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);
}
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);
}
int OpenCamera(void* v4l2ctx)
{
return openCameraDevice(v4l2ctx);
}