#include <AbstractColorCamera.h>

Inheritance diagram for ipa_CameraSensors::AbstractColorCamera:

Classes
struct	t_ColorCameraParameters

Public Member Functions
virtual unsigned long	Close ()=0

virtual t_cameraType	GetCameraType ()

unsigned long	GetColorImage (char *colorImageData, bool getLatestFrame=true)

virtual unsigned long	GetColorImage (cv::Mat *colorImage, bool getLatestFrame=true)=0

virtual int	GetNumberOfImages ()

virtual unsigned long	GetProperty (t_cameraProperty *cameraProperty)=0

virtual unsigned long	Init (std::string directory, int cameraIndex=0)=0

virtual bool	isInitialized ()

virtual bool	isOpen ()

virtual unsigned long	Open ()=0

virtual unsigned long	PrintCameraInformation ()=0

virtual unsigned long	SaveParameters (const char *filename)=0

virtual unsigned long	SetPathToImages (std::string path)

virtual unsigned long	SetProperty (t_cameraProperty *cameraProperty)=0

virtual unsigned long	SetPropertyDefaults ()=0

virtual unsigned long	TestCamera (const char *filename)

virtual	~AbstractColorCamera ()
	Destructor. More...

Protected Attributes
unsigned int	m_BufferSize
	Number of images, the camera buffers internally. More...

t_cameraType	m_CameraType
	Camera Type. More...

t_ColorCameraParameters	m_ColorCameraParameters
	Storage for xml configuration file data. More...

bool	m_initialized
	True, when the camera has sucessfully been initialized. More...

bool	m_open
	True, when the camera has sucessfully been opend. More...

Private Member Functions
virtual unsigned long	LoadParameters (const char *filename, int cameraIndex)=0

virtual unsigned long	SetParameters ()=0

Detailed Description

An interface for common color cameras. All color/mono cameras that are used within the project must derive from this class to guarantee interoperability with the already existing code.

Definition at line 50 of file AbstractColorCamera.h.

Constructor & Destructor Documentation

AbstractColorCamera::~AbstractColorCamera ( )

virtual

Destructor.

Definition at line 30 of file AbstractColorCamera.cpp.

Member Function Documentation

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::Close ( )

pure virtual

Close camera device.

Returns: Return code.

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

t_cameraType AbstractColorCamera::GetCameraType ( )

virtual

Returns the camera type.

Returns: The camera type

Definition at line 34 of file AbstractColorCamera.cpp.

unsigned long ipa_CameraSensors::AbstractColorCamera::GetColorImage	(	char *	colorImageData,
		bool	getLatestFrame = `true`
	)

inline

Retrieves image data from the color camera.

Parameters

colorImageData	An array to be filled with image data
getLatestFrame	True, when the latest picture has to be returned. Otherwise, the next picture following the last call to `getLatestFrame` is returned.

Returns: Return code

Definition at line 111 of file AbstractColorCamera.h.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::GetColorImage	(	cv::Mat *	colorImage,
		bool	getLatestFrame = `true`
	)

pure virtual

Retrieves an image from the camera. cv::Mat object is initialized on demand.

Parameters

colorImage	The image that has been acquired by the camera.
getLatestFrame	If true, the camera acquires a new frame and returns it. Otherwise, the next frame following the last returned frame is returned from the internal camera buffer.

Exceptions

IPA_Exception Throws an exception, if camera access failed

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

virtual int ipa_CameraSensors::AbstractColorCamera::GetNumberOfImages ( )

inlinevirtual

Returns the number of images in the directory

Returns: The number of images in the directory

Reimplemented in ipa_CameraSensors::VirtualColorCam.

Definition at line 161 of file AbstractColorCamera.h.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::GetProperty ( t_cameraProperty * cameraProperty )

pure virtual

Function to get properties of the camera sensor.

Parameters

propertyID	The ID of the property.
cameraProperty	The value of the property.

Returns: Return code.

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::Init	(	std::string	directory,
		int	cameraIndex = `0`
	)

pure virtual

Initializes the color camera. Camera specific constants may be set within the configuration file cameraSensorsIni.xml. The function has to set the member variable m_initialized.

Parameters

directory	Path to the configuration file directory.
cameraIndex	It is possible to have several cameras of the same type on the system. One may us the camera index to apply different configuration files to each of them

Returns: Return code.

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

virtual bool ipa_CameraSensors::AbstractColorCamera::isInitialized ( )

inlinevirtual

Returns true, when Init() has been called on the camera.

Returns: Camera initialized or not.

Definition at line 90 of file AbstractColorCamera.h.

virtual bool ipa_CameraSensors::AbstractColorCamera::isOpen ( )

inlinevirtual

Returns true, when Open() has been called on the camera.

Returns: Camera opened or not.

Definition at line 94 of file AbstractColorCamera.h.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::LoadParameters	(	const char *	filename,
		int	cameraIndex
	)

privatepure virtual

Loads all camera specific parameters from the xml configuration file and saves them in t_ColorCameraParameters. This function is internally called by Init to load the parameters from the xml configuration file.

Parameters

filename The path to the configuration file.

Returns: Return code.

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::Open ( )

pure virtual

Opens the camera device. All camera specific parameters for opening the camera should have been set within the Init function.

Returns: Return code.

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::PrintCameraInformation ( )

pure virtual

Displays camera information on standard output. Information includes available parameters, color and camera formats.

Returns: Return code.

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::SaveParameters ( const char * filename )

pure virtual

Saves all parameters on hard disk.

Parameters

filename The filename of the storage.

Returns: Return code.

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::SetParameters ( )

privatepure virtual

Sets the loaded parameters.

Returns: Return code.

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::SetPathToImages ( std::string path )

inlinevirtual

Function specific to virtual camera. Resets the image directory read from the configuration file.

Parameters

path	The camera path

Returns: Return code

Reimplemented in ipa_CameraSensors::VirtualColorCam.

Definition at line 167 of file AbstractColorCamera.h.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::SetProperty ( t_cameraProperty * cameraProperty )

pure virtual

Function to set properties of the camera sensor.

Parameters

propertyID	The ID of the property.
cameraProperty	The value of the property.

Returns: Return code.

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

virtual unsigned long ipa_CameraSensors::AbstractColorCamera::SetPropertyDefaults ( )

pure virtual

Function to set property defaults of the camera sensor.

Returns: Return code.

Implemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

unsigned long AbstractColorCamera::TestCamera ( const char * filename )

virtual

Unit Test for the camera interface. Tests each of the single interface functions and displays the output on standard out.

Parameters

filename Path to the camera initialization xml file.

Returns: Return code.

Reimplemented in ipa_CameraSensors::AVTPikeCam, and ipa_CameraSensors::VirtualColorCam.

Definition at line 39 of file AbstractColorCamera.cpp.

Member Data Documentation

unsigned int ipa_CameraSensors::AbstractColorCamera::m_BufferSize

protected

Number of images, the camera buffers internally.

Definition at line 181 of file AbstractColorCamera.h.

t_cameraType ipa_CameraSensors::AbstractColorCamera::m_CameraType

protected

Camera Type.

Definition at line 179 of file AbstractColorCamera.h.

t_ColorCameraParameters ipa_CameraSensors::AbstractColorCamera::m_ColorCameraParameters

protected

Storage for xml configuration file data.

Definition at line 177 of file AbstractColorCamera.h.

bool ipa_CameraSensors::AbstractColorCamera::m_initialized

protected

True, when the camera has sucessfully been initialized.

Definition at line 174 of file AbstractColorCamera.h.

bool ipa_CameraSensors::AbstractColorCamera::m_open

protected

True, when the camera has sucessfully been opend.

Definition at line 175 of file AbstractColorCamera.h.

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

Classes

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation