RobWorkProject: CameraFirewire 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 <CameraFirewire.hpp>

Inherits Camera.

Public Types
enum	CameraFeature { SHUTTER , ZOOM , GAIN , FOCUS , IRIS , HUE , WHITEBALANCE , SHARPNESS , SATURATION , GAMMA , BRIGHTNESS , AUTOEXPOSURE }
	Optional features of a camera.

enum	ColorCode { MONO8 , YUV411 , YUV422 , YUV444 , RGB8 , MONO16 , RGB16 , MONO16S , RGB16S , RAW8 , RAW16 , RGB24 }
	Optional colormodes available when capturing.

enum	CapturePolicy { SINGLE_SHOT , CONTINUES , CONTINUES_BUFFERED }
	defines how images are captured. When the SINGLE_SHOT CapturePolicy is used the user has to trigger the camera through acquire. When CONTINUES is used images are captured according to the given frameRate and getImage is more efficient to use. The image returned is allways the newest captured image. When using CONTINUES_BUFFERED images are continuesly captured and put in a buffer.

enum	CaptureMode { M160x120 , M320x240 , M640x480 , M800x600 , M1024x768 , M1280x960 , M1600x1200 , MFORMAT7 }
	The resolution of the camera capture.

enum	Format7Mode { F7MODE0 , F7MODE1 , F7MODE2 , F7MODE3 , F7MODE4 , F7MODE5 , F7MODE6 , F7MODE7 }
	The resolution of the camera capture.

enum	TriggerMode { MODE0 , MODE1 , MODE2 , MODE3 , MODE4 , MODE5 , MODE14 , MODE15 }
	Modes of the camera, inspired by the DCAM standard modes.

enum	ErrorCode { SUCCES , FAILURE , NOT_INITIALIZED , NOT_STARTED , UNSUPPORTED_CAPTURE_MODE , UNSUPPORTED_FEATURE }
	error codes for a camera

Public Types inherited from Camera
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	~CameraFirewire ()
	destructor

virtual CaptureMode	getCaptureMode ()=0
	returns the CaptureMode of this camera More...

virtual bool	setCaptureMode (CaptureMode mode)=0
	sets the CaptureMode of this camera. More...

virtual ColorCode	getColorMode ()=0
	returns the CaptureMode of this camera More...

virtual bool	setColorMode (ColorCode mode)=0
	sets the CaptureMode of this camera. More...

virtual ErrorCode	getError ()
	returns the errorcode of the latest error. If no error has occured then SUCCES is returned. More...

virtual bool	isError ()
	tests whether this camera is in an error state. More...

virtual CapturePolicy	getCapturePolicy ()=0
	returns the capture policy of this camera. More...

virtual bool	setCapturePolicy (CapturePolicy policy)
	sets the capture policy of this camera More...

virtual bool	isFeatureAvailable (CameraFeature option)
	returns whether the specified camera option is supported by the camera. More...

virtual double	getFeature (CameraFeature setting)
	returns the value of the specified camera setting. If the camera is not initialized or the setting is unsupported -1 is returned. More...

virtual bool	setFeature (CameraFeature setting, double value)
	sets the value of the specified camera setting. If the camera is not initialized or the setting is unsupported false is returned. More...

Public Member Functions inherited from Camera
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
	CameraFirewire (const std::string &name, const std::string &modelInfo)
	constructor More...

Protected Member Functions inherited from Camera
	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...

Additional Inherited Members
Protected Attributes inherited from Camera
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

◆ CameraFirewire()

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

protected

constructor

Parameters

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

Member Function Documentation

◆ getCaptureMode()

virtual CaptureMode getCaptureMode ( )

pure virtual

returns the CaptureMode of this camera

Returns: the camera capturemode

◆ getCapturePolicy()

virtual CapturePolicy getCapturePolicy ( )

pure virtual

returns the capture policy of this camera.

Returns: capture policy of the camera

◆ getColorMode()

virtual ColorCode getColorMode ( )

pure virtual

returns the CaptureMode of this camera

Returns: the camera capturemode

◆ getError()

virtual ErrorCode getError ( )

inlinevirtual

returns the errorcode of the latest error. If no error has occured then SUCCES is returned.

Returns: the error code

◆ getFeature()

virtual double getFeature ( CameraFeature setting )

inlinevirtual

returns the value of the specified camera setting. If the camera is not initialized or the setting is unsupported -1 is returned.

Parameters

setting [in] the CameraFeature

Returns: value of the setting if setting is supported and camera is initilized, else -1 is returned.

◆ isError()

virtual bool isError ( )

inlinevirtual

tests whether this camera is in an error state.

Returns: true if camera is in error state, false otherwise

◆ isFeatureAvailable()

virtual bool isFeatureAvailable ( CameraFeature option )

inlinevirtual

returns whether the specified camera option is supported by the camera.

Parameters

option [in] the specific CameraOption

Returns: true if the option is available, false otherwise.

◆ setCaptureMode()

virtual bool setCaptureMode ( CaptureMode mode )

pure virtual

sets the CaptureMode of this camera.

Parameters

mode	[in] the wanted capture mode

Returns: true if CaptureMode was set successfully, false otherwise

◆ setCapturePolicy()

virtual bool setCapturePolicy ( CapturePolicy policy )

inlinevirtual

sets the capture policy of this camera

Parameters

policy [in] the capture policy

Returns: true if capture policy was set succesfully, false otherwise

◆ setColorMode()

virtual bool setColorMode ( ColorCode mode )

pure virtual

sets the CaptureMode of this camera.

Parameters

mode	[in] the wanted capture mode

Returns: true if CaptureMode was set successfully, false otherwise

◆ setFeature()

virtual bool setFeature	(	CameraFeature	setting,
		double	value
	)

inlinevirtual

sets the value of the specified camera setting. If the camera is not initialized or the setting is unsupported false is returned.

Parameters

setting	[in] the CameraFeature
value	[in] the value of the feature

Returns: true if the setting was succesfully changed, false otherwise.

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

CameraFirewire.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CameraFirewire()

Member Function Documentation

◆ getCaptureMode()

◆ getCapturePolicy()

◆ getColorMode()

◆ getError()

◆ getFeature()

◆ isError()

◆ isFeatureAvailable()

◆ setCaptureMode()

◆ setCapturePolicy()

◆ setColorMode()

◆ setFeature()