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(); }
ImageTranscriber::ImageTranscriber(Camera::Type which) : settings(Camera::getSettings(which)), cameraType(which), timeStamp(0) { initOpenI2CAdapter(); initSelectCamera(); initOpenVideoDevice(); initSetCameraDefaults(); initSetImageFormat(); initSetFrameRate(); initRequestAndMapBuffers(); initQueueAllBuffers(); initSettings(); assertCameraSettings(); startCapturing(); }