Camera.h File Reference

In "rec/robotino/api2/c/Camera.h" you can find functions for reading Robotino's camera. More...

#include "rec/robotino/api2/c/globals.h"
#include "rec/robotino/api2/c/Com.h"

Go to the source code of this file.

Macros
#define	INVALID_CAMERAID   -1

Typedefs
typedef int	CameraId

Functions
DLLEXPORT CameraId	Camera_construct ()
DLLEXPORT BOOL	Camera_destroy (CameraId id)
DLLEXPORT BOOL	Camera_setComId (CameraId id, ComId comId)
DLLEXPORT BOOL	Camera_setCameraNumber (CameraId id, unsigned int n)
DLLEXPORT unsigned int	numCameras ()
DLLEXPORT BOOL	Camera_grab (CameraId id)
DLLEXPORT BOOL	Camera_imageSize (CameraId id, unsigned int *width, unsigned int *height)
DLLEXPORT BOOL	Camera_getImage (CameraId id, unsigned char *imageBuffer, unsigned int imageBufferSize, unsigned int *width, unsigned int *height)
DLLEXPORT BOOL	Camera_setFormat (CameraId id, unsigned int width, unsigned int height)
DLLEXPORT BOOL	Camera_setStreaming (CameraId id, BOOL streaming)

Detailed Description

In "rec/robotino/api2/c/Camera.h" you can find functions for reading Robotino's camera.

Use Camera_construct() to create a new camera object. Associate the camera object with a com object using Camera_setComId(). Use Camera_setStreaming() to enable/disable streaming of images. Use Camera_getImage() to get images from Robotino's camera.

Macro Definition Documentation

#define INVALID_CAMERAID   -1

Invalid CameraId is -1

Typedef Documentation

typedef int CameraId

CameraId

Function Documentation

DLLEXPORT CameraId Camera_construct

(

)

Construct an Camera object

Returns

Returns the ID of the newly constructed Camera object.

DLLEXPORT BOOL Camera_destroy

(

CameraId

id

)

Destroy the Camera object assigned to id

Parameters

id	The id of the Camera object to be destroyed

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CameraId is invalid.

DLLEXPORT BOOL Camera_getImage	(	CameraId	id,
		unsigned char *	imageBuffer,
		unsigned int	imageBufferSize,
		unsigned int *	width,
		unsigned int *	height
	)

Get Robotino's camera image. Do not forget to call Camera_setStreaming( id, TRUE ) and Camera_grab first. Get the size of the image by Camera_imageSize first. imageBufferSize must be at least 3*width*height. The image copied to image buffer is an interleaved RGB image width 3 channels and 1 byte per channel.

Parameters

id	The camera id.
imageBuffer	The image is copied to imageBuffer.
imageBufferSize	The size (number of bytes) of imageBuffer.
width	Image width.
height	Image height.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CameraId.

See also

Camera_setStreaming Camera_imageSize

DLLEXPORT BOOL Camera_grab

(

CameraId

id

)

Grab image.

Parameters

id	The camera id.

Returns

Returns TRUE (1) if a new image is available since the last call of Camera_grab. Returns FALSE (0) otherwise.

DLLEXPORT BOOL Camera_imageSize	(	CameraId	id,
		unsigned int *	width,
		unsigned int *	height
	)

Size of image aquired by grab.

Parameters

id	The camera id.
width	Image width.
height	Image height.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CameraId is invalid or if no image has been grabed up to this point in time.

DLLEXPORT BOOL Camera_setCameraNumber	(	CameraId	id,
		unsigned int	n
	)

Sets the number of this camera device.

Parameters

id	The id of the camera object to be set
n	The camera number. Range [0 - numCameras()]

Exceptions

Returns

TRUE (1) on success otherwise FALSE (0)

DLLEXPORT BOOL Camera_setComId	(	CameraId	id,
		ComId	comId
	)

Associated an Camera object with a communication interface, i.e. binding the Camera to a specific Robotino

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CameraId or ComId is invalid.

DLLEXPORT BOOL Camera_setFormat	(	CameraId	id,
		unsigned int	width,
		unsigned int	height
	)

Set the image format

Parameters

id	The camera id.
width	Image width.
height	Image height.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CameraId is invalid.

DLLEXPORT BOOL Camera_setStreaming	(	CameraId	id,
		BOOL	streaming
	)

Only for compatibility reasons. Function does nothing and always returns TRUE.

Parameters

id	The camera id.
streaming

Returns

Returns TRUE.

DLLEXPORT unsigned int numCameras

(

)

Returns

Returns the number of analog inputs.