Virtual class which declares an general interface for imaging sensors. More...

#include <CamInterface.h>

Public Member Functions
	CamInterface ()
virtual	~CamInterface ()
virtual int	listCameras (std::vector< CamInfo > &cam_infos) const
	Lists all available cameras.
virtual bool	findCamera (const CamInfo &pattern, CamInfo &cam) const
	Returns information about the first camera that matches the pattern.
virtual int	countCameras () const
	Counts the number of available cameras.
virtual bool	open (const CamInfo &cam, const AccessMode mode=Master)
	Opens a specific camera.
virtual bool	open2 (const std::string &display_name, const AccessMode mode=Master)
	Opens the first camera that matches the pattern.
virtual bool	open2 (unsigned long &unique_camera_id, const AccessMode mode=Master)
	Opens the first camera that matches the pattern.
virtual bool	open2 (const CamInfo &pattern, const AccessMode mode=Master)
	Opens the first camera that matches the pattern.
virtual bool	isOpen () const
	Checks if the camera is open.
virtual const CamInfo *	getCameraInfo () const
	Returns a pointer to CamInfo of the opened camera.
virtual bool	close ()
	Closes the camera.
virtual bool	grab (const GrabMode mode=SingleFrame, const int buffer_len=1)
	Starts capturing into a buffer.
virtual bool	retrieveFrame (base::samples::frame::Frame &frame, const int timeout=1000)
	Retrieves the next frame from the buffer (no data are copied).
virtual bool	isFrameAvailable ()
	Checks if a frame can be retrieved from the buffer.
virtual int	skipFrames ()
	Skips all buffered frame beside the last one.
virtual bool	setIpSettings (const CamInfo &cam, const IPSettings &ip_settings) const
	Sets the IP adress and subnetmask of a ethernet camera.
virtual bool	setAttrib (const int_attrib::CamAttrib attrib, const int value)
	Sets the value of an integer attribute.
virtual bool	setAttrib (const double_attrib::CamAttrib attrib, const double value)
	Sets the value of a double attribute.
virtual bool	setAttrib (const str_attrib::CamAttrib attrib, const std::string value)
	Sets the value of a string attribute.
virtual bool	setAttrib (const enum_attrib::CamAttrib attrib)
	Sets the value of an enum attribute.
virtual bool	isAttribAvail (const int_attrib::CamAttrib attrib)
	Checks if an integer attribute is available.
virtual bool	isAttribAvail (const double_attrib::CamAttrib attrib)
	Checks if a double attribute is available.
virtual bool	isAttribAvail (const str_attrib::CamAttrib attrib)
	Checks if a string attribute is available.
virtual bool	isAttribAvail (const enum_attrib::CamAttrib attrib)
	Checks if a enum attribute is available.
virtual int	getAttrib (const int_attrib::CamAttrib attrib)
	Returns the value of an integer attribute.
virtual double	getAttrib (const double_attrib::CamAttrib attrib)
	Returns the value of a double attribute.
virtual std::string	getAttrib (const str_attrib::CamAttrib attrib)
	Returns the value of a string attribute.
virtual bool	isAttribSet (const enum_attrib::CamAttrib attrib)
	Checks if the enum attribute is set.
virtual CamInterface &	operator>> (base::samples::frame::Frame &frame)
	Retrieves a camera frame (no data are copied)
virtual bool	setFrameSettings (const base::samples::frame::frame_size_t size, const base::samples::frame::frame_mode_t mode, const uint8_t color_depth, const bool resize_frames=true)
	Sets the frame settings size, mode and color depth.
virtual bool	setFrameSettings (const base::samples::frame::Frame &frame, const bool resize_frames=true)
	Sets the camera frame settings to the values of the frame.
virtual bool	getFrameSettings (base::samples::frame::frame_size_t &size, base::samples::frame::frame_mode_t &mode, uint8_t &color_depth)
	Gets the actual frame settings size, mode and color depth.
virtual bool	triggerFrame ()
	Triggers a new frame if FrameStartTriggerMode is set to Software.
virtual bool	setToDefault ()
	Sets the camera to default settings.
virtual bool	setFrameToCameraFrameSettings (base::samples::frame::Frame &frame)
	Configures the frame that it matches the camera frame settings.
virtual bool	setCallbackFcn (void(pcallback_function)(const void p), void *p)
	Sets a callback function which is called when a new frame can be retrieved.
virtual void	synchronizeWithSystemTime (uint32_t time_interval)
	synchronizes the camera time with the system time. Should be called only once
virtual void	saveConfiguration (uint8_t index)
	saves the current camera configuration to the non-volatile memory inside the camera
virtual void	loadConfiguration (uint8_t index)
	loads the camera configuration from the non-volatile memory
virtual void	getRange (const double_attrib::CamAttrib attrib, double &dmin, double &dmax)
	returns the range of an double_attrib
virtual void	getRange (const int_attrib::CamAttrib attrib, int &imin, int &imax)
	returns the range of an int_attrib
virtual int	getFileDescriptor () const
	returns the file descriptor of the camera
virtual std::string	doDiagnose ()
	does a camera diagnose

Protected Attributes
base::samples::frame::frame_size_t	image_size_
base::samples::frame::frame_mode_t	image_mode_
uint8_t	image_color_depth_
GrabMode	act_grab_mode_

Detailed Description

Virtual class which declares an general interface for imaging sensors.

Use this class as base class if you want to add your own sensor.

Constructor & Destructor Documentation

camera::CamInterface::CamInterface ( )

camera::CamInterface::~CamInterface ( )

virtual

Member Function Documentation

virtual bool camera::CamInterface::close ( )

inlinevirtual

Closes the camera.

Returns: returns true if no camera is open or the camera was closed

int camera::CamInterface::countCameras ( ) const

virtual

Counts the number of available cameras.

Returns: number of available cameras

std::string camera::CamInterface::doDiagnose ( )

virtual

does a camera diagnose

Returns: returns a diagnose as string

bool camera::CamInterface::findCamera	(	const CamInfo &	pattern,
		CamInfo &	cam
	)		const

virtual

Returns information about the first camera that matches the pattern.

Parameters

pattern	camera pattern
cam	structure where the camera information is stored

Returns: returns false if no camera matches

virtual int camera::CamInterface::getAttrib ( const int_attrib::CamAttrib attrib )

inlinevirtual

Returns the value of an integer attribute.

Parameters

attrib identifier of the attribute

Returns: attribute value

virtual double camera::CamInterface::getAttrib ( const double_attrib::CamAttrib attrib )

inlinevirtual

Returns the value of a double attribute.

Parameters

attrib identifier of the attribute

Returns: attribute value

virtual std::string camera::CamInterface::getAttrib ( const str_attrib::CamAttrib attrib )

inlinevirtual

Returns the value of a string attribute.

Parameters

attrib identifier of the attribute

Returns: attribute value

virtual const CamInfo* camera::CamInterface::getCameraInfo ( ) const

inlinevirtual

Returns a pointer to CamInfo of the opened camera.

Returns: pointer to CamInfo (NULL if no camera is open)

virtual int camera::CamInterface::getFileDescriptor ( ) const

inlinevirtual

returns the file descriptor of the camera

Returns: returns a file descriptor

virtual bool camera::CamInterface::getFrameSettings	(	base::samples::frame::frame_size_t &	size,
		base::samples::frame::frame_mode_t &	mode,
		uint8_t &	color_depth
	)

inlinevirtual

Gets the actual frame settings size, mode and color depth.

Parameters

size	size of the frame in pixel
mode	color mode of the frame (MODE_GRAYSCALE,MODE_RGB,...)
color_depth	number of bytes per pixel

Returns: returns false if no camera is opened

virtual void camera::CamInterface::getRange	(	const double_attrib::CamAttrib	attrib,
		double &	dmin,
		double &	dmax
	)

inlinevirtual

returns the range of an double_attrib

Parameters

attrib	identifier of the attribute
dmin	Minimum value returned here
dmax	Maximum value returned here

virtual void camera::CamInterface::getRange	(	const int_attrib::CamAttrib	attrib,
		int &	imin,
		int &	imax
	)

inlinevirtual

returns the range of an int_attrib

Parameters

attrib	identifier of the attribute
dmin	Minimum value returned here
dmax	Maximum value returned here

virtual bool camera::CamInterface::grab	(	const GrabMode	mode = `SingleFrame`,
		const int	buffer_len = `1`
	)

inlinevirtual

Starts capturing into a buffer.

Parameters

mode	capturing mode (SingleFrame, MultiFrame, Continuously)
buffer_len	length of the buffer in frames.

Returns: returns true if capturing was started

virtual bool camera::CamInterface::isAttribAvail ( const int_attrib::CamAttrib attrib )

inlinevirtual

Checks if an integer attribute is available.

Parameters

attrib identifier of the attribute to be checked

Returns: returns true if the attribute is available

virtual bool camera::CamInterface::isAttribAvail ( const double_attrib::CamAttrib attrib )

inlinevirtual

Checks if a double attribute is available.

Parameters

attrib identifier of the attribute to be checked

Returns: returns true if the attribute is available

virtual bool camera::CamInterface::isAttribAvail ( const str_attrib::CamAttrib attrib )

inlinevirtual

Checks if a string attribute is available.

Parameters

attrib identifier of the attribute to be checked

Returns: returns true if the attribute is available

virtual bool camera::CamInterface::isAttribAvail ( const enum_attrib::CamAttrib attrib )

inlinevirtual

Checks if a enum attribute is available.

Parameters

attrib identifier of the attribute to be checked

Returns: returns true if the attribute is available

virtual bool camera::CamInterface::isAttribSet ( const enum_attrib::CamAttrib attrib )

inlinevirtual

Checks if the enum attribute is set.

Parameters

attrib identifier of the attribute

Returns: returns true if the enum attribute is set

virtual bool camera::CamInterface::isFrameAvailable ( )

inlinevirtual

Checks if a frame can be retrieved from the buffer.

Returns: returns true if a frame can be retrieved without blocking

virtual bool camera::CamInterface::isOpen ( ) const

inlinevirtual

Checks if the camera is open.

Returns: returns true if the camera is open

virtual int camera::CamInterface::listCameras ( std::vector< CamInfo > & cam_infos ) const

inlinevirtual

Lists all available cameras.

Parameters

cam_infos vector of all available cameras

Returns: number of listed cameras

virtual void camera::CamInterface::loadConfiguration ( uint8_t index )

inlinevirtual

loads the camera configuration from the non-volatile memory

Parameters

index index of the file (allowed values 0-3; 0 = factory defaults)

virtual bool camera::CamInterface::open	(	const CamInfo &	cam,
		const AccessMode	mode = `Master`
	)

inlinevirtual

Opens a specific camera.

Parameters

cam	camera which shall be opened
mode	connection mode (eMaster, eMonitor)

Returns: returns true if the camera is open after the call

bool camera::CamInterface::open2	(	const std::string &	display_name,
		const AccessMode	mode = `Master`
	)

virtual

Opens the first camera that matches the pattern.

This functions uses findCamera() and open() to open the camera.

Parameters

display_name	display name of the camera
mode	connection mode (eMaster, eMonitor)

Returns: returns true if the camera is open after the call

bool camera::CamInterface::open2	(	unsigned long &	unique_camera_id,
		const AccessMode	mode = `Master`
	)

virtual

Opens the first camera that matches the pattern.

This functions uses findCamera() and open() to open the camera.

Parameters

unique_camera_id	unique camera id
mode	connection mode (eMaster, eMonitor)

Returns: returns true if the camera is open after the call

bool camera::CamInterface::open2	(	const CamInfo &	pattern,
		const AccessMode	mode = `Master`
	)

virtual

Opens the first camera that matches the pattern.

This functions uses findCamera() and open() to open the camera.

Parameters

pattern	camera pattern
mode	connection mode (eMaster, eMonitor)

Returns: returns true if the camera is open after the call

CamInterface & camera::CamInterface::operator>> ( base::samples::frame::Frame & frame )

virtual

Retrieves a camera frame (no data are copied)

If grab is called in advance the operator is equal to the function retrieveFrame(). Otherwise the function calls grab(eSingleFrame,1) and retrieveFrame().

Parameters

frame structure where the frame is stored.

Attention: The frame must have the same size like the returned frame because the function swaps the image vector and does not copy any data. Therfore any stored pointer to the vector data are no more valid after calling the function.

virtual bool camera::CamInterface::retrieveFrame	(	base::samples::frame::Frame &	frame,
		const int	timeout = `1000`
	)

inlinevirtual

Retrieves the next frame from the buffer (no data are copied).

This function is synchron and blocks until a frame can be retrieved from the buffer or a timeout occurs. To check if a frame can be retrievt call isFrameAvailable().

Parameters

frame	structure where the frame is stored.
timeout	timeout waiting for a frame, in milliseconds

Returns: returns true if a frame was retrieved

Attention: The frame must have the same size like the returned frame because the function swaps the image vector and does not copy any data. Therfore any stored pointer to the vector data are no more valid after calling the function.

virtual void camera::CamInterface::saveConfiguration ( uint8_t index )

inlinevirtual

saves the current camera configuration to the non-volatile memory inside the camera

Parameters

index index of the file (allowed values 1-3)

virtual bool camera::CamInterface::setAttrib	(	const int_attrib::CamAttrib	attrib,
		const int	value
	)

inlinevirtual

Sets the value of an integer attribute.

Parameters

attrib	identifier of the attribute to be changed
value	new integer value.

Returns: returns true if the change was succesfull

virtual bool camera::CamInterface::setAttrib	(	const double_attrib::CamAttrib	attrib,
		const double	value
	)

inlinevirtual

Sets the value of a double attribute.

Parameters

attrib	identifier of the attribute to be changed
value	new double value.

Returns: returns true if the change was succesfull

virtual bool camera::CamInterface::setAttrib	(	const str_attrib::CamAttrib	attrib,
		const std::string	value
	)

inlinevirtual

Sets the value of a string attribute.

Parameters

attrib	identifier of the attribute to be changed
value	new string value.

Returns: returns true if the change was succesfull

virtual bool camera::CamInterface::setAttrib ( const enum_attrib::CamAttrib attrib )

inlinevirtual

Sets the value of an enum attribute.

Parameters

attrib	identifier of the attribute to be changed
value	new enum value.

Returns: returns true if the change was succesfull

virtual bool camera::CamInterface::setCallbackFcn	(	void()(const void p)	pcallback_function,
		void *	p
	)

inlinevirtual

Sets a callback function which is called when a new frame can be retrieved.

Parameters

pfunction function pointer to a function which is called when a new frame can be retrieved by the function retrieveFrame(). The callback function must follow the syntax 'static void fcn(const void* p)'

Returns: pointer which is passed to the callback function function

Attention: CamInterface is not thread save. Do not call any function of it without mutex protection if you want to use an instance in more than one thread!

bool camera::CamInterface::setFrameSettings	(	const base::samples::frame::frame_size_t	size,
		const base::samples::frame::frame_mode_t	mode,
		const uint8_t	color_depth,
		const bool	resize_frames = `true`
	)

virtual

Sets the frame settings size, mode and color depth.

Parameters

size	size of the frame in pixel
mode	color mode of the frame (MODE_GRAYSCALE,MODE_RGB,...)
color_depth	number of bytes per pixel
resize_frames	resizes all buffered frame to the right size

Returns: returns true if the settings were set succsessfully

bool camera::CamInterface::setFrameSettings	(	const base::samples::frame::Frame &	frame,
		const bool	resize_frames = `true`
	)

virtual

Sets the camera frame settings to the values of the frame.

Parameters

frame	frame which descripes the settings to be set
resize_frames	resizes all buffered frame to the right size

Returns: returns true if the settings were set succsessfully

bool camera::CamInterface::setFrameToCameraFrameSettings ( base::samples::frame::Frame & frame )

virtual

Configures the frame that it matches the camera frame settings.

Parameters

frame frame to be configured

Returns: returns false if no camera is opened

virtual bool camera::CamInterface::setIpSettings	(	const CamInfo &	cam,
		const IPSettings &	ip_settings
	)		const

inlinevirtual

Sets the IP adress and subnetmask of a ethernet camera.

Parameters

cam	camera whose ip settings shall be changed
ip_settings	ip settings to be set.

Returns: returns true if the change was succesfull

virtual bool camera::CamInterface::setToDefault ( )

inlinevirtual

Sets the camera to default settings.

Returns: returns false if no camera is opened

virtual int camera::CamInterface::skipFrames ( )

inlinevirtual

Skips all buffered frame beside the last one.

Returns: returns the number of skipped frames

virtual void camera::CamInterface::synchronizeWithSystemTime ( uint32_t time_interval )

inlinevirtual

synchronizes the camera time with the system time. Should be called only once

Parameters

time_intervall Time interval in ms for statistical calculations. The functions blocks in the meantime

virtual bool camera::CamInterface::triggerFrame ( )

inlinevirtual

Triggers a new frame if FrameStartTriggerMode is set to Software.

Returns: returns false if no camera is opened

Member Data Documentation

GrabMode camera::CamInterface::act_grab_mode_

protected

uint8_t camera::CamInterface::image_color_depth_

protected

base::samples::frame::frame_mode_t camera::CamInterface::image_mode_

protected

base::samples::frame::frame_size_t camera::CamInterface::image_size_

protected

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

/home/build/jenkins/workspace/RockBootstrap19/FLAVOR/stable/label/DebianUnstable/dev/drivers/camera_interface/src/CamInterface.h
/home/build/jenkins/workspace/RockBootstrap19/FLAVOR/stable/label/DebianUnstable/dev/drivers/camera_interface/src/CamInterface.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation