Fawkes API
Fawkes Development Version
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Video4Linux 2 camera access implementation. More...
#include <>>
Classes | |
struct | ControlParameterInt |
struct | FrameBuffer |
Public Member Functions | |
V4L2Camera (const char *device_name="/dev/video0") | |
Constructor. | |
V4L2Camera (const CameraArgumentParser *cap) | |
Constructor. | |
virtual | ~V4L2Camera () |
Destructor. | |
virtual void | open () |
Open the camera. | |
virtual void | start () |
Start image transfer from the camera. | |
virtual void | stop () |
Stop image transfer from the camera. | |
virtual void | close () |
Close camera. | |
virtual void | flush () |
Flush image queue. | |
virtual void | capture () |
Capture an image. | |
virtual void | print_info () |
Print out camera information. | |
virtual bool | ready () |
Camera is ready for taking pictures. | |
virtual unsigned char * | buffer () |
Get access to current image buffer. | |
virtual unsigned int | buffer_size () |
Size of buffer. | |
virtual void | dispose_buffer () |
Dispose current buffer. | |
virtual unsigned int | pixel_width () |
Width of image in pixels. | |
virtual unsigned int | pixel_height () |
Height of image in pixels. | |
virtual colorspace_t | colorspace () |
Colorspace of returned image. | |
virtual fawkes::Time * | capture_time () |
Get the Time of the last successfully captured image. | |
virtual void | set_image_number (unsigned int n) |
Set image number to retrieve. | |
virtual bool | auto_gain () |
Return whether auto gain is enabled. | |
virtual void | set_auto_gain (bool enabled) |
Enable/disable auto gain. | |
virtual bool | auto_white_balance () |
Return whether auto white balance is enabled. | |
virtual void | set_auto_white_balance (bool enabled) |
Enable/disable auto white balance. | |
virtual bool | auto_exposure () |
Return whether auto exposure is enabled. | |
virtual void | set_auto_exposure (bool enabled) |
Enable/disable auto exposure. | |
virtual int | red_balance () |
Get current red balance. | |
virtual void | set_red_balance (int red_balance) |
Set red balance. | |
virtual int | blue_balance () |
Get current blue balance. | |
virtual void | set_blue_balance (int blue_balance) |
Set blue balance. | |
virtual int | u_balance () |
Get current u balance. | |
virtual void | set_u_balance (int u_balance) |
Set u balance. | |
virtual int | v_balance () |
Get current v balance. | |
virtual void | set_v_balance (int v_balance) |
Set v balance. | |
virtual unsigned int | brightness () |
Get current brightness. | |
virtual void | set_brightness (unsigned int brightness) |
Set new brightness. | |
virtual unsigned int | contrast () |
Get current contrast. | |
virtual void | set_contrast (unsigned int contrast) |
Set new contrast. | |
virtual unsigned int | saturation () |
Get current saturation. | |
virtual void | set_saturation (unsigned int saturation) |
Set new saturation. | |
virtual int | hue () |
Get current hue. | |
virtual void | set_hue (int hue) |
Set new hue. | |
virtual unsigned int | exposure () |
Get current exposure. | |
virtual void | set_exposure (unsigned int exposure) |
Set new exposure. | |
virtual unsigned int | gain () |
Get current gain. | |
virtual void | set_gain (unsigned int gain) |
Set new gain. | |
virtual const char * | format () |
Get the image format the camera currently uses. | |
virtual void | set_format (const char *format) |
Set the image format the camera should use. | |
virtual unsigned int | width () |
Get the current width of the image. | |
virtual unsigned int | height () |
Get the current height of the image. | |
virtual void | set_size (unsigned int width, unsigned int height) |
Set the image size the camera should use. | |
virtual bool | horiz_mirror () |
Return whether the camera image is horizontally mirrored. | |
virtual bool | vert_mirror () |
Return whether the camera image is vertically mirrored. | |
virtual void | set_horiz_mirror (bool enabled) |
Set whether the camera should mirror images horizontally. | |
virtual void | set_vert_mirror (bool enabled) |
Set whether the camera should mirror images vertically. | |
virtual unsigned int | fps () |
Get the number of frames per second that have been requested from the camera. | |
virtual void | set_fps (unsigned int fps) |
Set the number of frames per second the camera tries to deliver. | |
virtual unsigned int | lens_x_corr () |
Get current lens x correction. | |
virtual unsigned int | lens_y_corr () |
Get current lens y correction. | |
virtual void | set_lens_x_corr (unsigned int x_corr) |
Set lens x correction. | |
virtual void | set_lens_y_corr (unsigned int y_corr) |
Set lens y correction. | |
Protected Member Functions | |
V4L2Camera (const char *device_name, int dev) | |
Protected Constructor. | |
virtual void | set_one_control (const char *ctrl, unsigned int id, int value) |
Set one Camera control value. | |
virtual int | get_one_control (const char *ctrl, unsigned int id) |
Get one Camera control value. | |
Protected Attributes | |
char * | _device_name |
Device name. | |
Friends | |
class | V4LCamera |
Video4Linux 2 camera access implementation.
UPTR method
Standards queries (VIDIOC_ENUMSTD)
v4l2_pix_format.field
firevision::V4L2Camera::V4L2Camera | ( | const char * | device_name = "/dev/video0" | ) |
firevision::V4L2Camera::V4L2Camera | ( | const CameraArgumentParser * | cap | ) |
Constructor.
Initialize camera with parameters from camera argument parser. Supported arguments: *Required:
cap | camera argument parser |
Definition at line 140 of file v4l2.cpp.
References firevision::CameraArgumentParser::has(), and firevision::CameraArgumentParser::get().
firevision::V4L2Camera::~V4L2Camera | ( | ) | [virtual] |
firevision::V4L2Camera::V4L2Camera | ( | const char * | device_name, |
int | dev | ||
) | [protected] |
bool firevision::V4L2Camera::auto_exposure | ( | ) | [virtual] |
Return whether auto exposure is enabled.
Implements firevision::CameraControlColor.
Reimplemented in firevision::NaoCamera.
bool firevision::V4L2Camera::auto_gain | ( | ) | [virtual] |
Return whether auto gain is enabled.
Implements firevision::CameraControlColor.
bool firevision::V4L2Camera::auto_white_balance | ( | ) | [virtual] |
Return whether auto white balance is enabled.
Implements firevision::CameraControlColor.
int firevision::V4L2Camera::blue_balance | ( | ) | [virtual] |
Get current blue balance.
Implements firevision::CameraControlColor.
unsigned int firevision::V4L2Camera::brightness | ( | ) | [virtual] |
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.
Implements firevision::Camera.
unsigned int firevision::V4L2Camera::buffer_size | ( | ) | [virtual] |
Size of buffer.
Gets the size in bytes of the buffer returned by buffer().
Implements firevision::Camera.
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.
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.
NotImplementedException | thrown if Camera does not support time stamping |
Reimplemented from firevision::Camera.
void firevision::V4L2Camera::close | ( | ) | [virtual] |
Close camera.
This closes the camera device. The camera must have been stopped before calling close().
Implements firevision::Camera.
colorspace_t firevision::V4L2Camera::colorspace | ( | ) | [virtual] |
Colorspace of returned image.
Implements firevision::Camera.
unsigned int firevision::V4L2Camera::contrast | ( | ) | [virtual] |
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.
unsigned int firevision::V4L2Camera::exposure | ( | ) | [virtual] |
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.
const char * firevision::V4L2Camera::format | ( | ) | [virtual] |
Get the image format the camera currently uses.
Check implementation documentation for details on the format.
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
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.
Reimplemented from firevision::CameraControlImage.
unsigned int firevision::V4L2Camera::gain | ( | ) | [virtual] |
int firevision::V4L2Camera::get_one_control | ( | const char * | ctrl, |
unsigned int | id | ||
) | [protected, virtual] |
Get one Camera control value.
ctrl | name of the value |
id | ID of the value |
Definition at line 861 of file v4l2.cpp.
Referenced by firevision::NaoCamera::auto_exposure().
unsigned int firevision::V4L2Camera::height | ( | ) | [virtual] |
Get the current height of the image.
Implements firevision::CameraControlImage.
bool firevision::V4L2Camera::horiz_mirror | ( | ) | [virtual] |
Return whether the camera image is horizontally mirrored.
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
int firevision::V4L2Camera::hue | ( | ) | [virtual] |
unsigned int firevision::V4L2Camera::lens_x_corr | ( | ) | [virtual] |
Get current lens x correction.
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
unsigned int firevision::V4L2Camera::lens_y_corr | ( | ) | [virtual] |
Get current lens y correction.
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
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.
unsigned int firevision::V4L2Camera::pixel_height | ( | ) | [virtual] |
unsigned int firevision::V4L2Camera::pixel_width | ( | ) | [virtual] |
void firevision::V4L2Camera::print_info | ( | ) | [virtual] |
Print out camera information.
Shall print out camera information and current setup information on stdout.
Implements firevision::Camera.
bool firevision::V4L2Camera::ready | ( | ) | [virtual] |
Camera is ready for taking pictures.
The camera has been opened and started correctly and may now provide images.
Implements firevision::Camera.
int firevision::V4L2Camera::red_balance | ( | ) | [virtual] |
Get current red balance.
Implements firevision::CameraControlColor.
unsigned int firevision::V4L2Camera::saturation | ( | ) | [virtual] |
void firevision::V4L2Camera::set_auto_exposure | ( | bool | enabled | ) | [virtual] |
Enable/disable auto exposure.
enabled | whether auto exposure should be enabled |
Implements firevision::CameraControlColor.
Reimplemented in firevision::NaoCamera.
void firevision::V4L2Camera::set_auto_gain | ( | bool | enabled | ) | [virtual] |
Enable/disable auto gain.
enabled | whether auto gain should be enabled |
Implements firevision::CameraControlColor.
void firevision::V4L2Camera::set_auto_white_balance | ( | bool | enabled | ) | [virtual] |
Enable/disable auto white balance.
enabled | whether auto white balance should be enabled |
Implements firevision::CameraControlColor.
void firevision::V4L2Camera::set_blue_balance | ( | int | blue_balance | ) | [virtual] |
Set blue balance.
blue_balance | new blue balance |
Implements firevision::CameraControlColor.
void firevision::V4L2Camera::set_brightness | ( | unsigned int | brightness | ) | [virtual] |
void firevision::V4L2Camera::set_contrast | ( | unsigned int | contrast | ) | [virtual] |
void firevision::V4L2Camera::set_exposure | ( | unsigned int | exposure | ) | [virtual] |
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.
format | the new image format |
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
void firevision::V4L2Camera::set_fps | ( | unsigned int | fps | ) | [virtual] |
Set the number of frames per second the camera tries to deliver.
fps | the new fps |
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
void firevision::V4L2Camera::set_gain | ( | unsigned int | gain | ) | [virtual] |
void firevision::V4L2Camera::set_horiz_mirror | ( | bool | enabled | ) | [virtual] |
Set whether the camera should mirror images horizontally.
enabled | if true, images should be mirrored horizontally |
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
void firevision::V4L2Camera::set_hue | ( | int | hue | ) | [virtual] |
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().
n | image number to set |
Implements firevision::Camera.
void firevision::V4L2Camera::set_lens_x_corr | ( | unsigned int | x_corr | ) | [virtual] |
Set lens x correction.
x_corr | new lens x correction |
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
void firevision::V4L2Camera::set_lens_y_corr | ( | unsigned int | y_corr | ) | [virtual] |
Set lens y correction.
y_corr | new lens y correction |
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
void firevision::V4L2Camera::set_one_control | ( | const char * | ctrl, |
unsigned int | id, | ||
int | value | ||
) | [protected, virtual] |
Set one Camera control value.
ctrl | name of the value |
id | ID of the value |
value | value to set |
Definition at line 818 of file v4l2.cpp.
Referenced by firevision::NaoCamera::set_auto_exposure().
void firevision::V4L2Camera::set_red_balance | ( | int | red_balance | ) | [virtual] |
void firevision::V4L2Camera::set_saturation | ( | unsigned int | saturation | ) | [virtual] |
void firevision::V4L2Camera::set_size | ( | unsigned int | width, |
unsigned int | height | ||
) | [virtual] |
Set the image size the camera should use.
width | new width of the image |
height | new height of the image |
Exception | thrown for instance if size setting at run-time is not supported |
Implements firevision::CameraControlImage.
void firevision::V4L2Camera::set_u_balance | ( | int | u_balance | ) | [virtual] |
void firevision::V4L2Camera::set_v_balance | ( | int | v_balance | ) | [virtual] |
void firevision::V4L2Camera::set_vert_mirror | ( | bool | enabled | ) | [virtual] |
Set whether the camera should mirror images vertically.
enabled | if true, images should be mirrored vertically |
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
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.
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.
int firevision::V4L2Camera::u_balance | ( | ) | [virtual] |
int firevision::V4L2Camera::v_balance | ( | ) | [virtual] |
bool firevision::V4L2Camera::vert_mirror | ( | ) | [virtual] |
Return whether the camera image is vertically mirrored.
NotImplementedException | Not implemented by this control |
Reimplemented from firevision::CameraControlImage.
unsigned int firevision::V4L2Camera::width | ( | ) | [virtual] |
Get the current width of the image.
Implements firevision::CameraControlImage.
char* firevision::V4L2Camera::_device_name [protected] |
Device name.
Definition at line 138 of file v4l2.h.
Referenced by firevision::NaoCamera::NaoCamera(), and firevision::NaoCamera::set_source().