

int USBCameraDriver::getRgbWidth ( )

overridevirtual

Return the width of each frame.

Returns: rgb image width

Implements yarp::dev::IRgbVisualParams.

Definition at line 167 of file USBcamera.cpp.

◆ hasAuto()

bool USBCameraDriver::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 400 of file USBcamera.cpp.

◆ hasFeature()

bool USBCameraDriver::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 336 of file USBcamera.cpp.

◆ hasManual()

bool USBCameraDriver::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 408 of file USBcamera.cpp.

◆ hasOnePush()

bool USBCameraDriver::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 416 of file USBcamera.cpp.

◆ hasOnOff()

bool USBCameraDriver::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 376 of file USBcamera.cpp.

◆ height()

int USBCameraDriver::height ( ) const

overridevirtual

Implements FrameGrabber basic interface.

Implements yarp::dev::IFrameGrabber.

Reimplemented in USBCameraDriverRaw, and USBCameraDriverRgb.

Definition at line 122 of file USBcamera.cpp.

◆ open()

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

overridevirtual

Open the device driver.

Parameters

config configuration for the device driver

Returns: returns true on success, false on failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 54 of file USBcamera.cpp.

◆ setActive()

bool USBCameraDriver::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 384 of file USBcamera.cpp.

◆ setFeature() [1/2]

bool USBCameraDriver::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 USBcamera.cpp.

◆ setFeature() [2/2]

bool USBCameraDriver::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 368 of file USBcamera.cpp.

◆ setMode()

bool USBCameraDriver::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 424 of file USBcamera.cpp.

◆ setOnePush()

bool USBCameraDriver::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 440 of file USBcamera.cpp.

◆ setRgbFOV()

bool USBCameraDriver::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 214 of file USBcamera.cpp.

◆ setRgbMirroring()

bool USBCameraDriver::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 238 of file USBcamera.cpp.

◆ setRgbResolution()

bool USBCameraDriver::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 192 of file USBcamera.cpp.

◆ width()

int USBCameraDriver::width ( ) const

overridevirtual

Implements FrameGrabber basic interface.

Implements yarp::dev::IFrameGrabber.

Reimplemented in USBCameraDriverRaw, and USBCameraDriverRgb.

Definition at line 110 of file USBcamera.cpp.

Member Data Documentation

◆ _height

size_t USBCameraDriver::_height

protected

Definition at line 61 of file USBcamera.h.

◆ _width

size_t USBCameraDriver::_width

protected

Definition at line 60 of file USBcamera.h.

◆ deviceControls

yarp::dev::IFrameGrabberControls* USBCameraDriver::deviceControls

protected

Definition at line 57 of file USBcamera.h.

◆ deviceRaw

yarp::dev::IFrameGrabber* USBCameraDriver::deviceRaw

protected

Definition at line 55 of file USBcamera.h.

◆ deviceRgb

yarp::dev::IFrameGrabberRgb* USBCameraDriver::deviceRgb

protected

Definition at line 53 of file USBcamera.h.

◆ deviceRgbVisualParam

yarp::dev::IRgbVisualParams* USBCameraDriver::deviceRgbVisualParam

protected

Definition at line 58 of file USBcamera.h.

◆ deviceTimed

yarp::dev::IPreciselyTimed* USBCameraDriver::deviceTimed

protected

Definition at line 54 of file USBcamera.h.

◆ os_device

yarp::dev::DeviceDriver* USBCameraDriver::os_device

protected

Definition at line 56 of file USBcamera.h.

◆ pixelType

int USBCameraDriver::pixelType

protected

Definition at line 62 of file USBcamera.h.

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

src/devices/usbCamera/common/USBcamera.h
src/devices/usbCamera/common/USBcamera.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ USBCameraDriver()

◆ ~USBCameraDriver()

Member Function Documentation

◆ close()

◆ getActive()

◆ getCameraDescription()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getLastInputStamp()

◆ getMode()

◆ getRawBuffer()

◆ getRawBufferSize()

◆ getRgbBuffer()

◆ 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()

Member Data Documentation

◆ _height

◆ _width

◆ deviceControls

◆ deviceRaw

◆ deviceRgb

◆ deviceRgbVisualParam

◆ deviceTimed

◆ os_device

◆ pixelType