Fawkes API
Fawkes Development Version
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Camera pan/tilt control interface. More...
#include <>>
Public Member Functions | |
virtual | ~CameraControlPanTilt () |
Empty virtual destructor. More... | |
virtual void | process_pantilt ()=0 |
Process pan/tilt information. More... | |
virtual bool | supports_pan ()=0 |
Check whether this controller supports panning. More... | |
virtual bool | supports_tilt ()=0 |
Check whether this controller supports tilting. More... | |
virtual void | set_pan (int pan)=0 |
Set pan value. More... | |
virtual void | set_tilt (int tilt)=0 |
Set tilt value. More... | |
virtual void | set_pan_tilt (int pan, int tilt)=0 |
Set pan and tilt in one go. More... | |
virtual void | set_pan_tilt_rad (float pan, float tilt)=0 |
Set pan and tilt as float value. More... | |
virtual int | pan ()=0 |
Get pan value. More... | |
virtual int | tilt ()=0 |
Get tilt value. More... | |
virtual void | start_get_pan_tilt ()=0 |
Start asynchronous fetch operation for pan and tilt values. More... | |
virtual void | pan_tilt (int &pan, int &tilt)=0 |
Get pan and tilt at the same time. More... | |
virtual void | pan_tilt_rad (float &pan, float &tilt)=0 |
Get pan and tilt at the same time in radiant. More... | |
virtual int | min_pan ()=0 |
Get minimum pan value. More... | |
virtual int | max_pan ()=0 |
Get maximum pan value. More... | |
virtual int | min_tilt ()=0 |
Get minimum tilt value. More... | |
virtual int | max_tilt ()=0 |
Get maximum tilt value. More... | |
virtual void | reset_pan_tilt ()=0 |
Bring camera into home position. More... | |
virtual void | set_pan_tilt_limit (int pan_left, int pan_right, int tilt_up, int tilt_down)=0 |
Set pan/tilt limits. More... | |
virtual void | reset_pan_tilt_limit ()=0 |
Reset pan/tilt limits. More... | |
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virtual | ~CameraControl () |
Virtual empty destructor. More... | |
Camera pan/tilt control interface.
Some cameras feature an actuator to allow for panning and tilting the camera.
This interface shall be implemented by such cameras or for other external units for panning and tilting.
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virtual |
Empty virtual destructor.
Definition at line 152 of file pantilt.cpp.
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pure virtual |
Get maximum pan value.
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Get maximum tilt value.
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Get minimum pan value.
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Get minimum tilt value.
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Get pan value.
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Get pan and tilt at the same time.
This will store the current pan and tilt values in the given arguments.
pan | contains current pan after call |
tilt | contains current tilt after call |
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Get pan and tilt at the same time in radiant.
This will store the current pan and tilt values in the given arguments.
pan | contains current pan after call |
tilt | contains current tilt after call |
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Process pan/tilt information.
Some operations allow for asynchronous usage (like fetching pan/tilt data). This is because some cameras need some time to retrieve the information and thus it is a good idea to let that run besides the image processing loop. With process_control the incoming information is processed.
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Bring camera into home position.
After the reset the camera shall look forward (horizontally and vertically centered "home" position).
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Reset pan/tilt limits.
This removes all limits from the pan/tilt methods thus the only constraints are hardware induced.
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Set pan value.
The pan value is dependent on the camera control. See the implementations documentation for details.
pan | new pan value |
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Set pan and tilt in one go.
Sometimes camera controls have a command for setting pan and tilt at the same time. If possible this should be preferred since is minimizes the number of required operations and communication acts. See the implementations documentation for details.
pan | new pan value |
tilt | new tilt value |
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Set pan/tilt limits.
Some camera controls allow for extra constraints to the min and max pan/tilt values.
pan_left | new minimum pan limit |
pan_right | new maximum pan limit |
tilt_up | new minimum tilt limit |
tilt_down | new maximum tilt limit |
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Set pan and tilt as float value.
You give a radiant value where the camera should head relative to the basic camera position. Implementations shall look forward (center the camera) for if pan equals zero, look right if the pan is positive and left is the pan is negative, they shall look forward (vertically centered) if tilt is zero, upwards if tilt is negative and downwards if tilt is positive.
pan | new pan value in radiant |
tilt | new tilt value in radiant |
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Set tilt value.
The tilt value is dependent on the camera control. See the implementations documentation for details.
tilt | new tilt value |
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Start asynchronous fetch operation for pan and tilt values.
This will initiate fetching the pan and tilt values but will not wait until the values have been received but will return immediately (non-blocking).
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Check whether this controller supports panning.
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Check whether this controller supports tilting.
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.
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pure virtual |
Get tilt value.
Implemented in firevision::DummyCameraControl, and firevision::SonyEviD100PControl.