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();
}
