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camera.h Go to the documentation of this file. #ifndef CAMERA_H_ #define CAMERA_H_ #ifdef __cplusplus extern "C" { #endif #include <fcntl.h> #include <termios.h> #include <stdio.h> #include <time.h> #include <string.h> #include <stdlib.h> #include <unistd.h> /* These should NOT be redefined. */ //typedef unsigned int uint32_t; //typedef unsigned short uint16_t; //typedef unsigned char uint8_t; /* Instead #include playerconfig.h, which gets them in a portable way */ #include "playerconfig.h" /************************************************************************** *** CONSTANST *** **************************************************************************/ #define IMAGE_WIDTH 174 // the width of the frame camera sends #define IMAGE_HEIGHT 143 // the height of the frame camera sends #define CONTRAST 5 // camera's contrast register # #define BRIGHTNESS 6 // camera's brightness register # #define COLORMODE 18 // camera's colormode register # #define RGB_AWT_ON 44 // camera's RGB auto white balance on #define RGB_AWT_OFF 40 // camera'sRGB auto white balance off #define YCRCB_AWT_ON 36 // camera'sYCrCb auto white balance on #define YCRCB_AWT_OFF 32 // camera'sYCrCb auto white balance off #define AUTOGAIN 19 // camera's autogain register # #define AUTOGAIN_ON 33 // camera's autogain on #define AUTOGAIN_OFF 32 // camera's autogain off #define ZERO_POSITION 128 // servos' middle position as defiend by camera #define MIN_RGB 16 // camera's min rgb value #define MAX_RGB 240 // camera's max rgb value #define T_PACKET_LENGTH 50 // max length of T packet that camera returns /************************************************************************** *** T PACKET *** **************************************************************************/ typedef struct // camera's output packet for tracking blobs { int middle_x, middle_y; // the blob entroid (image coords) int left_x; // the left most corner's x value int left_y; // the left msot corner's y value int right_x; // the right most corner's x vlaue int right_y; // the right most corner's y value int blob_area; // number of pixles int he tracked regtion, // scaled and capped at 255:(pixles+4)/8 int confidence; // the (# of pixles/area)*256 of the bounded // rectangle and capped at 255 }packet_t; /************************************************************************** *** IMAGER CONFIG *** **************************************************************************/ typedef struct // camera's internal register controlling image quality { uint8_t subtype; // must be PLAYER_BLOBFINDER_SET_IMAGER_PARAMS_REQ. int16_t brightness; // contrast: -1 = no change. (0-255) int16_t contrast; // brightness: -1 = no change. (0-255) int8_t colormode; // color mode: -1 = no change. // 0 = RGB/auto white balance Off, // 1 = RGB/AutoWhiteBalance On, // 2 = YCrCB/AutoWhiteBalance Off, // 3 = YCrCb/AWB On) int8_t autogain; // auto gain: -1 = no change. // 0 = off, o // 1 = on. } imager_config; /************************************************************************** *** CONFIG CONFIG *** **************************************************************************/ typedef struct { uint8_t subtype; // must be PLAYER_BLOBFINDER_SET_COLOR_REQ. int16_t rmin, rmax; // RGB minimum and max values (0-255) int16_t gmin, gmax; int16_t bmin, bmax; } color_config; /************************************************************************** *** RGB *** **************************************************************************/ typedef struct // RGB values { int red; int green; int blue; } rgb; /************************************************************************** *** CONFIG CONFIG *** **************************************************************************/ typedef struct // camera's image { int width; int height; rgb **pixel; } image; color_config range; /************************************************************************** *** FUNCTION PROTOTYPES *** **************************************************************************/ int get_t_packet(int fd, packet_t *tpacket); int set_imager_config(int fd, imager_config ic); int get_bytes(int fd, char *buf, size_t len); int open_port(char *devicepath); void close_port(int fd); void read_t_packet(int fd, char *tpackChars); int set_t_packet( packet_t *tpacket, char tpack_chars[] ); int set_servo_position(int fd, int servo_num, int angle); int get_servo_position(int fd, int servo_num); void stop_tracking(int fd); int write_check(int fd, char *msg, int respond_size); int poll_mode(int fd, int on); void make_command(char *cmd, int *n, size_t size, char *fullCommand); int auto_servoing(int fd, int on); void track_blob(int fd, color_config cc); #ifdef __cplusplus } #endif #endif