#include <cam_usb.h>

Inheritance diagram for camera::CamUsb:

Public Member Functions
	CamUsb (std::string const &device)

	~CamUsb ()

void	fastInit (int width, int height)

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

virtual bool	open (const CamInfo &cam, const AccessMode mode=Master)

bool	isOpen () const

virtual const CamInfo *	getCameraInfo () const

virtual bool	close ()

virtual bool	grab (const GrabMode mode=SingleFrame, const int buffer_len=1)

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

bool	storeFrame (base::samples::frame::Frame &frame, std::string const &file_name)

virtual bool	isFrameAvailable ()

virtual int	skipFrames ()

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

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

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

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

virtual bool	setAttrib (const enum_attrib::CamAttrib attrib)

virtual bool	isAttribAvail (const int_attrib::CamAttrib attrib)

virtual bool	isAttribAvail (const double_attrib::CamAttrib attrib)

virtual bool	isAttribAvail (const str_attrib::CamAttrib attrib)

virtual bool	isAttribAvail (const enum_attrib::CamAttrib attrib)

virtual int	getAttrib (const int_attrib::CamAttrib attrib)

virtual double	getAttrib (const double_attrib::CamAttrib attrib)

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

virtual bool	isAttribSet (const enum_attrib::CamAttrib attrib)

bool	isV4L2AttribAvail (const int control_id, std::string name="")

int	getV4L2Attrib (const int control_id)

bool	setV4L2Attrib (const int control_id, const int value)

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)

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

virtual bool	triggerFrame ()

virtual bool	setToDefault ()

bool	printCameraInformations ()

virtual bool	setCallbackFcn (void(pcallback_function)(const void p), void *p)

virtual void	synchronizeWithSystemTime (uint32_t time_interval)

virtual void	saveConfiguration (uint8_t index)

virtual void	loadConfiguration (uint8_t index)

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

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

virtual int	getFileDescriptor () const

enum CAM_USB_MODE	getCamMode ()

double	calculateFPS ()

Static Public Attributes
static const uint32_t	CAM_ID = 0

Detailed Description

Allows configuration and image-requesting of cameras supported by Video4Linux.

Pass the video-device (e.g. '/dev/video0') to the constructor.
Call 'listCameras()' to get the CamInfo structure of the single supported camera.
Opens the camera with 'open()' entering the configuration mode via v4l2.
Call setFrameSettings() to define the image size.
(optional) Use 'setAttrib()' to change default attributes of the camera interface and 'setV4L2Attrib()' to change special private attributes of the camera not defined by the interface.
Call 'grab()' to create and start the image requesting. If the camera mode camera::MultiFrame or camera::Continuously is used GStreamer is used for the image requesting. In mode::SingleFrame v4l2 is directly used to request the camera images which should be stressfull for the usb bus. To stop the image requesting and enter the configuration mode again mode::Stop has been passed.
Use 'retrieveFrame()' to get a Frame.

You can use 'fastInit(width, height)' for the steps 2, 3 and 4.

Constructor & Destructor Documentation

camera::CamUsb::CamUsb ( std::string const & device )

camera::CamUsb::~CamUsb ( )

Member Function Documentation

double camera::CamUsb::calculateFPS ( )

inline

bool camera::CamUsb::close ( )

virtual

Close camera, sets camera mode to CAM_USB_NONE (configuration or image requesting is not possible anymore).

Returns: Always true.

void camera::CamUsb::fastInit	(	int	width,
		int	height
	)

Fast configuration of the camera (step 2 to 4). Opens the camera and sets the frame size. After this configuration, additional attributes can be set, the camera can be started by using grab() and the images can be retrieved with retrieveFrame(). If the camera does not support the passed width and height, an appropriate image size will be set.

int camera::CamUsb::getAttrib ( const int_attrib::CamAttrib attrib )

virtual

Returns the control value or throws a std::runtime_error.

double camera::CamUsb::getAttrib ( const double_attrib::CamAttrib attrib )

virtual

Returns the fps of the camera or throws a std::runtime_error.

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

inlinevirtual

const CamInfo * camera::CamUsb::getCameraInfo ( ) const

virtual

Returns: NULL if camera is not open.

enum CAM_USB_MODE camera::CamUsb::getCamMode ( )

inline

int camera::CamUsb::getFileDescriptor ( ) const

virtual

The pipeline must be running.

Returns: -1 if an error occurred.

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

virtual

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

inlinevirtual

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

virtual

int camera::CamUsb::getV4L2Attrib ( const int control_id )

Allows to request the last read control value (the value will not be re-read from the camera).

Exceptions

std::runtime_error

Parameters

control_id Control id to request.

Returns: false if the camera is not in configuration mode or the passed id is unknown.

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

virtual

To start the pipeline, just set 'mode' to sth. other than Stop (SingleFrame, MultiFrame or Continuously). Images are always grapped continuously. Pass Stop to stop grabbing and reenter the configuration mode. Could throw std::runtime_error if the passed mode is unknown or the mode should changed during the pipeline is running.

Returns: Return false if the pipeline could not be started.

bool camera::CamUsb::isAttribAvail ( const int_attrib::CamAttrib attrib )

virtual

Returns true if the attribute can be used with the camera. Excludes int_attrib::ExposureValue at the moment, because problems occurs using the Microsoft LiveCam.

bool camera::CamUsb::isAttribAvail ( const double_attrib::CamAttrib attrib )

virtual

Returns true if the fps could be set on the camera.

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

inlinevirtual

bool camera::CamUsb::isAttribAvail ( const enum_attrib::CamAttrib attrib )

virtual

Returns true if the attribute can be used with the camera.

bool camera::CamUsb::isAttribSet ( const enum_attrib::CamAttrib attrib )

virtual

Returns true if the enumeration attribute is set or throws a std::runtime_error.

bool camera::CamUsb::isFrameAvailable ( )

virtual

Same as grab(), returns true if a new image is available.

bool camera::CamUsb::isOpen ( ) const

bool camera::CamUsb::isV4L2AttribAvail	(	const int	control_id,
		std::string	name = `""`
	)

Can be used to check the availability of v4l2 control IDs directly.

Parameters

control_id	id of the control to check.
name	For different cameras the same private base control id addresses different controls. If the name parameter is used, the name of the control is checked as well.

Returns: false if the camera is not in configuration mode or the attribute is not available.

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

virtual

Adds the single cam_info structure to the passed vector. The cam_info.display_name will be added later, as soon as the connection to the camera has been opened.

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

inlinevirtual

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

virtual

Stores the passed CamInfo structure and opens camera for configuration via v4l2.

Returns: Always true.

bool camera::CamUsb::printCameraInformations ( )

List all camera informations. BASE_LOG_LEVEL has to be set to INFO.

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

virtual

Reads a JPEG and initializes the passed frame (blocking read).

Returns: true if a new image could be requested in 'timeout' msecs.

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

inlinevirtual

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

virtual

Write the control value to the camera or throws a std::runtime_error.

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

virtual

Sets the FPS or throws a std::runtime_error. This method just sets the member variable mFps. You have to close and reopen the camera to take the new fps will take into account.

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

inlinevirtual

bool camera::CamUsb::setAttrib ( const enum_attrib::CamAttrib attrib )

virtual

Switches the enumeration attribute or throws a std::runtime_error.

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

inlinevirtual

bool camera::CamUsb::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`
	)

If necessary 'size' will be changed to a valid one. 'mode' should be set to base::samples::frame::MODE_JPEG and 'color_depth' to the bytes per pixel.

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

virtual

bool camera::CamUsb::setToDefault ( )

virtual

Sets all control values on the camera back to default values. The image size and the fps are not affected. The connection to the camera has to be closed.

bool camera::CamUsb::setV4L2Attrib	(	const int	control_id,
		const int	value
	)

Sets the v4l2 control id directly.

Parameters

control_id	Control id to set the value for.
value	Value to set.

Exceptions

std::runtime_error if the configuration mode is not active, the passed id is unknown or writeControlValue() throws an exception.

Returns: true if the value could be set.

int camera::CamUsb::skipFrames ( )

virtual

Skips the current image if available.

Returns: true if an image has been skipped.

bool camera::CamUsb::storeFrame	(	base::samples::frame::Frame &	frame,
		std::string const &	file_name
	)

Stores the last retrieved frame to 'file_name'.

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

inlinevirtual

bool camera::CamUsb::triggerFrame ( )

virtual

Frames are requested continuously.

Member Data Documentation

const uint32_t camera::CamUsb::CAM_ID = 0

static

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

/build/rock-master-18.09-drivers-camera-usb-0.20180212/src/cam_usb.h
/build/rock-master-18.09-drivers-camera-usb-0.20180212/src/cam_usb.cpp

Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation