Fawkes API  Fawkes Development Version
firevision::NaoCamera Class Reference

Video4Linux 2 camera with Nao-specific extensions. More...

#include <>>

Inheritance diagram for firevision::NaoCamera:

Public Member Functions

 NaoCamera (const CameraArgumentParser *cap)
 Constructor. More...
 
virtual unsigned char source ()
 Return which cam is currently being used. More...
 
virtual void set_source (unsigned char source)
 Switch currently used camera. More...
 
virtual bool exposure_auto ()
 Return whether auto exposure is enabled. More...
 
virtual void set_exposure_auto (bool enabled)
 Enable/disable auto exposure. More...
 
- Public Member Functions inherited from firevision::V4L2Camera
 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 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...
 
- Public Member Functions inherited from firevision::CameraControlSource
virtual ~CameraControlSource ()
 Empty virtual destructor. More...
 

Additional Inherited Members

- Protected Member Functions inherited from firevision::V4L2Camera
 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 inherited from firevision::V4L2Camera
char * _device_name
 Device name. More...
 

Detailed Description

Video4Linux 2 camera with Nao-specific extensions.

Author
Tobias Kellner
Tim Niemueller

Definition at line 46 of file nao.h.

Constructor & Destructor Documentation

◆ NaoCamera()

firevision::NaoCamera::NaoCamera ( const CameraArgumentParser cap)

Constructor.

Initialize camera with parameters from camera argument parser. Supported arguments (additionally to V4L2Camera arguments): *Required:

  • i2c_device=DEV, i2c device file, for example /dev/i2c-0 (required) *Optional:
  • cam=brow/mouth string to identify camera, default is mouth
    Parameters
    capcamera argument parser

Definition at line 117 of file nao.cpp.

References firevision::V4L2Camera::_device_name, firevision::V4L2Camera::close(), firevision::CameraArgumentParser::get(), firevision::CameraArgumentParser::has(), firevision::V4L2Camera::open(), and firevision::CameraControlImage::size().

Member Function Documentation

◆ exposure_auto()

bool firevision::NaoCamera::exposure_auto ( )
virtual

Return whether auto exposure is enabled.

Returns
true if auto exposure is enabled

Reimplemented from firevision::V4L2Camera.

Definition at line 282 of file nao.cpp.

References firevision::V4L2Camera::get_one_control().

◆ set_exposure_auto()

void firevision::NaoCamera::set_exposure_auto ( bool  enabled)
virtual

Enable/disable auto exposure.

Parameters
enabledwhether auto exposure should be enabled

Definition at line 291 of file nao.cpp.

References firevision::V4L2Camera::set_one_control().

◆ set_source()

void firevision::NaoCamera::set_source ( unsigned char  source)
virtual

Switch currently used camera.

Valid arguments: 1: brow-cam 2: mouth-cam

Parameters
sourceID of the camera to use

Implements firevision::CameraControlSource.

Definition at line 264 of file nao.cpp.

References firevision::V4L2Camera::_device_name.

◆ source()

unsigned char firevision::NaoCamera::source ( )
virtual

Return which cam is currently being used.

1: brow-cam 2: mouth-cam

Returns
ID of camera currently in use

Implements firevision::CameraControlSource.

Definition at line 248 of file nao.cpp.


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