NaoCamera::NaoCamera() : currentCamera (NAO_LOWER_CAMERA), //Lower currentBuf (0), timeStamp() { assert (theInstance == 0); theInstance = this; unsigned char current = currentCamera; unsigned char other = currentCamera == NAO_UPPER_CAMERA ? NAO_LOWER_CAMERA : NAO_UPPER_CAMERA; assert (verifyNaoVersion() == true); Logger::Instance().WriteMsg ("NaoCamer", "Initialization Upper Camera", Logger::ExtraInfo); initSelectCamera (NAO_UPPER_CAMERA); initOpenVideoDevice(); initSetCameraDefaults(); Logger::Instance().WriteMsg ("NaoCamer", "Initialization Lower Camera", Logger::ExtraInfo); initSelectCamera (NAO_LOWER_CAMERA); initSetCameraDefaults(); initSelectCamera (other); initRequestAndMapBuffers(); initQueueAllBuffers(); initResetCrop(); initSetImageFormat(); initSetFrameRate(); initDefaultControlSettings(); initSelectCamera (current); initResetCrop(); initSetImageFormat(); initSetFrameRate(); initDefaultControlSettings(); startCapturing(); }
void NaoCamera::init() { if(!initialized) { initOpenVideoDevice(); } initSetImageFormat(); initSetFrameRate(); if (!initialized) { initRequestAndMapBuffers(); initQueueAllBuffers(); } enableStreaming(); setDefaultSettings(); initialized = true; }
ImageTranscriber::ImageTranscriber(Camera::Type which) : settings(Camera::getSettings(which)), cameraType(which), timeStamp(0) { initOpenI2CAdapter(); initSelectCamera(); initOpenVideoDevice(); initSetCameraDefaults(); initSetImageFormat(); initSetFrameRate(); initRequestAndMapBuffers(); initQueueAllBuffers(); initSettings(); assertCameraSettings(); startCapturing(); }
NaoCamera::NaoCamera(const char* device, CameraInfoBH::Camera camera, int width, int height, bool flip) : timeWaitedForLastImage(0), WIDTH(width * 2), HEIGHT(height * 2), #ifndef NDEBUG SIZE(WIDTH * HEIGHT * 2), #endif currentBuf(0), timeStamp(0), camera(camera), first(true), lastCameraSettingTimestamp(0), cameraSettingApplicationRate(16000) { initOpenVideoDevice(device); initRequestAndMapBuffers(); initQueueAllBuffers(); initSetImageFormat(); setFrameRate(1, 15); setFrameRate(1, 30); initDefaultControlSettings(flip); startCapturing(); }