/home/ciesla/projects/svn.openrobotino.org/openrobotino1/lib/rec/robotino/com/c/Camera.h File Reference
In "rec/robotino/com/c/Camera.h" you can find functions for reading Robotino's camera.
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#include "rec/robotino/com/c/globals.h"
#include "rec/robotino/com/c/Com.h"
Go to the source code of this file.
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Defines |
#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_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_setStreaming (CameraId id, BOOL streaming) |
Detailed Description
In "rec/robotino/com/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.
Function Documentation
DLLEXPORT CameraId Camera_construct |
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Construct an Camera object
- Returns:
- Returns the ID of the newly constructed Camera object.
DLLEXPORT BOOL Camera_destroy |
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CameraId |
id |
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Destroy the Camera object assigned to id
- Parameters:
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| 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 |
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CameraId |
id, |
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unsigned char * |
imageBuffer, |
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unsigned int |
imageBufferSize, |
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unsigned int * |
width, |
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unsigned int * |
height | |
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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:
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| 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 |
) |
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Grab image.
- Parameters:
-
- 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 |
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CameraId |
id, |
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unsigned int * |
width, |
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unsigned int * |
height | |
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Size of image aquired by grab.
- Parameters:
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| 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_setComId |
( |
CameraId |
id, |
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ComId |
comId | |
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) |
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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_setStreaming |
( |
CameraId |
id, |
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BOOL |
streaming | |
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) |
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Start/Stop streaming of camera images
- Parameters:
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| id | The camera id. |
| streaming | If TRUE (1) streaming is started. Otherwise streaming is stopped. |
- Returns:
- Returns TRUE (1) on success. Returns FALSE (0) if the given CameraId.