Video4Linux 2 camera access implementation. More...

#include <>>

Inheritance diagram for firevision::V4L2Camera:

Classes
struct	ControlParameterInt
struct	FrameBuffer
Public Member Functions
	V4L2Camera (const char *device_name="/dev/video0")
	Constructor.
	V4L2Camera (const CameraArgumentParser *cap)
	Constructor.
virtual	~V4L2Camera ()
	Destructor.
virtual void	open ()
virtual void	start ()
virtual void	stop ()
virtual void	close ()
virtual void	flush ()
virtual void	capture ()
virtual void	print_info ()
virtual bool	ready ()
virtual unsigned char *	buffer ()
virtual unsigned int	buffer_size ()
virtual void	dispose_buffer ()
virtual unsigned int	pixel_width ()
virtual unsigned int	pixel_height ()
virtual colorspace_t	colorspace ()
virtual fawkes::Time *	capture_time ()
virtual void	set_image_number (unsigned int n)
virtual bool	auto_gain ()
virtual void	set_auto_gain (bool enabled)
virtual bool	auto_white_balance ()
virtual void	set_auto_white_balance (bool enabled)
virtual bool	auto_exposure ()
virtual void	set_auto_exposure (bool enabled)
virtual int	red_balance ()
virtual void	set_red_balance (int red_balance)
virtual int	blue_balance ()
virtual void	set_blue_balance (int blue_balance)
virtual int	u_balance ()
virtual void	set_u_balance (int u_balance)
virtual int	v_balance ()
virtual void	set_v_balance (int v_balance)
virtual unsigned int	brightness ()
virtual void	set_brightness (unsigned int brightness)
virtual unsigned int	contrast ()
virtual void	set_contrast (unsigned int contrast)
virtual unsigned int	saturation ()
virtual void	set_saturation (unsigned int saturation)
virtual int	hue ()
virtual void	set_hue (int hue)
virtual unsigned int	exposure ()
virtual void	set_exposure (unsigned int exposure)
virtual unsigned int	gain ()
virtual void	set_gain (unsigned int gain)
virtual const char *	format ()
	Get the image format the camera currently uses.
virtual void	set_format (const char *format)
	Set the image format the camera should use.
virtual unsigned int	width ()
	Get the current width of the image.
virtual unsigned int	height ()
	Get the current height of the image.
virtual void	set_size (unsigned int width, unsigned int height)
	Set the image size the camera should use.
virtual bool	horiz_mirror ()
	Return whether the camera image is horizontally mirrored.
virtual bool	vert_mirror ()
	Return whether the camera image is vertically mirrored.
virtual void	set_horiz_mirror (bool enabled)
	Set whether the camera should mirror images horizontally.
virtual void	set_vert_mirror (bool enabled)
	Set whether the camera should mirror images vertically.
virtual unsigned int	fps ()
	Get the number of frames per second that have been requested from the camera.
virtual void	set_fps (unsigned int fps)
	Set the number of frames per second the camera tries to deliver.
virtual unsigned int	lens_x_corr ()
	Get current lens x correction.
virtual unsigned int	lens_y_corr ()
	Get current lens y correction.
virtual void	set_lens_x_corr (unsigned int x_corr)
	Set lens x correction.
virtual void	set_lens_y_corr (unsigned int y_corr)
	Set lens y correction.
Protected Member Functions
	V4L2Camera (const char *device_name, int dev)
	Protected Constructor.
virtual void	set_one_control (const char *ctrl, unsigned int id, int value)
	Set one Camera control value.
virtual int	get_one_control (const char *ctrl, unsigned int id)
	Get one Camera control value.
Protected Attributes
char *	_device_name
	Device name.
Friends
class	V4LCamera

Detailed Description

Video4Linux 2 camera access implementation.

Todo:

UPTR method

Standards queries (VIDIOC_ENUMSTD)

v4l2_pix_format.field

Author:: Tobias Kellner

Definition at line 46 of file v4l2.h.

Constructor & Destructor Documentation

firevision::V4L2Camera::V4L2Camera ( const char * device_name = "/dev/video0" )

Constructor.

Parameters:

device_name

device file name (e.g. /dev/video0)

Definition at line 89 of file v4l2.cpp.

References _device_name.

firevision::V4L2Camera::V4L2Camera ( const CameraArgumentParser * cap )

Constructor.

Initialize camera with parameters from camera argument parser. Supported arguments: *Required:

device=DEV, device file, for example /dev/video0 (required) *Optional:
read_method=METHOD, preferred read method READ: read() MMAP: memory mapping UPTR: user pointer
format=FOURCC, preferred format
size=WIDTHxHEIGHT, preferred image size
switch_u_v=true/false, switch U and V channels
fps=FPS, frames per second
aec=true/false, Auto Exposition enabled [warning: only valid on nao]
awb=true/false, Auto White Balance enabled
agc=true/false, Auto Gain enabled
h_flip=true/false, Horizontal mirror
v_flip=true/false, Vertical mirror
brightness=BRIGHT, Brightness [0-255] (def. 128)
contrast=CONTR, Contrast [0-127] (def. 64)
saturation=SAT, Saturation [0-256] (def. 128)
hue=HUE, Hue [-180-180] (def. 0)
red_balance=RB, Red Balance [0-255] (def. 128)
blue_balance=BB, Blue Balance [0-255] (def. 128)
exposure=EXP, Exposure [0-65535] (def. 60)
gain=GAIN, Gain [0-255] (def. 0)
lens_x=CORR, Lens Correction X [0-255] (def. 0)
lens_y=CORR, Lens Correction Y [0-255] (def. 0)
Parameters:

cap camera argument parser

Definition at line 139 of file v4l2.cpp.

References _device_name, firevision::CameraArgumentParser::get(), firevision::CameraArgumentParser::has(), and firevision::CameraControlImage::size().

firevision::V4L2Camera::~V4L2Camera ( ) [virtual]

Destructor.

Definition at line 421 of file v4l2.cpp.

References _device_name.

firevision::V4L2Camera::V4L2Camera	(	const char *	device_name,
		int	dev
	)			`[protected]`

Protected Constructor.

Gets called from V4LCamera, when the device has already been opened and determined to be a V4L2 device.

Parameters:

	device_name	device file name (e.g. /dev/video0)
	dev	file descriptor of the opened device

Definition at line 390 of file v4l2.cpp.

References _device_name.

Member Function Documentation

const char * firevision::V4L2Camera::format ( ) [virtual]

Get the image format the camera currently uses.

Check implementation documentation for details on the format.

Returns:: a string describing the image format

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1472 of file v4l2.cpp.

unsigned int firevision::V4L2Camera::fps ( ) [virtual]

Get the number of frames per second that have been requested from the camera.

A return value of 0 means that fps haven't been set yet through the camera.

Returns:: the currently requested fps or 0 if not set yet

Reimplemented from firevision::CameraControlImage.

Definition at line 1537 of file v4l2.cpp.

int firevision::V4L2Camera::get_one_control	(	const char *	ctrl,
		unsigned int	id
	)			`[protected, virtual]`

Get one Camera control value.

Parameters:

	ctrl	name of the value
	id	ID of the value

Returns:: current value

Definition at line 860 of file v4l2.cpp.

Referenced by firevision::NaoCamera::auto_exposure(), horiz_mirror(), lens_x_corr(), lens_y_corr(), and vert_mirror().

unsigned int firevision::V4L2Camera::height ( ) [virtual]

Get the current height of the image.

Returns:: height in pixels

Implements firevision::CameraControlImage.

Definition at line 1492 of file v4l2.cpp.

bool firevision::V4L2Camera::horiz_mirror ( ) [virtual]

Return whether the camera image is horizontally mirrored.

Returns:: true if the image is horizontally mirrored

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1507 of file v4l2.cpp.

References get_one_control().

unsigned int firevision::V4L2Camera::lens_x_corr ( ) [virtual]

Get current lens x correction.

Returns:: current lens x correction

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1550 of file v4l2.cpp.

References get_one_control().

unsigned int firevision::V4L2Camera::lens_y_corr ( ) [virtual]

Get current lens y correction.

Returns:: current lens y correction

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1556 of file v4l2.cpp.

References get_one_control().

void firevision::V4L2Camera::set_format ( const char * format ) [virtual]

Set the image format the camera should use.

Check implementation documentation for details on the format.

Parameters:

format

the new image format

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1478 of file v4l2.cpp.

void firevision::V4L2Camera::set_fps ( unsigned int fps ) [virtual]

Set the number of frames per second the camera tries to deliver.

Parameters:

fps

the new fps

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1543 of file v4l2.cpp.

References set_fps().

Referenced by set_fps().

void firevision::V4L2Camera::set_horiz_mirror ( bool enabled ) [virtual]

Set whether the camera should mirror images horizontally.

Parameters:

enabled

if true, images should be mirrored horizontally

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1519 of file v4l2.cpp.

References set_one_control().

void firevision::V4L2Camera::set_lens_x_corr ( unsigned int x_corr ) [virtual]

Set lens x correction.

Parameters:

x_corr

new lens x correction

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1562 of file v4l2.cpp.

References set_one_control().

void firevision::V4L2Camera::set_lens_y_corr ( unsigned int y_corr ) [virtual]

Set lens y correction.

Parameters:

y_corr

new lens y correction

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1569 of file v4l2.cpp.

References set_one_control().

void firevision::V4L2Camera::set_one_control	(	const char *	ctrl,
		unsigned int	id,
		int	value
	)			`[protected, virtual]`

Set one Camera control value.

Parameters:

	ctrl	name of the value
	id	ID of the value
	value	value to set

Definition at line 817 of file v4l2.cpp.

Referenced by firevision::NaoCamera::set_auto_exposure(), set_horiz_mirror(), set_lens_x_corr(), set_lens_y_corr(), and set_vert_mirror().

void firevision::V4L2Camera::set_size	(	unsigned int	width,
		unsigned int	height
	)			`[virtual]`

Set the image size the camera should use.

Parameters:

	width	new width of the image
	height	new height of the image

Exceptions:

Exception

thrown for instance if size setting at run-time is not supported

Implements firevision::CameraControlImage.

Definition at line 1498 of file v4l2.cpp.

void firevision::V4L2Camera::set_vert_mirror ( bool enabled ) [virtual]

Set whether the camera should mirror images vertically.

Parameters:

enabled

if true, images should be mirrored vertically

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1526 of file v4l2.cpp.

References set_one_control().

bool firevision::V4L2Camera::vert_mirror ( ) [virtual]

Return whether the camera image is vertically mirrored.

Returns:: true if the image is vertically mirrored

Exceptions:

NotImplementedException

Not implemented by this control

Reimplemented from firevision::CameraControlImage.

Definition at line 1513 of file v4l2.cpp.

References get_one_control().

unsigned int firevision::V4L2Camera::width ( ) [virtual]

Get the current width of the image.

Returns:: width in pixels

Implements firevision::CameraControlImage.

Definition at line 1486 of file v4l2.cpp.

Member Data Documentation

char* firevision::V4L2Camera::_device_name [protected]

Device name.

Definition at line 138 of file v4l2.h.

Referenced by firevision::NaoCamera::NaoCamera(), firevision::NaoCamera::set_source(), V4L2Camera(), and ~V4L2Camera().

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

src/firevision/cams/v4l2.h
src/firevision/cams/v4l2.cpp

firevision::V4L2Camera Class Reference

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation