claraty::A_Camera

claraty::A_Camera Class Reference

#include <a_camera.h>

Inheritance diagram for claraty::A_Camera:

[legend]Collaboration diagram for claraty::A_Camera:

[legend]List of all members.


Public Types
enum	IMAGE_FORMAT { MONO8, YUV411, YUV422, YUV444, RGB8, MONO16, RGB16 }
Public Member Functions
virtual bool	io (FDM_Map map)

int	get_width () const
int	get_height () const

void	acquire (Image< uint8_t > &image, Time timestamp_ptr=NULL, Feature_Map feature_map_ptr=NULL) throw (std::exception)
void	acquire (Image< uint16_t > &image, Time timestamp_ptr=NULL, Feature_Map feature_map_ptr=NULL) throw (std::exception)

void	set_camera_model_ptr (Camera_Model *cm)
const Camera_Model *	get_camera_model_ptr () const
virtual bool	set_contrast (double gain_proportion=DONT_CARE)
virtual double	get_contrast () const
virtual bool	set_brightness (double offset=DONT_CARE)
virtual double	get_brightness () const
virtual bool	set_exposure (double seconds=DONT_CARE)
virtual double	get_exposure () const
virtual bool	set_format (IMAGE_FORMAT format, int width_pixels=-1, int height_pixels=-1)
virtual IMAGE_FORMAT	get_format () const
virtual bool	set_subframe (int width_offset, int height_offset, int width, int height)
virtual int	get_subframe_width_offset () const
virtual int	get_subframe_height_offset () const
virtual int	get_subframe_width () const
virtual int	get_subframe_height () const

template<class Pixel_Type>
void	acquire (Camera_Image< Pixel_Type > &image) throw (std::exception)
	Acquire a Camera_Image (template version).

bool	on ()
bool	off ()
bool	is_on ()
void	set_power_switch (Power_Switch &sw)
std::string	get_name () const

std::ostream &	display_xml (const char *p, std::ostream &os=std::cout) const
Static Public Attributes
static const double	DONT_CARE = -DOUBLE_EPSILON
Protected Member Functions
void	_verify_pixel_format (size_t pixel_size)
template<class Pixel_Type>
void	_verify_resize_image (Image< Pixel_Type > &image)
Protected Attributes
Camera_Model *	_camera_model_ptr
std::string	_name
Power_Switch *	_power_switch

Detailed Description

Definition at line 33 of file a_camera.h.

Member Enumeration Documentation

enum claraty::Camera::IMAGE_FORMAT [inherited]

Enumerator:

MONO8
YUV411
YUV422
YUV444
RGB8
MONO16
RGB16

Definition at line 114 of file camera.h.

00114                     { MONO8,                  // Image<uint8_t>
00115                       YUV411,                 // Image<uint8_t>
00116                       YUV422,                 // Image<uint8_t>
00117                       YUV444,                 // Image<uint8_t>
00118                       RGB8,                   // Image<uint8_t>
00119                       MONO16,                 // Image<uint16_t>
00120                       RGB16 };                // Image<uint16_t>

Constructor & Destructor Documentation

claraty::A_Camera::A_Camera ( const char * filename ) [inline]

Definition at line 39 of file a_camera.h.

00040     : Camera(filename)
00041   { }

claraty::A_Camera::A_Camera ( const char * filename ) [inline]

Definition at line 39 of file a_camera.h.

00040     : Camera(filename)
00041   { }

Member Function Documentation

int claraty::A_Camera::get_width ( ) const [inline, virtual]

Implements claraty::Camera.

Definition at line 47 of file a_camera.h.

00047 { return 1024; }

int claraty::A_Camera::get_height ( ) const [inline, virtual]

Implements claraty::Camera.

Definition at line 48 of file a_camera.h.

00048 { return 1024; }

void claraty::A_Camera::acquire	(	Image< uint8_t > &	image,
		Time *	timestamp_ptr = `NULL`,
		Feature_Map *	feature_map_ptr = `NULL`
	)			throw (std::exception) `[virtual]`

[description]

Parameters:

`[in]`	image
`[in]`	timestamp_ptr
`[in]`	feature_map_ptr

Implements claraty::Camera.

Definition at line 39 of file a_camera.cc.

00042 {
00043   image.resize(1024, 1024);
00044   for(int x = 0; x < image.get_width(); ++x) {
00045     for(int y = 0; y < image.get_height(); ++y) {
00046       image(x, y) = x * y % 256;
00047     }
00048   }
00049   cout << image;
00050 }

void claraty::A_Camera::acquire	(	Image< uint16_t > &	image,
		Time *	timestamp_ptr = `NULL`,
		Feature_Map *	feature_map_ptr = `NULL`
	)			throw (std::exception) `[virtual]`

[description]

Parameters:

`[in]`	image
`[in]`	timestamp_ptr
`[in]`	feature_map_ptr

Implements claraty::Camera.

Definition at line 61 of file a_camera.cc.

00064 {
00065   image.resize(1024, 1024);
00066   for(int x = 0; x < image.get_width(); ++x) {
00067     for(int y = 0; y < image.get_height(); ++y) {
00068       image(x, y) = x * y % 65536;
00069     }
00070   }
00071 }

void claraty::Camera::set_camera_model_ptr ( Camera_Model * cm ) [inline, inherited]

Definition at line 141 of file camera.h.

References claraty::Camera::_camera_model_ptr.

00141 {_camera_model_ptr = cm;}

const Camera_Model* claraty::Camera::get_camera_model_ptr ( ) const [inline, inherited]

Definition at line 143 of file camera.h.

References claraty::Camera::_camera_model_ptr.

00144   {
00145     return _camera_model_ptr;
00146   }

virtual bool claraty::Camera::set_contrast ( double gain_proportion = DONT_CARE ) [inline, virtual, inherited]

Definition at line 151 of file camera.h.

00151 { return false; }

virtual double claraty::Camera::get_contrast ( ) const [inline, virtual, inherited]

Definition at line 152 of file camera.h.

00152 { return 1.0; }

virtual bool claraty::Camera::set_brightness ( double offset = DONT_CARE ) [inline, virtual, inherited]

Definition at line 155 of file camera.h.

00155 { return false; }

virtual double claraty::Camera::get_brightness ( ) const [inline, virtual, inherited]

Definition at line 156 of file camera.h.

00156 { return 1.0;   }

virtual bool claraty::Camera::set_exposure ( double seconds = DONT_CARE ) [inline, virtual, inherited]

Definition at line 157 of file camera.h.

00157 { return false; }

virtual double claraty::Camera::get_exposure ( ) const [inline, virtual, inherited]

Definition at line 158 of file camera.h.

00158 { return 1.0;   }

virtual bool claraty::Camera::set_format	(	IMAGE_FORMAT	format,
		int	width_pixels = `-1`,
		int	height_pixels = `-1`
	)			`[inline, virtual, inherited]`

Definition at line 161 of file camera.h.

00163                                                                    { return false; }

virtual IMAGE_FORMAT claraty::Camera::get_format ( ) const [inline, virtual, inherited]

Definition at line 164 of file camera.h.

References claraty::Camera::MONO8.

Referenced by claraty::Camera::_verify_pixel_format().

00164 { return MONO8; }

virtual bool claraty::Camera::set_subframe	(	int	width_offset,
		int	height_offset,
		int	width,
		int	height
	)			`[inline, virtual, inherited]`

Definition at line 178 of file camera.h.

00181                                                     { return false; }

virtual int claraty::Camera::get_subframe_width_offset ( ) const [inline, virtual, inherited]

Definition at line 182 of file camera.h.

00182 { return 0; }

virtual int claraty::Camera::get_subframe_height_offset ( ) const [inline, virtual, inherited]

Definition at line 183 of file camera.h.

00183 { return 0; }

virtual int claraty::Camera::get_subframe_width ( ) const [inline, virtual, inherited]

Definition at line 187 of file camera.h.

References claraty::Camera::get_width().

00187 { return get_width(); };

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virtual int claraty::Camera::get_subframe_height ( ) const [inline, virtual, inherited]

Definition at line 188 of file camera.h.

References claraty::Camera::get_height().

00188 { return get_height(); };

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template<class Pixel_Type>

void claraty::Camera::acquire ( Camera_Image< Pixel_Type > & image ) throw (std::exception) [inherited]

Acquire a Camera_Image (template version).

Acquire a Camera_Image using the current feature settings from this logical camera. This routine may fail for a number of reasons. In particular, it fails if the Pixel_Type of the image parameter does not match that expected by the camera, as controlled by the set_format member function. On failure, an exception is thrown.

Parameters:

[out] image Returns newly acquired Camera_Image. The image is resized to match the image size returned by the camera. The timestamp, and feature_map portions of the Camera_Image are updated by this routine. The camera_model portion of the Camera_Image returns the Camera_Model as set by the Camera constructor or set_camera_model_ptr().

Definition at line 281 of file camera.h.

References claraty::Camera::acquire().

00282 {
00283   // Camera must be a friend of Camera_Image; requires change in Camera_Image  
00284   acquire(image, &image._timestamp, &image._feature_map);
00285   image._frame_num = 0;
00286 }

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bool claraty::Camera::io ( FDM_Map map ) [virtual, inherited]

Serializes a camera. Camera id, name and camera model that captures lens parameters are all option

Parameters:

[in] map a map that holds the content of a serialized camera

Reimplemented from claraty::Device.

Definition at line 54 of file camera.cc.

References claraty::Device::io().

00055 {
00056   bool ok = Device::io(map);
00057   // Check to make sure that the the output is read back in will
00058   // operator >> construct the camera model. Check who owns it
00059   // Need to add an IO to the Camera Model object
00060   // ok &= map.field("_camera_model_ptr", _camera_model_ptr);
00061   return ok;
00062 }

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void claraty::Camera::_verify_pixel_format ( size_t pixel_size ) [protected, inherited]

Verify that the camera format matches the pixel size (either 8-bit or 16-bit/pixel (see IMAGE_FORMAT). Throw exception if mismatched

Parameters:

[in] pixel_size number of bytes used for image pixels

Definition at line 105 of file camera.cc.

References AT_FUNCTION, claraty::Camera::get_format(), claraty::Camera::MONO16, claraty::Camera::MONO8, claraty::Camera::RGB16, claraty::Camera::RGB8, claraty::Camera::YUV411, claraty::Camera::YUV422, and claraty::Camera::YUV444.

Referenced by claraty::Camera_Group::_verify_pixel_format().

00106 { 
00107   IMAGE_FORMAT format = get_format();
00108 
00109   switch(pixel_size) {
00110 
00111   case 1:  // 8 Bits
00112     if (format != MONO8  &&  format != YUV411 &&
00113         format != YUV422 &&  format != YUV444 &&
00114         format != RGB8) {
00115       std::ostringstream os;
00116       os << AT_FUNCTION << " camera: " << (*this) 
00117          << " acquiring 16 bit-format images with camera set to 8 bit format"
00118          << endl;
00119       throw (os.str());
00120     }
00121     break;
00122 
00123   case 2:  // 16 bits
00124     if (format != MONO16  &&  format != RGB16) {
00125       std::ostringstream os;
00126       os << AT_FUNCTION << " camera: " << (*this) 
00127          << " acquiring 8 bit-format images with camera set to 16 bit format"
00128          << endl;
00129       throw (os.str());
00130     }    
00131     break;
00132   }
00133 }

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template<class Pixel_Type>

void claraty::Camera::_verify_resize_image ( Image< Pixel_Type > & image ) [protected, inherited]

Verify that the image size matches the camera frame size. If the image size does not match the camera frame size, this function will resize the image to the proper camera frame size.

Parameters:

[in] image reference to an image object to be resized

Definition at line 298 of file camera.h.

References claraty::Camera::get_height(), claraty::Image< T >::get_height(), claraty::Camera::get_width(), claraty::Image< T >::get_width(), and claraty::N_2D_Array< T >::resize().

Referenced by claraty::Camera_Group::_verify_resize_images().

00299 {
00300   if ((image.get_width () != get_width()) && 
00301       (image.get_height() != get_height())) 
00302     image.resize(get_height(), get_width());
00303 }

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bool claraty::Device::on ( ) [inherited]

Turn on the device.

Returns:: Returns true on success, false on failure.

Definition at line 61 of file device.cc.

References claraty::Device::_power_switch, and claraty::Power_Switch::set().

00062 {
00063   if (_power_switch == NULL) 
00064     return true;
00065   else
00066     return _power_switch->set(true);
00067 }

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bool claraty::Device::off ( ) [inherited]

Turn off a device

Returns:: Returns true on success, false on failure.

Definition at line 75 of file device.cc.

References claraty::Device::_power_switch, and claraty::Power_Switch::set().

00076 {
00077   if (_power_switch == NULL) 
00078     return false;
00079   else
00080     return _power_switch->set(false);
00081 }

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bool claraty::Device::is_on ( ) [inherited]

Check if a device is turned on.

Returns:: Returns true if this device is on, false if this device is off.

Definition at line 89 of file device.cc.

References claraty::Device::_power_switch, and claraty::Power_Switch::get().

00090 {
00091   if (_power_switch == NULL) 
00092     return true;
00093   else
00094     return _power_switch->get();
00095 }

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void claraty::Device::set_power_switch ( Power_Switch & new_sw ) [inherited]

Initialize the power switch functor. This should typically only be called at initialization time to bind a hardware switch, or other switching method, to this device.

Parameters:

[in] new_sw power switch function object

Definition at line 106 of file device.cc.

References claraty::Device::_power_switch.

00107 {
00108   _power_switch = &new_sw;
00109 }

std::string claraty::Device::get_name ( ) const [inherited]

Gets the name of the device

Returns:: Returns string containing name of this device.

Definition at line 117 of file device.cc.

References claraty::Device::_name.

Referenced by claraty::Device::display_xml().

00118 { 
00119   return _name; 
00120 };

std::ostream & claraty::Device::display_xml	(	const char *	pmsg,
		std::ostream &	os = `std::cout`
	)			const `[inherited]`

Output the contents of device in an XML format

Parameters:

`[in]`	pmsg	a text message to display before the output
`[in]`	os	output stream with cout as a default

Returns:: the formatted output stream

Definition at line 148 of file device.cc.

References claraty::XML_Out::get_indentation_space(), and claraty::Device::get_name().

Referenced by claraty::operator<<().

00149 {
00150   // Set up the spacing for the indentation of the fields in the file
00151   std::string spacing = "";
00152   spacing.append(XML_Out::get_indentation_space(), ' ');
00153   os << spacing << "<Device ";
00154   os << "name = \"" << get_name() << "\" ";
00155   os << " >";
00156   return os;
00157 }