EpuckCamera Class Reference

Class for to get images from e-puck camera. More...

#include <epuckCamera.hpp>

Inheritance diagram for EpuckCamera:

Collaboration diagram for EpuckCamera:

Detailed Description

Class for to get images from e-puck camera.

Exceptions

camera_version_error	Raised when the version of camera in e-puck is unknown.
window_length_error	Raised when the desired image window width or height is larger that e-puck camera can support.
window_out_of_range	Raised when the positioning of image window is out of image sensor border.

Author

Renato Florentino Garcia.

Date

October 2008

Classes
class	camera_version_error
class	window_length_error
class	window_out_of_range

Public Types
enum	ColorModes { GREY_SCALE_MODE = 0, RGB_565_MODE = 1, YUV_MODE = 2 }
	Possible color modes for e-puck camera. More...

Public Member Functions
	EpuckCamera (const SerialPort *const serialPort, unsigned sensor_x1, unsigned sensor_y1, unsigned sensor_width, unsigned sensor_height, unsigned zoom_fact_width, unsigned zoom_fact_height, ColorModes color_mode) throw ()
	The EpuckCamera class constructor. More...
void	Initialize ()
	Send the configurations givens in EpuckCamera constructor to e-puck. More...
std::string	GetCameraVersion () const
	Get the version of camera in e-puck. More...
void	GetCameraData (unsigned &imageWidth, unsigned &imageHeight, EpuckCamera::ColorModes &colorMode) const
	Get the relevant configurations camera data. More...
void	GetImage (unsigned char *const ptrImage)
	Get a new image from e-puck. More...

Private Types
enum	{ bpp_8, bpp_16 }

Private Member Functions
void	checkCameraParameters () const
template<typename T >
void	processTmpImage (T *ptrImage) const

Private Attributes
unsigned	sensor_x1
unsigned	sensor_y1
unsigned	sensor_width
unsigned	sensor_height
unsigned	zoom_fact_width
unsigned	zoom_fact_height
ColorModes	color_mode
enum EpuckCamera:: { ... }	bpp
unsigned	imageByteSize
unsigned	imagePixelSize
unsigned	rowPixelLength
unsigned	columnPixelLength
unsigned	epuckCameraVersion
unsigned char *	tmpImage
bool	tmpImageAllocated

Static Private Attributes
static const unsigned	PO3030K = 0x3030
static const unsigned	PO6030K = 0x6030

Additional Inherited Members
Protected Types inherited from EpuckInterface
enum	Request {   CONFIG_CAMERA = 0x02, SET_VEL = 0x13, GET_STEPS = 0x14, STOP_MOTORS = 0x15,   GET_IR_PROX = 0x16, GET_CAMERA_IMG = 0x17, SET_LED_POWER = 0x18 }
	Request codes acceptable by e-puck. More...
Protected Member Functions inherited from EpuckInterface
	EpuckInterface (const SerialPort *const serialPort)
	The EpuckInterface class constructor. More...
void	SendRequest (Request request) const
Protected Attributes inherited from EpuckInterface
const SerialPort *const	serialPort
	A SerialPort class instance shared among the device interfaces. More...
Static Protected Attributes inherited from EpuckInterface
static const float	EPUCK_DIAMETER = 0.07
	Diameter of e-puck body [m].

Member Enumeration Documentation

ColorModes

enum EpuckCamera::ColorModes

Possible color modes for e-puck camera.

This are the possible color modes for e-puck camera. The YUV_MODE is unknown by Player, because of that, in this mode the variable "format" of playerc_camera_t struct, will be set to PLAYER_CAMERA_FORMAT_MONO16.

Enumerator
GREY_SCALE_MODE	Grey color mode, with 8 bits per pixel.
RGB_565_MODE	RGB color mode, with 16 bits per pixel.
YUV_MODE	YUV color mode, with 16 bits per pixel.

Constructor & Destructor Documentation

EpuckCamera()

EpuckCamera::EpuckCamera	(	const SerialPort *const	serialPort,
		unsigned	sensor_x1,
		unsigned	sensor_y1,
		unsigned	sensor_width,
		unsigned	sensor_height,
		unsigned	zoom_fact_width,
		unsigned	zoom_fact_height,
		ColorModes	color_mode
	)
throw	(
	)

The EpuckCamera class constructor.

Except by serialPort, the other variables are mapped directly to variables with same name in e_po3030k_config_cam function, from official e-puck library.

Parameters

serialPort	Pointer for a SerialPort class already created and connected with an e-puck.
sensor_x1	The X coordinate of the window's corner.
sensor_y1	The Y coordinate of the window's corner.
sensor_width	The Width of the interest area, in FULL sampling scale.
sensor_height	The Height of the insterest area, in FULL sampling scale .
zoom_fact_width	The subsampling to apply for the window's width.
zoom_fact_height	The subsampling to apply for the window's height.
color_mode	The color mode in which the camera should be configured.

References GREY_SCALE_MODE, RGB_565_MODE, and YUV_MODE.

Member Function Documentation

GetCameraData()

void EpuckCamera::GetCameraData	(	unsigned &	imageWidth,
		unsigned &	imageHeight,
		EpuckCamera::ColorModes &	colorMode
	)		const

Get the relevant configurations camera data.

Parameters

imageWidth	Image width in pixels.
imageHeight	Image height in pixels.
colorMode	Image color mode.

GetCameraVersion()

std::string EpuckCamera::GetCameraVersion

(

)

const

Get the version of camera in e-puck.

This method must be called after the Initialize method.
It can throw the camera_version_error exception.

Returns

A string representing the camera version.

GetImage()

void EpuckCamera::GetImage

(

unsigned char *const

ptrImage

)

Get a new image from e-puck.

Parameters

ptrImage

A pointer to a const char vector, where the incoming image will be put it.

References EpuckInterface::GET_CAMERA_IMG, SerialPort::recvUnsignedCharArray(), and EpuckInterface::serialPort.

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Initialize()

void EpuckCamera::Initialize

(

)

Send the configurations givens in EpuckCamera constructor to e-puck.

This function must be called before an image be captured.
It can throw the following exceptions: std::length_error, camera_version_error, window_length_error and window_out_of_range.

References EpuckInterface::CONFIG_CAMERA, SerialPort::recvChar(), SerialPort::recvUnsigned(), SerialPort::sendInt(), and EpuckInterface::serialPort.

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

• epuckCamera.hpp
• epuckCamera.cpp