Ejemplo n.º 1
0
RPiCamera::RPiCamera() :
currentBuf(0),
timeStamp(0),
storedTimeStamp(Platform->getTime())
{
#if DEBUG_NUCAMERA_VERBOSITY > 4
    debug << "RPiCamera::RPiCamera()" << endl;
#endif

    // Set current camera to unknown.
    m_settings.activeCamera = CameraSettings::BOTTOM_CAMERA;

    //Read camera settings from file.
    CameraSettings fileSettings;
    fileSettings.LoadFromFile(CONFIG_DIR + string("Camera.cfg"));
    debug << "Loading settings from " << CONFIG_DIR + string("Camera.cfg") << endl;

    // Open device
    openCameraDevice("/dev/video0");

    //Initialise
    initialiseCamera();
    //readCameraSettings();
    forceApplySettings(fileSettings);

    readCameraSettings();

    loadCameraOffset();

    // enable streaming
    setStreaming(true);
}
CognitionConfigurationDataProvider::CognitionConfigurationDataProvider() :
  theFieldDimensions(0),
  theCameraInfo(0),
  theCameraSettings(0),
  theCameraCalibration(0),
  theColorTable64(0),
  theRobotDimensions(0),
  thePassParameters(0),
  theDamageConfiguration(0),
  theHeadLimits(0),
  theColorConfiguration(0)
{
  theInstance = this;

  readFieldDimensions();
  readCameraInfo();
  readCameraSettings();
  readCameraCalibration();
  readColorTable64();
  readRobotDimensions();

  readPassParameters();
  readDamageConfiguration();
  readHeadLimits();
  readColorConfiguration();
}
Ejemplo n.º 3
0
NaoCamera::NaoCamera(const char* device, CameraInfo::Camera camera, int width, int height, bool flip,
                     const CameraSettings::CameraSettingsCollection& settings, const Matrix5uc& autoExposureWeightTable) :
  camera(camera),
  WIDTH(width),
  HEIGHT(height)
{
  VERIFY((fd = open(device, O_RDWR | O_NONBLOCK)) != -1);

  mapBuffers();
  queueBuffers();

  setImageFormat();
  setFrameRate(1, 30);

  checkSettingsAvailability();

  specialSettings.horizontalFlip.value = flip ? 1 : 0;
  setControlSetting(specialSettings.horizontalFlip);
  specialSettings.verticalFlip.value = flip ? 1 : 0;
  setControlSetting(specialSettings.verticalFlip);
  setSettings(settings, autoExposureWeightTable);
  writeCameraSettings();
  readCameraSettings();

  startCapturing();
}
Ejemplo n.º 4
0
NAOCamera::NAOCamera() :
currentBuf(0),
timeStamp(0),
storedTimeStamp(Platform->getTime())
{
#if DEBUG_NUCAMERA_VERBOSITY > 4
    debug << "NAOCamera::NAOCamera()" << endl;
#endif

    // Set current camera to unknown.
    m_settings.activeCamera = CameraSettings::UNKNOWN_CAMERA;

    //Read camera settings from file.
    CameraSettings fileSettings;
    fileSettings.LoadFromFile(CONFIG_DIR + string("Camera.cfg"));

    // Open device
    openCameraDevice("/dev/video0");

    // Set Bottom Camera
    setActiveCamera(CameraSettings::BOTTOM_CAMERA);
    initialiseCamera();
    readCameraSettings();
    m_cameraSettings[1] = m_settings;
    //forceApplySettings(fileSettings);
    forceApplySettings(fileSettings);
    
    // set to top camera
    setActiveCamera(CameraSettings::TOP_CAMERA);
    initialiseCamera();
    readCameraSettings();
    m_cameraSettings[0] = m_settings;
    //forceApplySettings(fileSettings);
    forceApplySettings(fileSettings);

    setActiveCamera(CameraSettings::BOTTOM_CAMERA);

    loadCameraOffset();

    // enable streaming
    setStreaming(true);
}