#include <usb_cam.h>

Classes
struct	buffer

struct	camera_image_t

Public Types
enum	io_method { IO_METHOD_READ, IO_METHOD_MMAP, IO_METHOD_USERPTR, IO_METHOD_UNKNOWN }

enum	pixel_format { PIXEL_FORMAT_YUYV, PIXEL_FORMAT_UYVY, PIXEL_FORMAT_MJPEG, PIXEL_FORMAT_YUVMONO10, PIXEL_FORMAT_RGB24, PIXEL_FORMAT_GREY, PIXEL_FORMAT_UNKNOWN }

Public Member Functions
void	grab_image (sensor_msgs::Image *image)

bool	is_capturing ()

void	set_auto_focus (int value)

void	set_v4l_parameter (const std::string &param, int value)

void	set_v4l_parameter (const std::string &param, const std::string &value)

void	shutdown (void)

void	start (const std::string &dev, io_method io, pixel_format pf, int image_width, int image_height, int framerate)

void	start_capturing (void)

void	stop_capturing (void)

	UsbCam ()

	~UsbCam ()

Static Public Member Functions
static io_method	io_method_from_string (const std::string &str)

static pixel_format	pixel_format_from_string (const std::string &str)

Private Member Functions
void	close_device (void)

void	grab_image ()

void	init_device (int image_width, int image_height, int framerate)

int	init_mjpeg_decoder (int image_width, int image_height)

void	init_mmap (void)

void	init_read (unsigned int buffer_size)

void	init_userp (unsigned int buffer_size)

void	mjpeg2rgb (char MJPEG, int len, char RGB, int NumPixels)

void	open_device (void)

void	process_image (const void src, int len, camera_image_t dest)

int	read_frame ()

void	uninit_device (void)

Private Attributes
AVCodec *	avcodec_

AVCodecContext *	avcodec_context_

AVFrame *	avframe_camera_

int	avframe_camera_size_

AVFrame *	avframe_rgb_

int	avframe_rgb_size_

AVDictionary *	avoptions_

buffer *	buffers_

std::string	camera_dev_

int	fd_

camera_image_t *	image_

io_method	io_

bool	is_capturing_

bool	monochrome_

unsigned int	n_buffers_

unsigned int	pixelformat_

struct SwsContext *	video_sws_

Detailed Description

Definition at line 62 of file usb_cam.h.

Member Enumeration Documentation

enum usb_cam::UsbCam::io_method

Enumerator
IO_METHOD_READ
IO_METHOD_MMAP
IO_METHOD_USERPTR
IO_METHOD_UNKNOWN

Definition at line 64 of file usb_cam.h.

enum usb_cam::UsbCam::pixel_format

Enumerator
PIXEL_FORMAT_YUYV
PIXEL_FORMAT_UYVY
PIXEL_FORMAT_MJPEG
PIXEL_FORMAT_YUVMONO10
PIXEL_FORMAT_RGB24
PIXEL_FORMAT_GREY
PIXEL_FORMAT_UNKNOWN

Definition at line 69 of file usb_cam.h.

Constructor & Destructor Documentation

usb_cam::UsbCam::UsbCam ( )

Definition at line 356 of file usb_cam.cpp.

usb_cam::UsbCam::~UsbCam ( )

Definition at line 361 of file usb_cam.cpp.

Member Function Documentation

void usb_cam::UsbCam::close_device ( void )

private

Definition at line 972 of file usb_cam.cpp.

void usb_cam::UsbCam::grab_image ( sensor_msgs::Image * image )

Definition at line 1082 of file usb_cam.cpp.

void usb_cam::UsbCam::grab_image ( )

private

Definition at line 1101 of file usb_cam.cpp.

void usb_cam::UsbCam::init_device	(	int	image_width,
		int	image_height,
		int	framerate
	)

private

Definition at line 833 of file usb_cam.cpp.

int usb_cam::UsbCam::init_mjpeg_decoder	(	int	image_width,
		int	image_height
	)

private

Definition at line 366 of file usb_cam.cpp.

void usb_cam::UsbCam::init_mmap ( void )

private

Definition at line 724 of file usb_cam.cpp.

void usb_cam::UsbCam::init_read ( unsigned int buffer_size )

private

Definition at line 704 of file usb_cam.cpp.

void usb_cam::UsbCam::init_userp ( unsigned int buffer_size )

private

Definition at line 784 of file usb_cam.cpp.

UsbCam::io_method usb_cam::UsbCam::io_method_from_string ( const std::string & str )

static

Definition at line 1217 of file usb_cam.cpp.

bool usb_cam::UsbCam::is_capturing ( )

Definition at line 588 of file usb_cam.cpp.

void usb_cam::UsbCam::mjpeg2rgb	(	char *	MJPEG,
		int	len,
		char *	RGB,
		int	NumPixels
	)

private

Definition at line 409 of file usb_cam.cpp.

void usb_cam::UsbCam::open_device ( void )

private

Definition at line 980 of file usb_cam.cpp.

UsbCam::pixel_format usb_cam::UsbCam::pixel_format_from_string ( const std::string & str )

static

Definition at line 1229 of file usb_cam.cpp.

void usb_cam::UsbCam::process_image	(	const void *	src,
		int	len,
		camera_image_t *	dest
	)

private

Definition at line 462 of file usb_cam.cpp.

int usb_cam::UsbCam::read_frame ( )

private

Definition at line 485 of file usb_cam.cpp.

void usb_cam::UsbCam::set_auto_focus ( int value )

Definition at line 1135 of file usb_cam.cpp.

void usb_cam::UsbCam::set_v4l_parameter	(	const std::string &	param,
		int	value
	)

Set video device parameter via call to v4l-utils.

Parameters

param	The name of the parameter to set
param	The value to assign

Definition at line 1181 of file usb_cam.cpp.

void usb_cam::UsbCam::set_v4l_parameter	(	const std::string &	param,
		const std::string &	value
	)

Set video device parameter via call to v4l-utils.

Parameters

param	The name of the parameter to set
param	The value to assign

Definition at line 1191 of file usb_cam.cpp.

void usb_cam::UsbCam::shutdown ( void )

Definition at line 1059 of file usb_cam.cpp.

void usb_cam::UsbCam::start	(	const std::string &	dev,
		io_method	io,
		pixel_format	pf,
		int	image_width,
		int	image_height,
		int	framerate
	)

Definition at line 1005 of file usb_cam.cpp.

void usb_cam::UsbCam::start_capturing ( void )

Definition at line 616 of file usb_cam.cpp.

void usb_cam::UsbCam::stop_capturing ( void )

Definition at line 592 of file usb_cam.cpp.

void usb_cam::UsbCam::uninit_device ( void )

private

Definition at line 679 of file usb_cam.cpp.

Member Data Documentation

AVCodec* usb_cam::UsbCam::avcodec_

private

Definition at line 142 of file usb_cam.h.

AVCodecContext* usb_cam::UsbCam::avcodec_context_

private

Definition at line 144 of file usb_cam.h.

AVFrame* usb_cam::UsbCam::avframe_camera_

private

Definition at line 140 of file usb_cam.h.

int usb_cam::UsbCam::avframe_camera_size_

private

Definition at line 145 of file usb_cam.h.

AVFrame* usb_cam::UsbCam::avframe_rgb_

private

Definition at line 141 of file usb_cam.h.

int usb_cam::UsbCam::avframe_rgb_size_

private

Definition at line 146 of file usb_cam.h.

AVDictionary* usb_cam::UsbCam::avoptions_

private

Definition at line 143 of file usb_cam.h.

buffer* usb_cam::UsbCam::buffers_

private

Definition at line 138 of file usb_cam.h.

std::string usb_cam::UsbCam::camera_dev_

private

Definition at line 133 of file usb_cam.h.

int usb_cam::UsbCam::fd_

private

Definition at line 137 of file usb_cam.h.

camera_image_t* usb_cam::UsbCam::image_

private

Definition at line 148 of file usb_cam.h.

io_method usb_cam::UsbCam::io_

private

Definition at line 136 of file usb_cam.h.

bool usb_cam::UsbCam::is_capturing_

private

Definition at line 130 of file usb_cam.h.

bool usb_cam::UsbCam::monochrome_

private

Definition at line 135 of file usb_cam.h.

unsigned int usb_cam::UsbCam::n_buffers_

private

Definition at line 139 of file usb_cam.h.

unsigned int usb_cam::UsbCam::pixelformat_

private

Definition at line 134 of file usb_cam.h.

struct SwsContext* usb_cam::UsbCam::video_sws_

private

Definition at line 147 of file usb_cam.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation