Fawkes API
Fawkes Development Version
|
SwissRanger camera. More...
#include <>>
Public Types | |
enum | mode_t { DISTANCE, DISTANCE_GRAY_8, AMPLITUDE, AMPLITUDE_GRAY, AMPLITUDE_GRAY_8, CONF_MAP, CARTESIAN_UINT16, CARTESIAN_FLOAT, CARTESIAN_DOUBLE } |
Operation mode of the camera. More... | |
Public Member Functions | |
SwissRangerCamera (const CameraArgumentParser *cap) | |
Constructor. More... | |
virtual | ~SwissRangerCamera () |
Empty 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 void | set_image_number (unsigned int n) |
Set image number to retrieve. More... | |
virtual const char * | model () const |
Get camera model. More... | |
![]() | |
virtual | ~Camera () |
Virtual empty destructor. More... | |
virtual fawkes::Time * | capture_time () |
Get the Time of the last successfully captured image. More... | |
Static Public Member Functions | |
static void | print_available_cams () |
Print list of cameras. More... | |
Protected Attributes | |
bool | _opened |
true if camera has been opened, false otherwise More... | |
bool | _started |
true if camera has been started, false otherwise More... | |
bool | _valid_frame_received |
true, if a valid frame has been received, false otherwise More... | |
SwissRanger camera.
This camera implementation provides access to the SwissRanger SR4000 camera (and probably other models supported by libmesasr, but cannot test).
Definition at line 40 of file swissranger.h.
Operation mode of the camera.
Definition at line 45 of file swissranger.h.
firevision::SwissRangerCamera::SwissRangerCamera | ( | const CameraArgumentParser * | cap | ) |
Constructor.
Initialize and take parameters from camera argument parser. The following arguments are supported:
cap | camera argument parser |
Definition at line 413 of file swissranger.cpp.
References firevision::CameraArgumentParser::get(), firevision::CameraArgumentParser::get_int(), and firevision::CameraArgumentParser::has().
|
virtual |
Empty destructor.
Definition at line 60 of file swissranger.cpp.
|
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.
Implements firevision::Camera.
Definition at line 294 of file swissranger.cpp.
|
virtual |
Size of buffer.
Gets the size in bytes of the buffer returned by buffer().
Implements firevision::Camera.
Definition at line 305 of file swissranger.cpp.
|
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 245 of file swissranger.cpp.
|
virtual |
Close camera.
This closes the camera device. The camera must have been stopped before calling close().
Implements firevision::Camera.
Definition at line 204 of file swissranger.cpp.
|
virtual |
Colorspace of returned image.
Implements firevision::Camera.
Definition at line 344 of file swissranger.cpp.
|
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 315 of file swissranger.cpp.
|
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 288 of file swissranger.cpp.
|
virtual |
Get camera model.
Definition at line 234 of file swissranger.cpp.
|
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 71 of file swissranger.cpp.
|
virtual |
Height of image in pixels.
Implements firevision::Camera.
Definition at line 333 of file swissranger.cpp.
|
virtual |
Width of image in pixels.
Implements firevision::Camera.
Definition at line 322 of file swissranger.cpp.
|
static |
Print list of cameras.
Prints a list of available cameras to stdout.
Definition at line 510 of file swissranger.cpp.
|
virtual |
Print out camera information.
Shall print out camera information and current setup information on stdout.
Implements firevision::Camera.
Definition at line 194 of file swissranger.cpp.
|
virtual |
Camera is ready for taking pictures.
The camera has been opened and started correctly and may now provide images.
Implements firevision::Camera.
Definition at line 368 of file swissranger.cpp.
|
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().
n | image number to set |
Implements firevision::Camera.
Definition at line 375 of file swissranger.cpp.
|
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 174 of file swissranger.cpp.
|
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 187 of file swissranger.cpp.
|
protected |
true if camera has been opened, false otherwise
Definition at line 89 of file swissranger.h.
|
protected |
true if camera has been started, false otherwise
Definition at line 91 of file swissranger.h.
|
protected |
true, if a valid frame has been received, false otherwise
Definition at line 93 of file swissranger.h.