Represents a camera. More...

#include <Camera.h>

Inheritance diagram for rec::robotino::api2::Camera:

Public Member Functions
	Camera ()

	Camera (const ComId &id)

virtual	~Camera ()

void	setComId (const ComId &id)

void	setCameraNumber (int number)

int	cameraNumber () const

void	setJPGDecodingEnabled (bool enable)

bool	isJPGDecodingEnabled () const

void	processEvents ()

void	setReadWrite ()

void	setWriteOnly ()

void	setJPGImage (const unsigned char *data, unsigned int dataSize)

void	setFormat (unsigned int width, unsigned int height, const char *format)

void	setBrightness (int value)

void	setContrast (int value)

void	setSaturation (int value)

void	setAutoWhiteBalanceEnabled (bool enable)

void	setGain (int value)

void	setWhiteBalanceTemperature (int value)

void	setBacklightCompensation (int value)

void	setAutoExposureEnabled (bool enable)

void	setExposure (int value)

void	setAutoFocusEnabled (bool enable)

void	setFocus (int value)

void	setSharpness (int value)

CameraCapabilities	capabilities () const

int	calibration (double **buffer, unsigned int bufferSize)

bool	isNewImageAvailable (unsigned int *dataSize) const

bool	getImage (unsigned char *data, unsigned int dataSize, unsigned int width, unsigned int height, unsigned int step)

void	setBGREnabled (bool enable)

bool	isBGRenabled () const

bool	isLocalConnection () const

virtual void	imageReceivedEvent (const unsigned char *data, unsigned int dataSize, unsigned int width, unsigned int height, unsigned int step)

virtual void	capabilitiesChangedEvent (const rec::robotino::api2::CameraCapabilities &capablities)

virtual void	settingsChangedEvent (unsigned int width, unsigned int height, const char *format)

virtual void	calibrationChanged (const double *data, unsigned int dataSize)

Public Member Functions inherited from rec::robotino::api2::ComObject
	ComObject ()

virtual	~ComObject ()

ComId	comId () const

Static Public Member Functions
static unsigned int	numCameras ()

Friends
class	CameraImpl

Additional Inherited Members
Protected Attributes inherited from rec::robotino::api2::ComObject
ComId	_comID

Detailed Description

Represents a camera.

Constructor & Destructor Documentation

rec::robotino::api2::Camera::Camera ( )

Constructs a camera.

virtual rec::robotino::api2::Camera::~Camera ( )

virtual

Destructor.

Member Function Documentation

int rec::robotino::api2::Camera::calibration	(	double **	buffer,
		unsigned int	bufferSize
	)

Get the current calibration

Parameters

buffer	A array of doubles provided by you to be filled with the calibration
bufferSize	The size of the buffer provided

Returns: Returns the number of values copied to buffer.

virtual void rec::robotino::api2::Camera::calibrationChanged	(	const double *	data,
		unsigned int	dataSize
	)

virtual

Called when camera calibration is received

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() or Camera::processEvents() is called.

See also: Com::processEvents, Camera::processEvents

int rec::robotino::api2::Camera::cameraNumber ( ) const

Get the current camera number.

Returns: Returns the current camera number or -1 if no camera is selected.

Exceptions

nothing

See also: setCameraNumber

CameraCapabilities rec::robotino::api2::Camera::capabilities ( ) const

Returns: The camera's capapibilities.

virtual void rec::robotino::api2::Camera::capabilitiesChangedEvent ( const rec::robotino::api2::CameraCapabilities & capablities )

virtual

Called when camera capabilities are received

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() or Camera::processEvents() is called.

See also: Com::processEvents

bool rec::robotino::api2::Camera::getImage	(	unsigned char **	data,
		unsigned int	dataSize,
		unsigned int *	width,
		unsigned int *	height,
		unsigned int *	step
	)

Get the latest image.

Parameters

data	Buffer where the RGB interleaved image is copied to.
dataSize	Maximum dataSize bytes are copied to the buffer data is pointing to.
width	The number of pixels per line. If width=height=step=0 this is a JPG encoded image.
height	The number of lines
step	The number of bytes per line.

Returns: Returns true if the image fits into the provided buffer, i.e. dataSize >= step*height. Returns false otherwise.

Exceptions

nothing.

See also: isNewImageAvailable

virtual void rec::robotino::api2::Camera::imageReceivedEvent	(	const unsigned char *	data,
		unsigned int	dataSize,
		unsigned int	width,
		unsigned int	height,
		unsigned int	step
	)

virtual

Called when an image is received.

Parameters

data	Contains the image data as RGB interleaved image. You must not delete this buffer. Instead you should make a copy of this buffer within this function call.
dataSize	Is the size of the data buffer containing the RGB image.
width	The number of pixels per line. If width=height=step=0 this is a JPG encoded image.
height	The number of lines
step	The number of bytes per line.

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() or Camera::processEvents() is called.

See also: Com::processEvents

bool rec::robotino::api2::Camera::isBGRenabled ( ) const

Get the current channel order.

Returns: If true the channel order is BGR. Otherwise the channel order is RGB (the default).

bool rec::robotino::api2::Camera::isJPGDecodingEnabled ( ) const

Shows the current settings for decoding JPG images.

Returns: Returns the current setting. True - decoding enabled, false otherwise.

Exceptions

nothing

bool rec::robotino::api2::Camera::isLocalConnection ( ) const

Returns: Returns true if the connection is a local connection. Otherwise returns false.

bool rec::robotino::api2::Camera::isNewImageAvailable ( unsigned int * dataSize ) const

Check for new images.

Parameters

dataSize Stores the size in bytes of the available image. When you get the image with getImage your buffer must be at least of size dataSize.

Exceptions

nothing

See also: getImage

static unsigned int rec::robotino::api2::Camera::numCameras ( )

static

Returns: Returns the number of supported cameras.

void rec::robotino::api2::Camera::processEvents ( )

Call this function from your main thread to get the virtual Camera functions called. The virtual functions are called directly by a call of this function

Exceptions

nothing

See also: Com::processEvents

void rec::robotino::api2::Camera::setAutoExposureEnabled ( bool enable )

Enable auto exposure.

Parameters

enable

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setAutoFocusEnabled ( bool enable )

Enable auto focus.

Parameters

enable

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setAutoWhiteBalanceEnabled ( bool enable )

Enable auto white balance.

Parameters

enable

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setBacklightCompensation ( int value )

Set the backlight compensation.

Parameters

value

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setBGREnabled ( bool enable )

Swap channels in the received image

By default the channel order is RGB.

Parameters

enable If true the channel order is set to BGR.

void rec::robotino::api2::Camera::setBrightness ( int value )

Set the brightness.

Parameters

value

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setCameraNumber ( int number )

Sets the number of this camera device.

Set the number of this camera to number. The default camera number is 0. Setting the camera number only makes sense when your Robotino is equipped with more than one camera.

Parameters

number The camera number. Range [0; numCameras()-1]. When setting number < 0 no camera is selected.

Exceptions

RobotinoException if the given input number is out of range. RobotinoException if given com object is invalid.

See also: numCameras

void rec::robotino::api2::Camera::setComId ( const ComId & id )

Sets the associated communication object.

Parameters

id	The id of the associated communication object.

Exceptions

RobotinoException if given id is invalid.

Remarks: This function is thread save

void rec::robotino::api2::Camera::setContrast ( int value )

Set the contrast.

Parameters

value

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setExposure ( int value )

Set the exposure.

Parameters

value

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setFocus ( int value )

Set the focus.

Parameters

value

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setFormat	(	unsigned int	width,
		unsigned int	height,
		const char *	format
	)

Sets this camera to the given resolution (if possible)

Parameters

width	Requested image width
height	Requested image height
format	"mjpg" to request JPEG compress images. "raw" to request raw RGB images.

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setGain ( int value )

Set the gain.

Parameters

value

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setJPGDecodingEnabled ( bool enable )

Enable/Disable decoding of JPG images. The decoding is enabled by default.

On iOS libjpeg is not linked into the API2 libraries. Decoding a jpeg image by this camera class will crash your app. Disable decoding and look for imageReceivedEvents with dataSize>0 and width==0. This is a jpeg image which must be decoded by yourself. If you have a Qt app you can use QImage::fromData(data,dataSize,"jpg") for decoding.

If true, decoding is enabled. If false, decoding is disabled.

Exceptions

nothing

void rec::robotino::api2::Camera::setJPGImage	(	const unsigned char *	data,
		unsigned int	dataSize
	)

Publish a jpg image to the camera topic.

Parameters

data	The jpg image data.
dataSize	Number of bytes in the data array.

void rec::robotino::api2::Camera::setReadWrite ( )

Enable this camera to receive images and to write inmages.

void rec::robotino::api2::Camera::setSaturation ( int value )

Set the saturation.

Parameters

value

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setSharpness ( int value )

Set the sharpness.

Parameters

value

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

virtual void rec::robotino::api2::Camera::settingsChangedEvent	(	unsigned int	width,
		unsigned int	height,
		const char *	format
	)

virtual

Called when camera settings are received

Exceptions

nothing.

Remarks: This function is called from the thread in which Com::processEvents() or Camera::processEvents() is called.

See also: Com::processEvents

void rec::robotino::api2::Camera::setWhiteBalanceTemperature ( int value )

Set the white balance temperature.

Parameters

value

Exceptions

RobotinoException if given com object is invalid.

See also: capabilites

void rec::robotino::api2::Camera::setWriteOnly ( )

Enable this camera to write inmages but disable the receiving of images. This disables calls to imageReceivedEvent.

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

C:/srcs/git/openrobotino/api2/lib/rec/robotino/api2/Camera.h

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation