dragonfly2 and dragonfly2raw device driver implementation. More...

#include <DragonflyDeviceDriver2.h>

Inheritance diagram for yarp::dev::DragonflyDeviceDriver2:

Public Member Functions
	DragonflyDeviceDriver2 (bool raw=false)
	Constructor.

virtual	~DragonflyDeviceDriver2 ()
	Destructor.

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

virtual bool	close (void)
	Closes the device driver.

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

virtual bool	setBrightness (double v)
	Set Brightness.

virtual bool	setExposure (double v)
	Set Exposure.

virtual bool	setSharpness (double v)
	Set Sharpness.

virtual bool	setWhiteBalance (double blue, double red)
	Set White Balance.

virtual bool	setHue (double v)
	Set Hue.

virtual bool	setSaturation (double v)
	Set Saturation.

virtual bool	setGamma (double v)
	Set Gamma.

virtual bool	setShutter (double v)
	Set Shutter.

virtual bool	setGain (double v)
	Set Gain.

virtual bool	setIris (double v)
	Set Iris.

virtual double	getBrightness ()
	Get Brightness.

virtual double	getExposure ()
	Get Exposure.

virtual double	getSharpness ()
	Get Sharpness.

virtual bool	getWhiteBalance (double &blue, double &red)
	Get White Balance.

virtual double	getHue ()
	Get Hue.

virtual double	getSaturation ()
	Get Saturation.

virtual double	getGamma ()
	Get Gamma.

virtual double	getShutter ()
	Get Shutter.

virtual double	getGain ()
	Get Gain.

virtual double	getIris ()
	Get Iris.

virtual bool	hasFeatureDC1394 (int feature)
	Is feature present?

virtual bool	setFeatureDC1394 (int feature, double value)
	Set feature value.

virtual double	getFeatureDC1394 (int feature)
	Get feature value.

virtual bool	hasOnOffDC1394 (int feature)
	Can be feature turned on/off?

virtual bool	setActiveDC1394 (int feature, bool onoff)
	Switch feature on/off.

virtual bool	getActiveDC1394 (int feature)
	Is feature ON or OFF?

virtual bool	hasAutoDC1394 (int feature)
	Has feature Auto mode?

virtual bool	hasManualDC1394 (int feature)
	Has feature Manual mode?

virtual bool	hasOnePushDC1394 (int feature)
	Has feature Manual mode?

virtual bool	setModeDC1394 (int feature, bool auto_onoff)
	Switch feature Auto/Manual.

virtual bool	getModeDC1394 (int feature)
	Is feature mode Auto or Manual?

virtual bool	setOnePushDC1394 (int feature)
	Trigger feature One Push adjust.

virtual unsigned int	getVideoModeMaskDC1394 ()
	Get supported video mode mask.

virtual unsigned int	getVideoModeDC1394 ()
	Get camera acquisition mode.

virtual bool	setVideoModeDC1394 (int video_mode)
	Set camera acquisition mode.

virtual unsigned int	getFPSMaskDC1394 ()
	Get supported framerates mask.

virtual unsigned int	getFPSDC1394 ()
	Get camera framerate.

virtual bool	setFPSDC1394 (int fps)
	Set camera framerate.

virtual unsigned int	getISOSpeedDC1394 ()
	Get camera Firewire ISO speed.

virtual bool	setISOSpeedDC1394 (int speed)
	Set camera Firewire ISO speed.

virtual unsigned int	getColorCodingMaskDC1394 (unsigned int video_mode)
	Get supported color coding mask.

virtual unsigned int	getColorCodingDC1394 ()
	Get image color coding.

virtual bool	setColorCodingDC1394 (int coding)
	Set image color coding.

virtual bool	setWhiteBalanceDC1394 (double b, double r)
	Set White Balance.

virtual bool	getWhiteBalanceDC1394 (double &b, double &r)
	Get White Balance.

virtual bool	getFormat7MaxWindowDC1394 (unsigned int &xdim, unsigned int &ydim, unsigned int &xstep, unsigned int &ystep, unsigned int &xoffstep, unsigned int &yoffstep)
	Get maximum image dimensions in Format 7 mode.

virtual bool	getFormat7WindowDC1394 (unsigned int &xdim, unsigned int &ydim, int &x0, int &y0)
	Get image dimensions in Format 7 mode.

virtual bool	setFormat7WindowDC1394 (unsigned int xdim, unsigned int ydim, int x0, int y0)
	Set image dimensions in Format 7 mode.

virtual bool	setOperationModeDC1394 (bool b1394b)
	Set Operation Mode.

virtual bool	getOperationModeDC1394 ()
	Get Operation Mode.

virtual bool	setTransmissionDC1394 (bool bTxON)
	Set image transmission ON/OFF.

virtual bool	getTransmissionDC1394 ()
	Is image transmission ON or OFF?

virtual bool	setBroadcastDC1394 (bool onoff)
	Set feature commands propagation ON/OFF.

virtual bool	setDefaultsDC1394 ()
	Set camera features to default.

virtual bool	setResetDC1394 ()

virtual bool	setPowerDC1394 (bool onoff)
	Switch camera power ON/OFF.

virtual bool	setCaptureDC1394 (bool bON)
	Switch image capture ON/OFF.

virtual unsigned int	getBytesPerPacketDC1394 ()
	Get Firewire communication packet size.

virtual bool	setBytesPerPacketDC1394 (unsigned int bpp)
	Set Firewire communication packet size.

virtual int	getRgbHeight ()
	Return the height of each frame.

virtual int	getRgbWidth ()
	Return the width of each frame.

virtual bool	getRgbSupportedConfigurations (yarp::sig::VectorOf< yarp::dev::CameraConfig > &configurations)
	Get the possible configurations of the camera.

virtual bool	getRgbResolution (int &width, int &height)
	Get the resolution of the rgb image from the camera.

virtual bool	setRgbResolution (int width, int height)
	Set the resolution of the rgb image from the camera.

virtual bool	getRgbFOV (double &horizontalFov, double &verticalFov)
	Get the field of view (FOV) of the rgb camera.

virtual bool	setRgbFOV (double horizontalFov, double verticalFov)
	Set the field of view (FOV) of the rgb camera.

virtual bool	getRgbIntrinsicParam (yarp::os::Property &intrinsic)
	Get the intrinsic parameters of the rgb camera.

virtual bool	getRgbMirroring (bool &mirror)
	Get the mirroring setting of the sensor.

virtual bool	setRgbMirroring (bool mirror)
	Set the mirroring setting of the sensor.

virtual bool	getCameraDescription (CameraDescriptor *camera)

virtual bool	hasFeature (int feature, bool *hasFeature)

virtual bool	setFeature (int feature, double values)

virtual bool	getFeature (int feature, double *values)

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

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

virtual bool	hasOnOff (int feature, bool *HasOnOff)

virtual bool	setActive (int feature, bool onoff)

virtual bool	getActive (int feature, bool *isActive)

virtual bool	hasAuto (int feature, bool *hasAuto)

virtual bool	hasManual (int feature, bool *hasManual)

virtual bool	hasOnePush (int feature, bool *hasOnePush)

virtual bool	setMode (int feature, FeatureMode mode)

virtual bool	getMode (int feature, FeatureMode *mode)

virtual bool	setOnePush (int feature)

Protected Member Functions
FeatureMode	TRANSL_MODE (bool mode)

bool	TRANSL_MODE (FeatureMode mode)

Protected Attributes
void *	system_resources

bool	raw

Detailed Description

dragonfly2 and dragonfly2raw device driver implementation.

Definition at line 287 of file DragonflyDeviceDriver2.h.

Constructor & Destructor Documentation

◆ DragonflyDeviceDriver2()

DragonflyDeviceDriver2::DragonflyDeviceDriver2 ( bool raw = false )

Constructor.

Definition at line 63 of file DragonflyDeviceDriver2.cpp.

◆ ~DragonflyDeviceDriver2()

DragonflyDeviceDriver2::~DragonflyDeviceDriver2 ( )

virtual

Destructor.

Definition at line 68 of file DragonflyDeviceDriver2.cpp.

Member Function Documentation

◆ close()

bool DragonflyDeviceDriver2::close ( void )

virtual

Closes the device driver.

Returns: returns true/false on success/failure.

Definition at line 102 of file DragonflyDeviceDriver2.cpp.

◆ getActive()

bool DragonflyDeviceDriver2::getActive	(	int	feature,
		bool *	isActive
	)

virtual

Definition at line 436 of file DragonflyDeviceDriver2.cpp.

◆ getActiveDC1394()

bool DragonflyDeviceDriver2::getActiveDC1394 ( int feature )

virtual

Is feature ON or OFF?

Parameters

feature feature ID.

Returns: true=ON false=OFF.

Definition at line 229 of file DragonflyDeviceDriver2.cpp.

◆ getBrightness()

double DragonflyDeviceDriver2::getBrightness ( )

virtual

Get Brightness.

Returns: normalized image brightness [0.0 : 1.0].

Definition at line 163 of file DragonflyDeviceDriver2.cpp.

◆ getBytesPerPacketDC1394()

unsigned int DragonflyDeviceDriver2::getBytesPerPacketDC1394 ( )

virtual

Get Firewire communication packet size.

In Format7 mode the framerate depends from packet size.

Returns: bytes per packet

Definition at line 371 of file DragonflyDeviceDriver2.cpp.

◆ getCameraDescription()

bool DragonflyDeviceDriver2::getCameraDescription ( CameraDescriptor * camera )

virtual

Definition at line 429 of file DragonflyDeviceDriver2.cpp.

◆ getColorCodingDC1394()

unsigned int DragonflyDeviceDriver2::getColorCodingDC1394 ( )

virtual

Get image color coding.

Returns: image color coding ID: 0=MONO8, 1=YUV411, 2=YUV422, 3=YUV444, 4=RGB8, 5=MONO16, 6=RGB16, 7=MONO16S, 8=RGB16S, 9=RAW8, 10=RAW16.

Definition at line 293 of file DragonflyDeviceDriver2.cpp.

◆ getColorCodingMaskDC1394()

unsigned int DragonflyDeviceDriver2::getColorCodingMaskDC1394 ( unsigned int video_mode )

virtual

Get supported color coding mask.

The framerates bitmask is obtained as follows:

unsigned int mask=0;

for (unsigned int m=0; m<codings.num; ++m)

  mask|=1<<(codings.codings[m]-DC1394_COLOR_CODING_MIN);

0=MONO8, 1=YUV411, 2=YUV422, 3=YUV444, 4=RGB8, 5=MONO16, 6=RGB16, 7=MONO16S, 8=RGB16S, 9=RAW8, 10=RAW16.

Returns: framerates bitmask.

Definition at line 289 of file DragonflyDeviceDriver2.cpp.

◆ getExposure()

double DragonflyDeviceDriver2::getExposure ( )

virtual

Get Exposure.

Returns: normalized image exposure [0.0 : 1.0].

Definition at line 167 of file DragonflyDeviceDriver2.cpp.

◆ getFeature() [1/2]

bool DragonflyDeviceDriver2::getFeature	(	int	feature,
		double *	value1,
		double *	value2
	)

virtual

Definition at line 494 of file DragonflyDeviceDriver2.cpp.

◆ getFeature() [2/2]

bool DragonflyDeviceDriver2::getFeature	(	int	feature,
		double *	values
	)

virtual

Definition at line 442 of file DragonflyDeviceDriver2.cpp.

◆ getFeatureDC1394()

double DragonflyDeviceDriver2::getFeatureDC1394 ( int feature )

virtual

Get feature value.

Parameters

feature feature ID

Returns: normalized feature value [0.0 : 1.0].

Definition at line 217 of file DragonflyDeviceDriver2.cpp.

◆ getFormat7MaxWindowDC1394()

bool DragonflyDeviceDriver2::getFormat7MaxWindowDC1394	(	unsigned int &	xdim,
		unsigned int &	ydim,
		unsigned int &	xstep,
		unsigned int &	ystep,
		unsigned int &	xoffstep,
		unsigned int &	yoffstep
	)

virtual

Get maximum image dimensions in Format 7 mode.

Parameters

xdim	maximum width
ydim	maximum height
xstep	width granularity
ystep	height granularity
xoffstep	horizontal offset granularity
yoffstep	vertical offset granularity

Returns: true/false upon success/failure

Definition at line 309 of file DragonflyDeviceDriver2.cpp.

◆ getFormat7WindowDC1394()

bool DragonflyDeviceDriver2::getFormat7WindowDC1394	(	unsigned int &	xdim,
		unsigned int &	ydim,
		int &	x0,
		int &	y0
	)

virtual

Get image dimensions in Format 7 mode.

Parameters

xdim	image width
ydim	image height
x0	horizontal image offset
y0	vertical image offset

Returns: true/false upon success/failure

Definition at line 317 of file DragonflyDeviceDriver2.cpp.

◆ getFPSDC1394()

unsigned int DragonflyDeviceDriver2::getFPSDC1394 ( )

virtual

Get camera framerate.

Returns: framerate mode ID: 0=1.875 fps, 1=3.75 fps, 2=7.5 fps, 3=15 fps, 4=30 fps, 5=60 fps, 6=120 fps, 7=240 fps.

Definition at line 273 of file DragonflyDeviceDriver2.cpp.

◆ getFPSMaskDC1394()

unsigned int DragonflyDeviceDriver2::getFPSMaskDC1394 ( )

virtual

Get supported framerates mask.

The framerates bitmask is obtained as follows:

unsigned int mask=0;

for (unsigned int f=0; f<fps.num; ++f)

mask|=1<<(fps.framerates[f]-DC1394_FRAMERATE_MIN);

0=1.875 fps, 1=3.75 fps, 2=7.5 fps, 3=15 fps, 4=30 fps, 5=60 fps, 6=120 fps, 7=240 fps.

Returns: framerates bitmask.

Definition at line 269 of file DragonflyDeviceDriver2.cpp.

◆ getGain()

double DragonflyDeviceDriver2::getGain ( )

virtual

Get Gain.

Returns: normalized gain [0.0 : 1.0].

Definition at line 195 of file DragonflyDeviceDriver2.cpp.

◆ getGamma()

double DragonflyDeviceDriver2::getGamma ( )

virtual

Get Gamma.

Returns: normalized gamma [0.0 : 1.0].

Definition at line 187 of file DragonflyDeviceDriver2.cpp.

◆ getHue()

double DragonflyDeviceDriver2::getHue ( )

virtual

Get Hue.

Returns: normalized hue [0.0 : 1.0].

Definition at line 179 of file DragonflyDeviceDriver2.cpp.

◆ getIris()

double DragonflyDeviceDriver2::getIris ( )

virtual

Get Iris.

Returns: normalized iris [0.0 : 1.0].

Definition at line 199 of file DragonflyDeviceDriver2.cpp.

◆ getISOSpeedDC1394()

unsigned int DragonflyDeviceDriver2::getISOSpeedDC1394 ( )

virtual

Get camera Firewire ISO speed.

Returns: ISO speed ID: 0=100 Mbps, 1=200 Mbps, 2=400 Mbps, 3=800 Mbps, 4=1600 Mbps, 5=3200 Mbps.

Definition at line 281 of file DragonflyDeviceDriver2.cpp.

◆ getLastInputStamp()

yarp::os::Stamp DragonflyDeviceDriver2::getLastInputStamp ( )

virtual

Implements the IPreciselyTimed interface.

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

Definition at line 113 of file DragonflyDeviceDriver2.cpp.

◆ getMode()

bool DragonflyDeviceDriver2::getMode	(	int	feature,
		FeatureMode *	mode
	)

virtual

Definition at line 448 of file DragonflyDeviceDriver2.cpp.

◆ getModeDC1394()

bool DragonflyDeviceDriver2::getModeDC1394 ( int feature )

virtual

Is feature mode Auto or Manual?

Parameters

feature feature ID.

Returns: true=Auto false=Manual.

Definition at line 249 of file DragonflyDeviceDriver2.cpp.

◆ getOperationModeDC1394()

bool DragonflyDeviceDriver2::getOperationModeDC1394 ( )

virtual

Get Operation Mode.

Returns: true=1394b false=LEGACY

Definition at line 325 of file DragonflyDeviceDriver2.cpp.

◆ getRgbFOV()

bool DragonflyDeviceDriver2::getRgbFOV	(	double &	horizontalFov,
		double &	verticalFov
	)

virtual

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

Definition at line 404 of file DragonflyDeviceDriver2.cpp.

◆ getRgbHeight()

int DragonflyDeviceDriver2::getRgbHeight ( )

virtual

Return the height of each frame.

Returns: rgb image height

Definition at line 378 of file DragonflyDeviceDriver2.cpp.

◆ getRgbIntrinsicParam()

bool DragonflyDeviceDriver2::getRgbIntrinsicParam ( yarp::os::Property & intrinsic )

virtual

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

Definition at line 412 of file DragonflyDeviceDriver2.cpp.

◆ getRgbMirroring()

bool DragonflyDeviceDriver2::getRgbMirroring ( bool & mirror )

virtual

Get the mirroring setting of the sensor.

Parameters

mirror true if image is mirrored, false otherwise

Returns: true if success

Definition at line 416 of file DragonflyDeviceDriver2.cpp.

◆ getRgbResolution()

bool DragonflyDeviceDriver2::getRgbResolution	(	int &	width,
		int &	height
	)

virtual

Get the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Definition at line 391 of file DragonflyDeviceDriver2.cpp.

◆ getRgbSupportedConfigurations()

bool DragonflyDeviceDriver2::getRgbSupportedConfigurations ( yarp::sig::VectorOf< yarp::dev::CameraConfig > & configurations )

virtual

Get the possible configurations of the camera.

Parameters

configurations list of camera supported configurations as CameraConfig type

Returns: true on success

Definition at line 386 of file DragonflyDeviceDriver2.cpp.

◆ getRgbWidth()

int DragonflyDeviceDriver2::getRgbWidth ( )

virtual

Return the width of each frame.

Returns: rgb image width

Definition at line 382 of file DragonflyDeviceDriver2.cpp.

◆ getSaturation()

double DragonflyDeviceDriver2::getSaturation ( )

virtual

Get Saturation.

Returns: normalized saturation [0.0 : 1.0].

Definition at line 183 of file DragonflyDeviceDriver2.cpp.

◆ getSharpness()

double DragonflyDeviceDriver2::getSharpness ( )

virtual

Get Sharpness.

Returns: normalized image sharpness [0.0 : 1.0].

Definition at line 171 of file DragonflyDeviceDriver2.cpp.

◆ getShutter()

double DragonflyDeviceDriver2::getShutter ( )

virtual

Get Shutter.

Returns: normalized shutter time [0.0 : 1.0].

Definition at line 191 of file DragonflyDeviceDriver2.cpp.

◆ getTransmissionDC1394()

bool DragonflyDeviceDriver2::getTransmissionDC1394 ( )

virtual

Is image transmission ON or OFF?

Returns: true=ON false=OFF

Definition at line 333 of file DragonflyDeviceDriver2.cpp.

◆ getVideoModeDC1394()

unsigned int DragonflyDeviceDriver2::getVideoModeDC1394 ( )

virtual

Get camera acquisition mode.

Returns: video mode ID: 0=160x120 YUV444, 1=320x240 YUV422, 2=640x480 YUV411, 3=640x480 YUV422, 4=640x480 RGB8, 5=640x480 MONO8, 6=640x480 MONO16,7=800x600 YUV422, 8=800x600 RGB8, 9=800x600_MONO8, 10=1024x768 YUV422, 11=1024x768 RGB8, 12=1024x768 MONO8, 13=800x600 MONO16, 14=1024x768 MONO16, 15=1280x960 YUV422, 16=1280x960 RGB8, 17=1280x960_MONO8, 18=1600x1200 YUV422, 19=1600x1200 RGB8, 20=1600x1200 MONO8, 21=1280x960 MONO16, 22=1600x1200_MONO16, 23=EXIF, 24=FORMAT7 0, 25=FORMAT7 1, 26=FORMAT7 2, 27=FORMAT7 3, 28=FORMAT7 4, 29=FORMAT7 5, 30=FORMAT7 6, 31=FORMAT7 7

Definition at line 265 of file DragonflyDeviceDriver2.cpp.

◆ getVideoModeMaskDC1394()

unsigned int DragonflyDeviceDriver2::getVideoModeMaskDC1394 ( )

virtual

Get supported video mode mask.

The video mode bitmask is obtained as follows:

unsigned int mask=0;

for (unsigned int m=0; m<modes.num; ++m)

  mask|=1<<(modes.modes[m]-DC1394_VIDEO_MODE_MIN);

0=160x120 YUV444, 1=320x240 YUV422, 2=640x480 YUV411, 3=640x480 YUV422, 4=640x480 RGB8, 5=640x480 MONO8, 6=640x480 MONO16,7=800x600 YUV422, 8=800x600 RGB8, 9=800x600_MONO8, 10=1024x768 YUV422, 11=1024x768 RGB8, 12=1024x768 MONO8, 13=800x600 MONO16, 14=1024x768 MONO16, 15=1280x960 YUV422, 16=1280x960 RGB8, 17=1280x960_MONO8, 18=1600x1200 YUV422, 19=1600x1200 RGB8, 20=1600x1200 MONO8, 21=1280x960 MONO16, 22=1600x1200_MONO16, 23=EXIF, 24=FORMAT7 0, 25=FORMAT7 1, 26=FORMAT7 2, 27=FORMAT7 3, 28=FORMAT7 4, 29=FORMAT7 5, 30=FORMAT7 6, 31=FORMAT7 7

Returns: video mode bitmask.

Definition at line 257 of file DragonflyDeviceDriver2.cpp.

◆ getWhiteBalance()

bool DragonflyDeviceDriver2::getWhiteBalance	(	double &	blue,
		double &	red
	)

virtual

Get White Balance.

Parameters

blue	normalized blue balance [0.0 : 1.0].
red	normalized red balance [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 175 of file DragonflyDeviceDriver2.cpp.

◆ getWhiteBalanceDC1394()

bool DragonflyDeviceDriver2::getWhiteBalanceDC1394	(	double &	b,
		double &	r
	)

virtual

Get White Balance.

Parameters

blue	normalized blue balance [0.0 : 1.0].
red	normalized red balance [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 305 of file DragonflyDeviceDriver2.cpp.

◆ hasAuto()

bool DragonflyDeviceDriver2::hasAuto	(	int	feature,
		bool *	hasAuto
	)

virtual

Definition at line 454 of file DragonflyDeviceDriver2.cpp.

◆ hasAutoDC1394()

bool DragonflyDeviceDriver2::hasAutoDC1394 ( int feature )

virtual

Has feature Auto mode?

Parameters

feature feature ID.

Returns: true=YES, false=NO.

Definition at line 233 of file DragonflyDeviceDriver2.cpp.

◆ hasFeature()

bool DragonflyDeviceDriver2::hasFeature	(	int	feature,
		bool *	hasFeature
	)

virtual

Definition at line 460 of file DragonflyDeviceDriver2.cpp.

◆ hasFeatureDC1394()

bool DragonflyDeviceDriver2::hasFeatureDC1394 ( int feature )

virtual

Is feature present?

Parameters

feature feature ID.

Returns: true=present, false=not present.

Definition at line 209 of file DragonflyDeviceDriver2.cpp.

◆ hasManual()

bool DragonflyDeviceDriver2::hasManual	(	int	feature,
		bool *	hasManual
	)

virtual

Definition at line 466 of file DragonflyDeviceDriver2.cpp.

◆ hasManualDC1394()

bool DragonflyDeviceDriver2::hasManualDC1394 ( int feature )

virtual

Has feature Manual mode?

Parameters

feature feature ID.

Returns: true=YES, false=NO.

Definition at line 237 of file DragonflyDeviceDriver2.cpp.

◆ hasOnePush()

bool DragonflyDeviceDriver2::hasOnePush	(	int	feature,
		bool *	hasOnePush
	)

virtual

Definition at line 472 of file DragonflyDeviceDriver2.cpp.

◆ hasOnePushDC1394()

bool DragonflyDeviceDriver2::hasOnePushDC1394 ( int feature )

virtual

Has feature Manual mode?

Parameters

feature feature ID.

Returns: true=YES, false=NO.

Definition at line 241 of file DragonflyDeviceDriver2.cpp.

◆ hasOnOff()

bool DragonflyDeviceDriver2::hasOnOff	(	int	feature,
		bool *	HasOnOff
	)

virtual

Definition at line 478 of file DragonflyDeviceDriver2.cpp.

◆ hasOnOffDC1394()

bool DragonflyDeviceDriver2::hasOnOffDC1394 ( int feature )

virtual

Can be feature turned on/off?

Parameters

feature feature ID.

Returns: true=YES, false=NO.

Definition at line 221 of file DragonflyDeviceDriver2.cpp.

◆ open()

bool DragonflyDeviceDriver2::open ( yarp::os::Searchable & config )

virtual

Open the device driver.

Parameters

config configuration for the device driver

Returns: returns true on success, false on failure.

Definition at line 77 of file DragonflyDeviceDriver2.cpp.

◆ setActive()

bool DragonflyDeviceDriver2::setActive	(	int	feature,
		bool	onoff
	)

virtual

Definition at line 484 of file DragonflyDeviceDriver2.cpp.

◆ setActiveDC1394()

bool DragonflyDeviceDriver2::setActiveDC1394	(	int	feature,
		bool	onoff
	)

virtual

Switch feature on/off.

Parameters

feature	feature ID.
onoff	true=ON false=OFF.

Returns: true/false upon success/failure.

Definition at line 225 of file DragonflyDeviceDriver2.cpp.

◆ setBrightness()

bool DragonflyDeviceDriver2::setBrightness ( double v )

virtual

Set Brightness.

Parameters

v	normalized image brightness [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 120 of file DragonflyDeviceDriver2.cpp.

◆ setBroadcastDC1394()

bool DragonflyDeviceDriver2::setBroadcastDC1394 ( bool onoff )

virtual

Set feature commands propagation ON/OFF.

All the cameras on the same Firewire bus can be adjusted at once setting broadcast ON. In this way, they will share the feature settings.

Parameters

onoff true=ON false=OFF

Returns: true/false upon success/failure

Definition at line 347 of file DragonflyDeviceDriver2.cpp.

◆ setBytesPerPacketDC1394()

bool DragonflyDeviceDriver2::setBytesPerPacketDC1394 ( unsigned int bpp )

virtual

Set Firewire communication packet size.

In Format7 mode the framerate depends from packet size.

Parameters

bpp	bytes per packet

Returns: true/false upon success/failure

Definition at line 367 of file DragonflyDeviceDriver2.cpp.

◆ setCaptureDC1394()

bool DragonflyDeviceDriver2::setCaptureDC1394 ( bool bON )

virtual

Switch image capture ON/OFF.

Parameters

onoff true=ON false=OFF

Returns: true/false upon success/failure

Definition at line 363 of file DragonflyDeviceDriver2.cpp.

◆ setColorCodingDC1394()

bool DragonflyDeviceDriver2::setColorCodingDC1394 ( int coding )

virtual

Set image color coding.

Parameters

coding image color coding ID: 0=MONO8, 1=YUV411, 2=YUV422, 3=YUV444, 4=RGB8, 5=MONO16, 6=RGB16, 7=MONO16S, 8=RGB16S, 9=RAW8, 10=RAW16.

Returns: true/false upon success/failure.

Definition at line 297 of file DragonflyDeviceDriver2.cpp.

◆ setDefaultsDC1394()

bool DragonflyDeviceDriver2::setDefaultsDC1394 ( )

virtual

Set camera features to default.

Returns: true/false upon success/failure

Definition at line 351 of file DragonflyDeviceDriver2.cpp.

◆ setExposure()

bool DragonflyDeviceDriver2::setExposure ( double v )

virtual

Set Exposure.

Parameters

v	normalized image exposure [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 124 of file DragonflyDeviceDriver2.cpp.

◆ setFeature() [1/2]

bool DragonflyDeviceDriver2::setFeature	(	int	feature,
		double	value1,
		double	value2
	)

virtual

Definition at line 502 of file DragonflyDeviceDriver2.cpp.

◆ setFeature() [2/2]

bool DragonflyDeviceDriver2::setFeature	(	int	feature,
		double	values
	)

virtual

Definition at line 489 of file DragonflyDeviceDriver2.cpp.

◆ setFeatureDC1394()

bool DragonflyDeviceDriver2::setFeatureDC1394	(	int	feature,
		double	value
	)

virtual

Set feature value.

Parameters

feature	feature ID
value	normalized feature value [0.0 : 1.0].

Returns: true/false upon success/failure.

Definition at line 213 of file DragonflyDeviceDriver2.cpp.

◆ setFormat7WindowDC1394()

bool DragonflyDeviceDriver2::setFormat7WindowDC1394	(	unsigned int	xdim,
		unsigned int	ydim,
		int	x0,
		int	y0
	)

virtual

Set image dimensions in Format 7 mode.

Parameters

xdim	image width
ydim	image height
x0	horizontal image offset
y0	vertical image offset

Returns: true/false upon success/failure

Definition at line 313 of file DragonflyDeviceDriver2.cpp.

◆ setFPSDC1394()

bool DragonflyDeviceDriver2::setFPSDC1394 ( int fps )

virtual

Set camera framerate.

Parameters

fps	framerate ID: 0=1.875 fps, 1=3.75 fps, 2=7.5 fps, 3=15 fps, 4=30 fps, 5=60 fps, 6=120 fps, 7=240 fps.

Returns: true/false upon success/failure.

Definition at line 277 of file DragonflyDeviceDriver2.cpp.

◆ setGain()

bool DragonflyDeviceDriver2::setGain ( double v )

virtual

Set Gain.

Parameters

v	normalized camera gain [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 152 of file DragonflyDeviceDriver2.cpp.

◆ setGamma()

bool DragonflyDeviceDriver2::setGamma ( double v )

virtual

Set Gamma.

Parameters

v	normalized image gamma [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 144 of file DragonflyDeviceDriver2.cpp.

◆ setHue()

bool DragonflyDeviceDriver2::setHue ( double v )

virtual

Set Hue.

Parameters

v	normalized image hue [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 136 of file DragonflyDeviceDriver2.cpp.

◆ setIris()

bool DragonflyDeviceDriver2::setIris ( double v )

virtual

Set Iris.

Parameters

v	normalized camera iris [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 156 of file DragonflyDeviceDriver2.cpp.

◆ setISOSpeedDC1394()

bool DragonflyDeviceDriver2::setISOSpeedDC1394 ( int speed )

virtual

Set camera Firewire ISO speed.

Parameters

speed ISO speed ID: 0=100 Mbps, 1=200 Mbps, 2=400 Mbps, 3=800 Mbps, 4=1600 Mbps, 5=3200 Mbps.

Returns: true/false upon success/failure.

Definition at line 285 of file DragonflyDeviceDriver2.cpp.

◆ setMode()

bool DragonflyDeviceDriver2::setMode	(	int	feature,
		FeatureMode	mode
	)

virtual

Definition at line 510 of file DragonflyDeviceDriver2.cpp.

◆ setModeDC1394()

bool DragonflyDeviceDriver2::setModeDC1394	(	int	feature,
		bool	auto_onoff
	)

virtual

Switch feature Auto/Manual.

Parameters

feature	feature ID.
onoff	true=Auto false=Manual.

Returns: true/false upon success/failure.

Definition at line 245 of file DragonflyDeviceDriver2.cpp.

◆ setOnePush()

bool DragonflyDeviceDriver2::setOnePush ( int feature )

virtual

Definition at line 515 of file DragonflyDeviceDriver2.cpp.

◆ setOnePushDC1394()

bool DragonflyDeviceDriver2::setOnePushDC1394 ( int feature )

virtual

Trigger feature One Push adjust.

Parameters

feature feature ID.

Returns: true/false upon success/failure.

Definition at line 253 of file DragonflyDeviceDriver2.cpp.

◆ setOperationModeDC1394()

bool DragonflyDeviceDriver2::setOperationModeDC1394 ( bool b1394b )

virtual

Set Operation Mode.

Parameters

b1394b true=1394b false=LEGACY

Returns: true/false upon success/failure

Definition at line 321 of file DragonflyDeviceDriver2.cpp.

◆ setPowerDC1394()

bool DragonflyDeviceDriver2::setPowerDC1394 ( bool onoff )

virtual

Switch camera power ON/OFF.

Parameters

onoff true=ON false=OFF

Returns: true/false upon success/failure

Definition at line 359 of file DragonflyDeviceDriver2.cpp.

◆ setResetDC1394()

bool DragonflyDeviceDriver2::setResetDC1394 ( )

virtual

Definition at line 355 of file DragonflyDeviceDriver2.cpp.

◆ setRgbFOV()

bool DragonflyDeviceDriver2::setRgbFOV	(	double	horizontalFov,
		double	verticalFov
	)

virtual

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

Definition at line 408 of file DragonflyDeviceDriver2.cpp.

◆ setRgbMirroring()

bool DragonflyDeviceDriver2::setRgbMirroring ( bool mirror )

virtual

Set the mirroring setting of the sensor.

Parameters

mirror true if image should be mirrored, false otherwise

Returns: true if success

Definition at line 421 of file DragonflyDeviceDriver2.cpp.

◆ setRgbResolution()

bool DragonflyDeviceDriver2::setRgbResolution	(	int	width,
		int	height
	)

virtual

Set the resolution of the rgb image from the camera.

Parameters

width	image width
height	image height

Returns: true on success

Definition at line 396 of file DragonflyDeviceDriver2.cpp.

◆ setSaturation()

bool DragonflyDeviceDriver2::setSaturation ( double v )

virtual

Set Saturation.

Parameters

v	normalized image saturation [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 140 of file DragonflyDeviceDriver2.cpp.

◆ setSharpness()

bool DragonflyDeviceDriver2::setSharpness ( double v )

virtual

Set Sharpness.

Parameters

v	normalized image sharpness [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 128 of file DragonflyDeviceDriver2.cpp.

◆ setShutter()

bool DragonflyDeviceDriver2::setShutter ( double v )

virtual

Set Shutter.

Parameters

v	normalized camera shutter time [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 148 of file DragonflyDeviceDriver2.cpp.

◆ setTransmissionDC1394()

bool DragonflyDeviceDriver2::setTransmissionDC1394 ( bool bTxON )

virtual

Set image transmission ON/OFF.

Parameters

bTxON true=ON false=OFF

Returns: true/false upon success/failure

Definition at line 329 of file DragonflyDeviceDriver2.cpp.

◆ setVideoModeDC1394()

bool DragonflyDeviceDriver2::setVideoModeDC1394 ( int video_mode )

virtual

Set camera acquisition mode.

Parameters

video_mode ID: 0=160x120 YUV444, 1=320x240 YUV422, 2=640x480 YUV411, 3=640x480 YUV422, 4=640x480 RGB8, 5=640x480 MONO8, 6=640x480 MONO16,7=800x600 YUV422, 8=800x600 RGB8, 9=800x600_MONO8, 10=1024x768 YUV422, 11=1024x768 RGB8, 12=1024x768 MONO8, 13=800x600 MONO16, 14=1024x768 MONO16, 15=1280x960 YUV422, 16=1280x960 RGB8, 17=1280x960_MONO8, 18=1600x1200 YUV422, 19=1600x1200 RGB8, 20=1600x1200 MONO8, 21=1280x960 MONO16, 22=1600x1200_MONO16, 23=EXIF, 24=FORMAT7 0, 25=FORMAT7 1, 26=FORMAT7 2, 27=FORMAT7 3, 28=FORMAT7 4, 29=FORMAT7 5, 30=FORMAT7 6, 31=FORMAT7 7

Returns: true/false upon success/failure.

Definition at line 261 of file DragonflyDeviceDriver2.cpp.

◆ setWhiteBalance()

bool DragonflyDeviceDriver2::setWhiteBalance	(	double	blue,
		double	red
	)

virtual

Set White Balance.

Parameters

blue	normalized image blue balance [0.0 : 1.0].
red	normalized image red balance [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 132 of file DragonflyDeviceDriver2.cpp.

◆ setWhiteBalanceDC1394()

bool DragonflyDeviceDriver2::setWhiteBalanceDC1394	(	double	b,
		double	r
	)

virtual

Set White Balance.

Parameters

blue	normalized image blue balance [0.0 : 1.0].
red	normalized image red balance [0.0 : 1.0].

Returns: true/false upon success/failure

Definition at line 301 of file DragonflyDeviceDriver2.cpp.

◆ TRANSL_MODE() [1/2]

FeatureMode yarp::dev::DragonflyDeviceDriver2::TRANSL_MODE ( bool mode )

inlineprotected

Definition at line 869 of file DragonflyDeviceDriver2.h.

◆ TRANSL_MODE() [2/2]

bool yarp::dev::DragonflyDeviceDriver2::TRANSL_MODE ( FeatureMode mode )

inlineprotected

Definition at line 870 of file DragonflyDeviceDriver2.h.

Member Data Documentation

◆ raw

bool yarp::dev::DragonflyDeviceDriver2::raw

protected

Definition at line 868 of file DragonflyDeviceDriver2.h.

◆ system_resources

void* yarp::dev::DragonflyDeviceDriver2::system_resources

protected

Definition at line 867 of file DragonflyDeviceDriver2.h.

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

icub-main/src/libraries/icubmod/dragonfly2/common/DragonflyDeviceDriver2.h
icub-main/src/libraries/icubmod/dragonfly2/common/DragonflyDeviceDriver2.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DragonflyDeviceDriver2()

◆ ~DragonflyDeviceDriver2()

Member Function Documentation

◆ close()

◆ getActive()

◆ getActiveDC1394()

◆ getBrightness()

◆ getBytesPerPacketDC1394()

◆ getCameraDescription()

◆ getColorCodingDC1394()

◆ getColorCodingMaskDC1394()

◆ getExposure()

◆ getFeature() [1/2]

◆ getFeature() [2/2]

◆ getFeatureDC1394()

◆ getFormat7MaxWindowDC1394()

◆ getFormat7WindowDC1394()

◆ getFPSDC1394()

◆ getFPSMaskDC1394()

◆ getGain()

◆ getGamma()

◆ getHue()

◆ getIris()

◆ getISOSpeedDC1394()

◆ getLastInputStamp()

◆ getMode()

◆ getModeDC1394()

◆ getOperationModeDC1394()

◆ getRgbFOV()

◆ getRgbHeight()

◆ getRgbIntrinsicParam()

◆ getRgbMirroring()

◆ getRgbResolution()

◆ getRgbSupportedConfigurations()

◆ getRgbWidth()

◆ getSaturation()

◆ getSharpness()

◆ getShutter()

◆ getTransmissionDC1394()

◆ getVideoModeDC1394()

◆ getVideoModeMaskDC1394()

◆ getWhiteBalance()

◆ getWhiteBalanceDC1394()

◆ hasAuto()

◆ hasAutoDC1394()

◆ hasFeature()

◆ hasFeatureDC1394()

◆ hasManual()

◆ hasManualDC1394()

◆ hasOnePush()

◆ hasOnePushDC1394()

◆ hasOnOff()

◆ hasOnOffDC1394()

◆ open()

◆ setActive()

◆ setActiveDC1394()

◆ setBrightness()

◆ setBroadcastDC1394()

◆ setBytesPerPacketDC1394()

◆ setCaptureDC1394()

◆ setColorCodingDC1394()

◆ setDefaultsDC1394()

◆ setExposure()

◆ setFeature() [1/2]

◆ setFeature() [2/2]

◆ setFeatureDC1394()

◆ setFormat7WindowDC1394()

◆ setFPSDC1394()

◆ setGain()

◆ setGamma()

◆ setHue()

◆ setIris()

◆ setISOSpeedDC1394()

◆ setMode()

◆ setModeDC1394()