2.16 PtzProxy

The PtzProxy class is used to control a ptz device. The state of the camera can be read from the pan, tilt, zoom attributes and changed using the SetCam() method.

Attributes

double pan, tilt, zoom;

Pan, tilt, and field of view values (all radians).

double panspeed, tiltspeed;

Pan and tilt speeds (rad/sec)

Methods

PtzProxy(PlayerClient* pc, unsigned short index,
unsigned char access='c')

Constructor. Leave the access field empty to start unconnected.

int SetCam(double pan, double tilt, double zoom)

Change the camera state. Specify the new pan, tilt, and zoom values (all degrees). Returns: 0 if everything's ok, -1 otherwise.

int SetSpeed(double panspeed, double tiltspeed)

Specify new target velocities

int SendConfig(uint8_t *bytes, size_t len, uint8_t *reply = NULL,
size_t reply_len = 0)

Send a camera-specific config

int SelectControlMode(uint8_t mode)

Select new control mode. Use either PLAYER_PTZ_POSITION_CONTROL or PLAYER_PTZ_VELOCITY_CONTROL.

void Print()

Print out current ptz state.