#include <Camera.h>

Inheritance diagram for rnr::Camera:

Public Member Functions
	Camera (const std::string &strVideoDevName=VideoDevDft, const CamRes &resVideo=CamResQVGA, const CamRes &resImage=CamResVGA)

virtual	~Camera ()
	Destructor. More...

virtual int	startVideo (const CamRes &resVideo=CamResDft)
	Start the camera streaming video. More...

virtual int	stopVideo ()
	Stop the camera from streaming video. More...

virtual int	grabFrame (cv::Mat &frame)
	Grab a image frame from the video stream. More...

virtual int	clickImage (cv::Mat &img, const CamRes &resImage=CamResDft)
	Take a still image. More...

virtual void	autoFocus ()
	Auto-focus camera.

bool	isCameraRunning () const
	Test if the camera is on and running. More...

bool	isTakingAnImage () const
	Test if a still image is currently being taken. More...

bool	isFatal () const
	Test if camera object is in a fatal condition. More...

CamRes	getVideoResolution () const
	Get the current video resolution. More...

CamRes	getImageResolution () const
	Get the current still image resolution. More...

Static Public Member Functions
static bool	isEqResolution (const CamRes &res1, const CamRes &res2)
	Check is two camera resolutions are equal. More...

static int	getVideoIndex (const std::string &strVideoDevName)
	Get the video index associated with the device. More...

Protected Member Functions
virtual CamRes	setCameraResolution (const CamRes &res)
	Set the camera resolution in either video or still image mode. More...

Protected Attributes
std::string	m_strVideoDevName
	video device name

int	m_nVideoIndex
	video index

CamRes	m_resCurrent
	current camera resolution

CamRes	m_resVideo
	current video resolution

CamRes	m_resImage
	current still image resolution

bool	m_bCameraRunning
	camera is [not] on and running video

bool	m_bTakingImage
	taking an image is [not] finished

bool	m_bFatal
	camera instance is in a fatal state

Detailed Description

Camera base class.

Definition at line 125 of file Camera.h.

Constructor & Destructor Documentation

Camera::~Camera ( )

virtual

Destructor.

Default destructor.

Definition at line 108 of file Camera.cxx.

 {
   // reelase video resources
   if( isCameraRunning() )
   {
     stopVideo();
   }
 }

Member Function Documentation

virtual int rnr::Camera::clickImage	(	cv::Mat &	img,
		const CamRes &	resImage = `CamResDft`
	)

inlinevirtual

Take a still image.

Parameters

[in,out]	img	Snap shot image taken.
	resImage	Still image resolution. If equal to CamResDft, then the initial/last image resolution setting is used.

Returns: On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Reimplemented in rnr::CameraGst, and rnr::CameraCv.

Definition at line 207 of file Camera.h.

     {
       return RC_ERROR;
     }

CamRes rnr::Camera::getImageResolution ( ) const

inline

Get the current still image resolution.

Returns: Returns still image resolution size.

Definition at line 287 of file Camera.h.

     {
       return m_resImage;
     }

int Camera::getVideoIndex ( const std::string & strVideoDevName )

static

Get the video index associated with the device.

Parameters

strVideoDevName Video camera device name.

Returns: Returns video index on success, RC_ERROR(-1) on failure.

Definition at line 117 of file Camera.cxx.

References rnr::VideoDevMajor.

 {
   struct stat statVid;
   uint_t      uMajor;
   uint_t      uMinor;
 
   if( strVideoDevName.empty() )
   {
     LOGERROR("No video device name.");
     return RC_ERROR;
   }
 
   else if( access(strVideoDevName.c_str(), F_OK|R_OK|W_OK) != 0 )
   {
     LOGSYSERROR("%s.", strVideoDevName.c_str());
     return RC_ERROR;
   }
 
   else if( stat(strVideoDevName.c_str(), &statVid) != 0 )
   {
     LOGSYSERROR("%s.", strVideoDevName.c_str());
     return RC_ERROR;
   }
   
   uMajor = major(statVid.st_rdev);
   uMinor = minor(statVid.st_rdev);
 
   if( uMajor != VideoDevMajor )
   {
     LOGERROR("%s: Not a video device",
                 "Device major number %u != expected number %d.",
         strVideoDevName.c_str(), uMajor, VideoDevMajor);
     return RC_ERROR;
   }
 
   return (int)uMinor;
 }

CamRes rnr::Camera::getVideoResolution ( ) const

inline

Get the current video resolution.

Returns: Returns video resolution size.

Definition at line 277 of file Camera.h.

     {
       return m_resVideo;
     }

virtual int rnr::Camera::grabFrame ( cv::Mat & frame )

inlinevirtual

Grab a image frame from the video stream.

Parameters

[in,out] The image frame matrix. May be resized.

Returns: On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Reimplemented in rnr::CameraGst, and rnr::CameraCv.

Definition at line 193 of file Camera.h.

Referenced by rnr::CameraCv::clickImage(), and rnr::CameraCv::startVideo().

     {
       return RC_ERROR;
     }

bool rnr::Camera::isCameraRunning ( ) const

inline

Test if the camera is on and running.

Returns: Returns true if camera is on, else false.

Definition at line 224 of file Camera.h.

Referenced by rnr::CameraCv::clickImage(), rnr::CameraGst::clickImage(), rnr::CameraCv::grabFrame(), rnr::CameraGst::grabFrame(), rnr::CameraGst::setCameraResolution(), rnr::CameraCv::startVideo(), rnr::CameraGst::startVideo(), rnr::CameraCv::stopVideo(), and rnr::CameraGst::stopVideo().

     {
       return m_bCameraRunning;
     }

static bool rnr::Camera::isEqResolution	(	const CamRes &	res1,
		const CamRes &	res2
	)

inlinestatic

Check is two camera resolutions are equal.

Parameters

res1	Resolution 1.
res2	Resolution 2.

Returns: Returns true or false.

Definition at line 257 of file Camera.h.

References rnr::CamRes::height, and rnr::CamRes::width.

Referenced by rnr::CameraCv::clickImage(), rnr::CameraGst::clickImage(), rnr::CameraCv::startVideo(), and rnr::CameraGst::startVideo().

     {
       return (res1.width == res2.width) &&
              (res1.height == res2.height)? true: false;
     }

bool rnr::Camera::isFatal ( ) const

inline

Test if camera object is in a fatal condition.

Returns: Returns true or false.

Definition at line 244 of file Camera.h.

     {
       return m_bFatal;
     }

bool rnr::Camera::isTakingAnImage ( ) const

inline

Test if a still image is currently being taken.

Returns: Returns true if an image is currently being taken, else false.

Definition at line 234 of file Camera.h.

     {
       return m_bTakingImage;
     }

virtual CamRes rnr::Camera::setCameraResolution ( const CamRes & res )

inlineprotectedvirtual

Set the camera resolution in either video or still image mode.

Parameters

res	Target camera resolution.

Returns: Actual resolution set.

Reimplemented in rnr::CameraGst, and rnr::CameraCv.

Definition at line 309 of file Camera.h.

Referenced by rnr::CameraCv::clickImage(), and rnr::CameraCv::startVideo().

     {
       m_resCurrent = res;
 
       return m_resCurrent;
     }

virtual int rnr::Camera::startVideo ( const CamRes & resVideo = CamResDft )

inlinevirtual

Start the camera streaming video.

Parameters

resVideo Video resolution. If equal to CamResDft, then the initial/last video resolution setting is used.

Returns: On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Reimplemented in rnr::CameraGst, and rnr::CameraCv.

Definition at line 152 of file Camera.h.

Referenced by rnr::CameraCv::clickImage().

     {
       CamRes res = resVideo;
 
       // default is the current video resolution
       if( isEqResolution(res, CamResDft) )
       {
         res = m_resVideo;
       }
 
       // video resolution differs from camera's current resolution
       if( !isEqResolution(res, m_resCurrent) )
       {
         setCameraResolution(res);
       }
 
       m_resVideo        = m_resCurrent;
       m_bCameraRunning  = true;
 
       return OK;
     }

virtual int rnr::Camera::stopVideo ( )

inlinevirtual

Stop the camera from streaming video.

Returns: On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Reimplemented in rnr::CameraGst, and rnr::CameraCv.

Definition at line 179 of file Camera.h.

Referenced by rnr::CameraCv::clickImage(), and rnr::CameraCv::~CameraCv().

     {
       m_bCameraRunning = false;
 
       return OK;
     }

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

include/rnr/appkit/Camera.h
sw/librnr_cam/Camera.cxx

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation