RobWorkProject: Camera Class Reference

The Camera class defines a generel interface to a camera. A great deal of the interface resembles the DCAM standard since DCAM allready defines a very wide interface. More...

#include <Camera.hpp>

Inherits Sensor.

Inherited by CameraFirewire.

Public Types
typedef rw::core::Ptr< Camera >	Ptr
	smart pointer type to this class

Public Types inherited from Sensor
typedef rw::core::Ptr< Sensor >	Ptr
	smart pointer type

Public Member Functions
virtual	~Camera ()
	destructor

virtual std::string	getModelInfo () const
	returns the camera model information (version, type, size, etc.) More...

virtual bool	initialize ()=0
	initializes the camera to the current settings (CaptureMode,ColorMode,etc.) More...

bool	isInitialized () const
	returns whether this camera is initialized or not. More...

virtual bool	start ()=0
	starts this camera, if the camera has not been initialized the initialize function will be called. More...

bool	isStarted () const
	returns whether this camera is started or not. More...

virtual void	stop ()=0
	stops this camera. When the camera is stopped it can be reinitialized using initialize()

virtual void	acquire ()=0
	aquires an image from the camera. This method is not blocking. Use isImageReady to poll for completion of acquire.

virtual bool	isImageReady ()=0
	tests whether a image has been acquired More...

virtual const Image *	getImage ()=0
	returns the last image acquired from the camera. This method is not blocking, if no image has been acquired yet an empty image is returned. The image returned can for some specific drivers be read only. More...

virtual double	getFrameRate ()=0
	returns the framerate that this camera is setup with More...

virtual void	setFrameRate (double framerate)=0
	sets the framerate of this camera. If the framerate is not supported the closest supported framerate is choosen. More...

virtual unsigned int	getWidth ()=0
	get width of the captured images More...

virtual unsigned int	getHeight ()=0
	get width of the captured images More...

virtual bool	addListener (CameraListener &listener)
	adds a CameraListener to this camera More...

virtual bool	removeListener (CameraListener &listener)
	removes a CameraListener from this cameras listener list. More...

virtual bool	isShutterAvailable () const

virtual double	getShutter () const

virtual void	setShutter (double Value)

virtual std::pair< double, double >	getShutterBounds () const

virtual bool	isGainAvailable () const

virtual double	getGain () const

virtual double	setGain (double Value)

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	destructor

const std::string &	getName () const
	returns the name of this sensor More...

const std::string &	getDescription () const
	returns a description of this sensor More...

rw::core::Ptr< rw::sensor::SensorModel >	getSensorModel () const
	The frame to which the sensor is attached. More...

virtual void	setSensorModel (rw::core::Ptr< rw::sensor::SensorModel > smodel)
	Sets the frame to which the sensor should be attached. More...

rw::core::PropertyMap &	getPropertyMap ()
	gets the propertymap of this sensor

const rw::core::PropertyMap &	getPropertyMap () const
	gets the propertymap of this sensor

Protected Member Functions
	Camera (const std::string &name, const std::string &modelInfo)
	constructor More...

void	setModelInfo (const std::string info)
	sets the camera model information More...

Protected Member Functions inherited from Sensor
	Sensor (const std::string &name)
	constructor More...

	Sensor (const std::string &name, const std::string &description)
	constructor More...

void	setName (const std::string &name)
	sets the name of this sensor More...

void	setDescription (const std::string &description)
	sets the description of this sensor More...

Protected Attributes
std::vector< CameraListener * >	_listeners
	the list of CameraListeners

std::string	_modelInfo
	name of camera model information

bool	_initialized
	state variable - true if camera is initialized

bool	_started
	state variable - true if camera is started

Detailed Description

The Camera class defines a generel interface to a camera. A great deal of the interface resembles the DCAM standard since DCAM allready defines a very wide interface.

typical usage: Camera c; // setup camera features modes and so on c.initialize(); c.start(); // acquire images c.stop();

Constructor & Destructor Documentation

◆ Camera()

Camera	(	const std::string &	name,
		const std::string &	modelInfo
	)

protected

constructor

Parameters

name	[in] name of sensor
modelInfo	[in] info string

Member Function Documentation

◆ addListener()

virtual bool addListener ( CameraListener & listener )

virtual

adds a CameraListener to this camera

Parameters

listener [in] the CameraListener that is to be added

Returns: true if listener was added succesfully, false otherwise

◆ getFrameRate()

virtual double getFrameRate ( )

pure virtual

returns the framerate that this camera is setup with

Returns: the framerate in frames per second

◆ getGain()

virtual double getGain ( ) const

inlinevirtual

Get actual gain value. Note: If gain is not available then a dummy implementation returning -1 is used and an error message is produced.

Returns: Gain value.

◆ getHeight()

virtual unsigned int getHeight ( )

pure virtual

get width of the captured images

Returns: width

◆ getImage()

virtual const Image* getImage ( )

pure virtual

returns the last image acquired from the camera. This method is not blocking, if no image has been acquired yet an empty image is returned. The image returned can for some specific drivers be read only.

Returns: last image captured from camera.

◆ getModelInfo()

virtual std::string getModelInfo ( ) const

inlinevirtual

returns the camera model information (version, type, size, etc.)

Returns: camera model information

◆ getShutter()

virtual double getShutter ( ) const

inlinevirtual

Get actual shutter value. Note: If shutter is not available then a dummy implementation will throw an error message.

Returns: shutter value in micro-seconds.

◆ getShutterBounds()

virtual std::pair<double, double> getShutterBounds ( ) const

inlinevirtual

gets the shutter bounds. Note: If shutter is not available then a dummy implementation will throw an error message.

Returns: first value is the min bound and second value is the max bound

◆ getWidth()

virtual unsigned int getWidth ( )

pure virtual

get width of the captured images

Returns: width

◆ initialize()

virtual bool initialize ( )

pure virtual

initializes the camera to the current settings (CaptureMode,ColorMode,etc.)

Returns: true if initialization is succesfully, false otherwise.

◆ isGainAvailable()

virtual bool isGainAvailable ( ) const

inlinevirtual

Check if gain is available.

Returns: True if zoom is available

◆ isImageReady()

virtual bool isImageReady ( )

pure virtual

tests whether a image has been acquired

Returns: true if an image has been acquired, false otherwise.

◆ isInitialized()

bool isInitialized ( ) const

inline

returns whether this camera is initialized or not.

Returns: true if intialized, false otherwise

◆ isShutterAvailable()

virtual bool isShutterAvailable ( ) const

inlinevirtual

Check if shutter is available.

Returns: True if shutter is available

◆ isStarted()

bool isStarted ( ) const

inline

returns whether this camera is started or not.

Returns: true if started, false otherwise

◆ removeListener()

virtual bool removeListener ( CameraListener & listener )

virtual

removes a CameraListener from this cameras listener list.

Parameters

listener [in] the listener that is to be removed

Returns: true if listener was removed succesfully, false otherwise.

◆ setFrameRate()

virtual void setFrameRate ( double framerate )

pure virtual

sets the framerate of this camera. If the framerate is not supported the closest supported framerate is choosen.

Parameters

framerate [in] the framerate

◆ setGain()

virtual double setGain ( double Value )

inlinevirtual

Set gain value. If the given value is not possible the nearest value are choosen. Note: If gain is not available then a dummy implementation returning -1 is used and an error message is produced.

Parameters

Value New gain value.

Returns: New nearest gain value.

◆ setModelInfo()

void setModelInfo ( const std::string info )

inlineprotected

sets the camera model information

Parameters

info	[in] information of the camera

◆ setShutter()

virtual void setShutter ( double Value )

inlinevirtual

Set shutter value. If the given value is not possible the nearest value are choosen. Note: If shutter is not available then a dummy implementation will throw an error message.

Parameters

Value New shutter value.

◆ start()

virtual bool start ( )

pure virtual

starts this camera, if the camera has not been initialized the initialize function will be called.

Returns: true if camera was successfully started, false otherwise

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

Camera.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Camera()

Member Function Documentation

◆ addListener()

◆ getFrameRate()

◆ getGain()

◆ getHeight()

◆ getImage()

◆ getModelInfo()

◆ getShutter()

◆ getShutterBounds()

◆ getWidth()

◆ initialize()

◆ isGainAvailable()

◆ isImageReady()

◆ isInitialized()

◆ isShutterAvailable()

◆ isStarted()

◆ removeListener()

◆ setFrameRate()

◆ setGain()

◆ setModelInfo()

◆ setShutter()

◆ start()