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();
}
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();
}
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);
}