Fawkes API  Fawkes Development Version
firevision::V4L2Camera Class Reference

Video4Linux 2 camera access implementation. More...

#include <>>

Inheritance diagram for firevision::V4L2Camera:

Public Member Functions

 V4L2Camera (const char *device_name="/dev/video0")
 Constructor. More...
 
 V4L2Camera (const CameraArgumentParser *cap)
 Constructor. More...
 
virtual ~V4L2Camera ()
 Destructor. More...
 
virtual void open ()
 Open the camera. More...
 
virtual void start ()
 Start image transfer from the camera. More...
 
virtual void stop ()
 Stop image transfer from the camera. More...
 
virtual void close ()
 Close camera. More...
 
virtual void flush ()
 Flush image queue. More...
 
virtual void capture ()
 Capture an image. More...
 
virtual void print_info ()
 Print out camera information. More...
 
virtual bool ready ()
 Camera is ready for taking pictures. More...
 
virtual unsigned char * buffer ()
 Get access to current image buffer. More...
 
virtual unsigned int buffer_size ()
 Size of buffer. More...
 
virtual void dispose_buffer ()
 Dispose current buffer. More...
 
virtual unsigned int pixel_width ()
 Width of image in pixels. More...
 
virtual unsigned int pixel_height ()
 Height of image in pixels. More...
 
virtual colorspace_t colorspace ()
 Colorspace of returned image. More...
 
virtual fawkes::Timecapture_time ()
 Get the Time of the last successfully captured image. More...
 
virtual void set_image_number (unsigned int n)
 Set image number to retrieve. More...
 
virtual bool auto_gain ()
 Return whether auto gain is enabled. More...
 
virtual void set_auto_gain (bool enabled)
 Enable/disable auto gain. More...
 
virtual bool auto_white_balance ()
 Return whether auto white balance is enabled. More...
 
virtual void set_auto_white_balance (bool enabled)
 Enable/disable auto white balance. More...
 
virtual unsigned int exposure_auto ()
 Return whether auto exposure is enabled. More...
 
virtual void set_exposure_auto (unsigned int exposure_auto)
 Enable/disable auto exposure. More...
 
virtual int red_balance ()
 Get current red balance. More...
 
virtual void set_red_balance (int red_balance)
 Set red balance. More...
 
virtual int blue_balance ()
 Get current blue balance. More...
 
virtual void set_blue_balance (int blue_balance)
 Set blue balance. More...
 
virtual int u_balance ()
 Get current u balance. More...
 
virtual void set_u_balance (int u_balance)
 Set u balance. More...
 
virtual int v_balance ()
 Get current v balance. More...
 
virtual void set_v_balance (int v_balance)
 Set v balance. More...
 
virtual unsigned int brightness ()
 Get current brightness. More...
 
virtual void set_brightness (unsigned int brightness)
 Set new brightness. More...
 
virtual unsigned int contrast ()
 Get current contrast. More...
 
virtual void set_contrast (unsigned int contrast)
 Set new contrast. More...
 
virtual unsigned int saturation ()
 Get current saturation. More...
 
virtual void set_saturation (unsigned int saturation)
 Set new saturation. More...
 
virtual int hue ()
 Get current hue. More...
 
virtual void set_hue (int hue)
 Set new hue. More...
 
virtual unsigned int exposure ()
 Get current exposure. More...
 
virtual void set_exposure (unsigned int exposure)
 Set new exposure. More...
 
virtual unsigned int gain ()
 Get current gain. More...
 
virtual void set_gain (unsigned int gain)
 Set new gain. More...
 
virtual const char * format ()
 Get the image format the camera currently uses. More...
 
virtual void set_format (const char *format)
 Set the image format the camera should use. More...
 
virtual unsigned int width ()
 Get the current width of the image. More...
 
virtual unsigned int height ()
 Get the current height of the image. More...
 
virtual void set_size (unsigned int width, unsigned int height)
 Set the image size the camera should use. More...
 
virtual bool horiz_mirror ()
 Return whether the camera image is horizontally mirrored. More...
 
virtual bool vert_mirror ()
 Return whether the camera image is vertically mirrored. More...
 
virtual void set_horiz_mirror (bool enabled)
 Set whether the camera should mirror images horizontally. More...
 
virtual void set_vert_mirror (bool enabled)
 Set whether the camera should mirror images vertically. More...
 
virtual unsigned int fps ()
 Get the number of frames per second that have been requested from the camera. More...
 
virtual void set_fps (unsigned int fps)
 Set the number of frames per second the camera tries to deliver. More...
 
virtual unsigned int lens_x_corr ()
 Get current lens x correction. More...
 
virtual unsigned int lens_y_corr ()
 Get current lens y correction. More...
 
virtual void set_lens_x_corr (unsigned int x_corr)
 Set lens x correction. More...
 
virtual void set_lens_y_corr (unsigned int y_corr)
 Set lens y correction. More...
 
virtual bool exposure_auto_priority ()
 Get exposure_auto_priority V4L2 control. More...
 
virtual void set_exposure_auto_priority (bool enabled)
 Set exposure_auto_priority V4L2 control. More...
 
virtual unsigned int white_balance_temperature ()
 Get absolute white balance setting. More...
 
virtual void set_white_balance_temperature (unsigned int white_balance_temperature)
 Set white balance. More...
 
virtual unsigned int exposure_absolute ()
 Get absolute exposure time. More...
 
virtual void set_exposure_absolute (unsigned int exposure_absolute)
 set absolute exposure time (1/s) More...
 
virtual unsigned int sharpness ()
 Get sharpness value. More...
 
virtual void set_sharpness (unsigned int sharpness)
 Set sharpness. More...
 
- Public Member Functions inherited from firevision::Camera
virtual ~Camera ()
 Virtual empty destructor. More...
 
- Public Member Functions inherited from firevision::CameraControlColor
virtual ~CameraControlColor ()
 Empty virtual destructor. More...
 
virtual void set_auto_all (bool enabled)
 Enable/disable all automatic settings. More...
 
- Public Member Functions inherited from firevision::CameraControl
virtual ~CameraControl ()
 Virtual empty destructor. More...
 
- Public Member Functions inherited from firevision::CameraControlImage
virtual ~CameraControlImage ()
 Empty virtual destructor. More...
 
virtual void size (unsigned int &width, unsigned int &height)
 Get the current image size. More...
 
virtual void mirror (bool &horiz, bool &vert)
 Get information about current camera image mirroring. More...
 
virtual void set_mirror (bool horiz, bool vert)
 Set whether the camera should mirror images. More...
 
virtual void lens_corr (unsigned int &x_corr, unsigned int &y_corr)
 Get current lens correction. More...
 
virtual void set_lens_corr (unsigned int x_corr, unsigned int y_corr)
 Set lens correction. More...
 

Protected Member Functions

 V4L2Camera (const char *device_name, int dev)
 Protected Constructor. More...
 
virtual void set_one_control (const char *ctrl, unsigned int id, int value)
 Set one Camera control value. More...
 
virtual int get_one_control (const char *ctrl, unsigned int id)
 Get one Camera control value. More...
 

Protected Attributes

char * _device_name
 Device name. More...
 

Friends

class V4LCamera
 

Detailed Description

Video4Linux 2 camera access implementation.

Todo:

UPTR method

v4l2_pix_format.field

Author
Tobias Kellner
Tim Niemueller

Definition at line 46 of file v4l2.h.

Constructor & Destructor Documentation

◆ V4L2Camera() [1/3]

firevision::V4L2Camera::V4L2Camera ( const char *  device_name = "/dev/video0")

Constructor.

Parameters
device_namedevice file name (e.g. /dev/video0)

Definition at line 89 of file v4l2.cpp.

◆ V4L2Camera() [2/3]

firevision::V4L2Camera::V4L2Camera ( const CameraArgumentParser cap)

Constructor.

Initialize camera with parameters from camera argument parser. Supported arguments: *Required:

  • device=DEV, device file, for example /dev/video0 (required) *Optional:
  • read_method=METHOD, preferred read method READ: read() MMAP: memory mapping UPTR: user pointer
  • standard=std, set video standard, e.g. PAL or NTSC
  • input=inp, set video input, e.g. S-Video
  • format=FOURCC, preferred format
  • size=WIDTHxHEIGHT, preferred image size
  • switch_u_v=true/false, switch U and V channels
  • fps=FPS, frames per second
  • aec=true/false, Auto Exposition enabled [warning: only valid on nao]
  • awb=true/false, Auto White Balance enabled
  • agc=true/false, Auto Gain enabled
  • h_flip=true/false, Horizontal mirror
  • v_flip=true/false, Vertical mirror
  • brightness=BRIGHT, Brightness 0-255
  • contrast=CONTR, Contrast 0-127
  • saturation=SAT, Saturation 0-256
  • hue=HUE, Hue -180-180
  • red_balance=RB, Red Balance 0-255
  • blue_balance=BB, Blue Balance 0-255
  • exposure=EXP, Exposure 0-65535
  • gain=GAIN, Gain 0-255
  • lens_x=CORR, Lens Correction X 0-255
  • lens_y=CORR, Lens Correction Y 0-255
    Parameters
    capcamera argument parser

Definition at line 149 of file v4l2.cpp.

References firevision::CameraArgumentParser::get(), and firevision::CameraArgumentParser::has().

◆ ~V4L2Camera()

firevision::V4L2Camera::~V4L2Camera ( )
virtual

Destructor.

Definition at line 401 of file v4l2.cpp.

◆ V4L2Camera() [3/3]

firevision::V4L2Camera::V4L2Camera ( const char *  device_name,
int  dev 
)
protected

Protected Constructor.

Gets called from V4LCamera, when the device has already been opened and determined to be a V4L2 device.

Parameters
device_namedevice file name (e.g. /dev/video0)
devfile descriptor of the opened device

Definition at line 364 of file v4l2.cpp.

Member Function Documentation

◆ auto_gain()

bool firevision::V4L2Camera::auto_gain ( )
virtual

Return whether auto gain is enabled.

Returns
true if auto gain is enabled

Implements firevision::CameraControlColor.

Definition at line 1358 of file v4l2.cpp.

◆ auto_white_balance()

bool firevision::V4L2Camera::auto_white_balance ( )
virtual

Return whether auto white balance is enabled.

Returns
true if auto white balance is enabled

Implements firevision::CameraControlColor.

Definition at line 1371 of file v4l2.cpp.

◆ blue_balance()

int firevision::V4L2Camera::blue_balance ( )
virtual

Get current blue balance.

Returns
current blue balance value

Implements firevision::CameraControlColor.

Definition at line 1410 of file v4l2.cpp.

◆ brightness()

unsigned int firevision::V4L2Camera::brightness ( )
virtual

Get current brightness.

Returns
current brightness value

Implements firevision::CameraControlColor.

Definition at line 1447 of file v4l2.cpp.

◆ buffer()

unsigned char * firevision::V4L2Camera::buffer ( )
virtual

Get access to current image buffer.

This will return a pointer to the current buffer. The buffer contains an image of the given colorspace, width and height.

Returns
pointer to image buffer

Implements firevision::Camera.

Definition at line 1176 of file v4l2.cpp.

◆ buffer_size()

unsigned int firevision::V4L2Camera::buffer_size ( )
virtual

Size of buffer.

Gets the size in bytes of the buffer returned by buffer().

Returns
size of buffer in bytes

Implements firevision::Camera.

Definition at line 1184 of file v4l2.cpp.

◆ capture()

void firevision::V4L2Camera::capture ( )
virtual

Capture an image.

Although cameras shall operate with a continuous image flow where possible sometimes capturing an image means copying a buffer or advancing a buffer list pointer. This shall be done in this method. For a camera-using application it is mandatory to call capture() just before accessing the image buffer.

Implements firevision::Camera.

Definition at line 1124 of file v4l2.cpp.

◆ capture_time()

fawkes::Time * firevision::V4L2Camera::capture_time ( )
virtual

Get the Time of the last successfully captured image.

Returns a Time representing the time when the last image was captured successfully. Note that calling this function is only valid after capture() and before dispose_buffer() has been called – it is only valid when an image is currently available.

Returns
Time of the currently processed image. The pointer shall be valid at least until the next call to dispose_buffer().
Exceptions
NotImplementedExceptionthrown if Camera does not support time stamping

Reimplemented from firevision::Camera.

Definition at line 1257 of file v4l2.cpp.

◆ close()

void firevision::V4L2Camera::close ( )
virtual

Close camera.

This closes the camera device. The camera must have been stopped before calling close().

Implements firevision::Camera.

Definition at line 993 of file v4l2.cpp.

Referenced by firevision::NaoCamera::NaoCamera().

◆ colorspace()

colorspace_t firevision::V4L2Camera::colorspace ( )
virtual

Colorspace of returned image.

Returns
colorspace of image returned by buffer()

Implements firevision::Camera.

Definition at line 1246 of file v4l2.cpp.

◆ contrast()

unsigned int firevision::V4L2Camera::contrast ( )
virtual

Get current contrast.

Returns
current contrast value

Implements firevision::CameraControlColor.

Definition at line 1460 of file v4l2.cpp.

◆ dispose_buffer()

void firevision::V4L2Camera::dispose_buffer ( )
virtual

Dispose current buffer.

Some cameras need disposal of the current buffer (for example to free space in a queue to retrieve the next image). This is done with this method. It has to be called after all work has been done on the image as desired. After dispose_buffer() has been called no further access may happen to the image buffer or undesired behavior may happen.

Implements firevision::Camera.

Definition at line 1192 of file v4l2.cpp.

◆ exposure()

unsigned int firevision::V4L2Camera::exposure ( )
virtual

Get current exposure.

Returns
current exposure value

Implements firevision::CameraControlColor.

Definition at line 1499 of file v4l2.cpp.

◆ exposure_absolute()

unsigned int firevision::V4L2Camera::exposure_absolute ( )
virtual

Get absolute exposure time.

Returns
exposure time value

Definition at line 1320 of file v4l2.cpp.

◆ exposure_auto()

unsigned int firevision::V4L2Camera::exposure_auto ( )
virtual

Return whether auto exposure is enabled.

Returns
true if auto exposure is enabled

Implements firevision::CameraControlColor.

Reimplemented in firevision::NaoCamera.

Definition at line 1384 of file v4l2.cpp.

◆ exposure_auto_priority()

bool firevision::V4L2Camera::exposure_auto_priority ( )
virtual

Get exposure_auto_priority V4L2 control.

Returns
whether auto exposure gets priority

Definition at line 1278 of file v4l2.cpp.

◆ flush()

void firevision::V4L2Camera::flush ( )
virtual

Flush image queue.

Some cameras may have an image buffer queue. With this it can happen that if the processing of an image took longer than desired it is needed to flush this buffer queue.

Implements firevision::Camera.

Definition at line 1117 of file v4l2.cpp.

◆ format()

const char * firevision::V4L2Camera::format ( )
virtual

Get the image format the camera currently uses.

Check implementation documentation for details on the format.

Returns
a string describing the image format
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1526 of file v4l2.cpp.

◆ fps()

unsigned int firevision::V4L2Camera::fps ( )
virtual

Get the number of frames per second that have been requested from the camera.

A return value of 0 means that fps haven't been set yet through the camera.

Returns
the currently requested fps or 0 if not set yet

Reimplemented from firevision::CameraControlImage.

Definition at line 1591 of file v4l2.cpp.

◆ gain()

unsigned int firevision::V4L2Camera::gain ( )
virtual

Get current gain.

Returns
current gain value

Implements firevision::CameraControlColor.

Definition at line 1512 of file v4l2.cpp.

◆ get_one_control()

int firevision::V4L2Camera::get_one_control ( const char *  ctrl,
unsigned int  id 
)
protectedvirtual

Get one Camera control value.

Parameters
ctrlname of the value
idID of the value
Returns
current value

Definition at line 863 of file v4l2.cpp.

Referenced by firevision::NaoCamera::exposure_auto().

◆ height()

unsigned int firevision::V4L2Camera::height ( )
virtual

Get the current height of the image.

Returns
height in pixels

Implements firevision::CameraControlImage.

Definition at line 1546 of file v4l2.cpp.

◆ horiz_mirror()

bool firevision::V4L2Camera::horiz_mirror ( )
virtual

Return whether the camera image is horizontally mirrored.

Returns
true if the image is horizontally mirrored
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1561 of file v4l2.cpp.

◆ hue()

int firevision::V4L2Camera::hue ( )
virtual

Get current hue.

Returns
current hue value

Implements firevision::CameraControlColor.

Definition at line 1486 of file v4l2.cpp.

◆ lens_x_corr()

unsigned int firevision::V4L2Camera::lens_x_corr ( )
virtual

Get current lens x correction.

Returns
current lens x correction
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1604 of file v4l2.cpp.

◆ lens_y_corr()

unsigned int firevision::V4L2Camera::lens_y_corr ( )
virtual

Get current lens y correction.

Returns
current lens y correction
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1610 of file v4l2.cpp.

◆ open()

void firevision::V4L2Camera::open ( )
virtual

Open the camera.

The camera is opened, but image transfer not yet started. This can be used to detect general problems with the camera while delaying the real transfer startup until it is needed.

Implements firevision::Camera.

Definition at line 413 of file v4l2.cpp.

Referenced by firevision::NaoCamera::NaoCamera().

◆ pixel_height()

unsigned int firevision::V4L2Camera::pixel_height ( )
virtual

Height of image in pixels.

Returns
height of image in pixels

Implements firevision::Camera.

Definition at line 1238 of file v4l2.cpp.

◆ pixel_width()

unsigned int firevision::V4L2Camera::pixel_width ( )
virtual

Width of image in pixels.

Returns
width of image in pixels

Implements firevision::Camera.

Definition at line 1230 of file v4l2.cpp.

◆ print_info()

void firevision::V4L2Camera::print_info ( )
virtual

Print out camera information.

Shall print out camera information and current setup information on stdout.

Implements firevision::Camera.

Definition at line 1631 of file v4l2.cpp.

◆ ready()

bool firevision::V4L2Camera::ready ( )
virtual

Camera is ready for taking pictures.

The camera has been opened and started correctly and may now provide images.

Returns
true, if the camera is ready, false otherwise

Implements firevision::Camera.

Definition at line 1111 of file v4l2.cpp.

◆ red_balance()

int firevision::V4L2Camera::red_balance ( )
virtual

Get current red balance.

Returns
current red balance value

Implements firevision::CameraControlColor.

Definition at line 1397 of file v4l2.cpp.

◆ saturation()

unsigned int firevision::V4L2Camera::saturation ( )
virtual

Get current saturation.

Returns
current saturation value

Implements firevision::CameraControlColor.

Definition at line 1473 of file v4l2.cpp.

◆ set_auto_gain()

void firevision::V4L2Camera::set_auto_gain ( bool  enabled)
virtual

Enable/disable auto gain.

Parameters
enabledwhether auto gain should be enabled

Implements firevision::CameraControlColor.

Definition at line 1364 of file v4l2.cpp.

◆ set_auto_white_balance()

void firevision::V4L2Camera::set_auto_white_balance ( bool  enabled)
virtual

Enable/disable auto white balance.

Parameters
enabledwhether auto white balance should be enabled

Implements firevision::CameraControlColor.

Definition at line 1377 of file v4l2.cpp.

◆ set_blue_balance()

void firevision::V4L2Camera::set_blue_balance ( int  blue_balance)
virtual

Set blue balance.

Parameters
blue_balancenew blue balance

Implements firevision::CameraControlColor.

Definition at line 1416 of file v4l2.cpp.

◆ set_brightness()

void firevision::V4L2Camera::set_brightness ( unsigned int  brightness)
virtual

Set new brightness.

Parameters
brightnessnew brightness

Implements firevision::CameraControlColor.

Definition at line 1453 of file v4l2.cpp.

◆ set_contrast()

void firevision::V4L2Camera::set_contrast ( unsigned int  contrast)
virtual

Set new contrast.

Parameters
contrastnew contrast

Implements firevision::CameraControlColor.

Definition at line 1466 of file v4l2.cpp.

◆ set_exposure()

void firevision::V4L2Camera::set_exposure ( unsigned int  exposure)
virtual

Set new exposure.

Parameters
exposurenew exposure

Implements firevision::CameraControlColor.

Definition at line 1505 of file v4l2.cpp.

◆ set_exposure_absolute()

void firevision::V4L2Camera::set_exposure_absolute ( unsigned int  exposure_absolute)
virtual

set absolute exposure time (1/s)

Parameters
exposure_absolute

Definition at line 1330 of file v4l2.cpp.

◆ set_exposure_auto()

void firevision::V4L2Camera::set_exposure_auto ( unsigned int  enabled)
virtual

Enable/disable auto exposure.

Parameters
enabledwhether auto exposure should be enabled

Implements firevision::CameraControlColor.

Definition at line 1390 of file v4l2.cpp.

◆ set_exposure_auto_priority()

void firevision::V4L2Camera::set_exposure_auto_priority ( bool  enabled)
virtual

Set exposure_auto_priority V4L2 control.

Parameters
enabled

Definition at line 1288 of file v4l2.cpp.

◆ set_format()

void firevision::V4L2Camera::set_format ( const char *  format)
virtual

Set the image format the camera should use.

Check implementation documentation for details on the format.

Parameters
formatthe new image format
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1532 of file v4l2.cpp.

◆ set_fps()

void firevision::V4L2Camera::set_fps ( unsigned int  fps)
virtual

Set the number of frames per second the camera tries to deliver.

Parameters
fpsthe new fps
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1597 of file v4l2.cpp.

◆ set_gain()

void firevision::V4L2Camera::set_gain ( unsigned int  gain)
virtual

Set new gain.

Parameters
gainnew gain

Implements firevision::CameraControlColor.

Definition at line 1518 of file v4l2.cpp.

◆ set_horiz_mirror()

void firevision::V4L2Camera::set_horiz_mirror ( bool  enabled)
virtual

Set whether the camera should mirror images horizontally.

Parameters
enabledif true, images should be mirrored horizontally
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1573 of file v4l2.cpp.

◆ set_hue()

void firevision::V4L2Camera::set_hue ( int  hue)
virtual

Set new hue.

Parameters
huenew hue

Implements firevision::CameraControlColor.

Definition at line 1492 of file v4l2.cpp.

◆ set_image_number()

void firevision::V4L2Camera::set_image_number ( unsigned int  n)
virtual

Set image number to retrieve.

If a camera is able to retrieve several images this method can be used to select the image to be retrieved with the next call to capture().

Parameters
nimage number to set

Implements firevision::Camera.

Definition at line 1263 of file v4l2.cpp.

◆ set_lens_x_corr()

void firevision::V4L2Camera::set_lens_x_corr ( unsigned int  x_corr)
virtual

Set lens x correction.

Parameters
x_corrnew lens x correction
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1616 of file v4l2.cpp.

◆ set_lens_y_corr()

void firevision::V4L2Camera::set_lens_y_corr ( unsigned int  y_corr)
virtual

Set lens y correction.

Parameters
y_corrnew lens y correction
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1623 of file v4l2.cpp.

◆ set_one_control()

void firevision::V4L2Camera::set_one_control ( const char *  ctrl,
unsigned int  id,
int  value 
)
protectedvirtual

Set one Camera control value.

Parameters
ctrlname of the value
idID of the value
valuevalue to set

Definition at line 824 of file v4l2.cpp.

Referenced by firevision::NaoCamera::set_exposure_auto().

◆ set_red_balance()

void firevision::V4L2Camera::set_red_balance ( int  red_balance)
virtual

Set red balance.

Parameters
red_balancenew red balance

Implements firevision::CameraControlColor.

Definition at line 1403 of file v4l2.cpp.

◆ set_saturation()

void firevision::V4L2Camera::set_saturation ( unsigned int  saturation)
virtual

Set new saturation.

Parameters
saturationnew saturation

Implements firevision::CameraControlColor.

Definition at line 1479 of file v4l2.cpp.

◆ set_sharpness()

void firevision::V4L2Camera::set_sharpness ( unsigned int  sharpness)
virtual

Set sharpness.

Lower = blurrier picture

Parameters
sharpness

Definition at line 1351 of file v4l2.cpp.

◆ set_size()

void firevision::V4L2Camera::set_size ( unsigned int  width,
unsigned int  height 
)
virtual

Set the image size the camera should use.

Parameters
widthnew width of the image
heightnew height of the image
Exceptions
Exceptionthrown for instance if size setting at run-time is not supported

Implements firevision::CameraControlImage.

Definition at line 1552 of file v4l2.cpp.

◆ set_u_balance()

void firevision::V4L2Camera::set_u_balance ( int  u_balance)
virtual

Set u balance.

Parameters
u_balancenew u balance

Implements firevision::CameraControlColor.

Definition at line 1429 of file v4l2.cpp.

◆ set_v_balance()

void firevision::V4L2Camera::set_v_balance ( int  v_balance)
virtual

Set v balance.

Parameters
v_balancenew v balance

Implements firevision::CameraControlColor.

Definition at line 1441 of file v4l2.cpp.

◆ set_vert_mirror()

void firevision::V4L2Camera::set_vert_mirror ( bool  enabled)
virtual

Set whether the camera should mirror images vertically.

Parameters
enabledif true, images should be mirrored vertically
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1580 of file v4l2.cpp.

◆ set_white_balance_temperature()

void firevision::V4L2Camera::set_white_balance_temperature ( unsigned int  white_balance_temperature)
virtual

Set white balance.

Parameters
white_balance_temperature

Definition at line 1309 of file v4l2.cpp.

◆ sharpness()

unsigned int firevision::V4L2Camera::sharpness ( )
virtual

Get sharpness value.

Returns
V4L2 sharpness setting

Definition at line 1341 of file v4l2.cpp.

◆ start()

void firevision::V4L2Camera::start ( )
virtual

Start image transfer from the camera.

For many cameras opening the camera and starting transmission of images are two tasks. This method will simply initiate the transfer after the camera as been opened. And exception shall be thrown if the camera has not been opened.

Implements firevision::Camera.

Definition at line 1037 of file v4l2.cpp.

◆ stop()

void firevision::V4L2Camera::stop ( )
virtual

Stop image transfer from the camera.

This will stop the image transfer initiated with start(). This can be used to start and stop the image transfer at will without opening and closing operations inbetween.

Implements firevision::Camera.

Definition at line 1083 of file v4l2.cpp.

◆ u_balance()

int firevision::V4L2Camera::u_balance ( )
virtual

Get current u balance.

Returns
current u balance value

Implements firevision::CameraControlColor.

Definition at line 1423 of file v4l2.cpp.

◆ v_balance()

int firevision::V4L2Camera::v_balance ( )
virtual

Get current v balance.

Returns
current v balance value

Implements firevision::CameraControlColor.

Definition at line 1435 of file v4l2.cpp.

◆ vert_mirror()

bool firevision::V4L2Camera::vert_mirror ( )
virtual

Return whether the camera image is vertically mirrored.

Returns
true if the image is vertically mirrored
Exceptions
NotImplementedExceptionNot implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1567 of file v4l2.cpp.

◆ white_balance_temperature()

unsigned int firevision::V4L2Camera::white_balance_temperature ( )
virtual

Get absolute white balance setting.

Returns
white balance temperature

Definition at line 1299 of file v4l2.cpp.

◆ width()

unsigned int firevision::V4L2Camera::width ( )
virtual

Get the current width of the image.

Returns
width in pixels

Implements firevision::CameraControlImage.

Definition at line 1540 of file v4l2.cpp.

Member Data Documentation

◆ _device_name

char* firevision::V4L2Camera::_device_name
protected

Device name.

Definition at line 149 of file v4l2.h.

Referenced by firevision::NaoCamera::NaoCamera(), and firevision::NaoCamera::set_source().


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