#include <CameraServer.h>
Inheritance diagram for propertyservice::camera::CameraServer:
A camera resource represents any single camera or a stereo camera. In a stereo camera, all properties but the location are same for both (or all) cameras. If cameras are to be controlled individually, a property service for each needs to be created.
The standard properties supported by a camera server are as follows:
| Global Properties | |||
| Property Name | Read/ Write | Data Type | Explanation |
| type | r | string | The type of the server. Always "camera" for camera services. |
| name | r | string | The name of the camera. |
| version | r | string | The version of the camera server software. |
| properties | r | string | A list of properties known to the camera server. |
| Camera Properties | |||
| Property Name | Read/ Write | Data Type | Explanation |
| camtype | r | int | The type of the camera. 0 = mono, 1 = stereo, 2 = omni |
| format | rw | Format | The current image format |
| format.list | r | List<Format> | A list of possible image formats. |
| flength | rw | double | The focal length of the objective, in millimeters. In some cameras, this is a writable property. |
| fov | r | FieldOfView | A two-dimensional vector representing the horizontal and vertical viewing angles of the camera (in radians). |
| location | rw | SensorLocation | A six-dimensional vector representing the location of the camera relative to its base. In some cameras, this is a writable property. |
| chmask | rw | int | Channel mask. A bit mask representing the channels that need to be sent to the client. |
| data | r | Blob<char> | The image data. |
Public Types | |
| enum | Type { MONO, STEREO, OMNI } |
| An enumeration of possible types for a camera. . More... | |
Public Methods | |
| CameraServer (Type type=MONO) | |
| Initialize a camera server with default values and the given camera type. | |
| CameraServer (CORBA::ORB_ptr orb, Type type=MONO) | |
| Initialize a camera server with a previously created orb and the given camera type. | |
| CameraServer (string host, string name, Type type=MONO) | |
| Initialize a camera server and bind it to a name in a naming service. | |
| virtual | ~CameraServer () |
| virtual void | setProperty (const util::List< string > &nameParts, util::Blob< char > value) throw (PropertyException&) |
| Default implementation for setProperty as inherited from PropertyServer. | |
| virtual util::Blob< char > * | getProperty (const util::List< string > &nameParts) throw (PropertyException&) |
| Default implementation for getProperty as inherited from PropertyServer. | |
| virtual string | getName () const=0 |
| Get the name of the camera, e.g. | |
| virtual string | getVersion () const=0 |
| Get the version of the software, e.g. | |
| virtual util::List< string > | getProperties () |
| Get a list of recognized properties. | |
| virtual util::Blob< char > * | getData (int index)=0 |
| Get the image data formatted as requested by setFormat. | |
| virtual util::List< Format > | getFormats ()=0 |
| Get the image formats this camera can produce. | |
| virtual Format | getFormat () |
| Get the current image format. | |
| virtual void | setFormat (Format format) |
| Set the image format. | |
| virtual propertyservice::mobilerobot::SensorLocation | getLocation (int index)=0 |
| Get the position of the camera. | |
| virtual void | setLocation (int index, propertyservice::mobilerobot::SensorLocation location)=0 |
| Set the position of the camera. | |
| virtual double | getFocalLength ()=0 |
| Get the focal length of this camera. | |
| virtual void | setFocalLength (double l) throw (InvalidFormatException&) |
| Set the focal length of this camera. | |
| virtual FieldOfView | getFOV ()=0 |
| Get the current field of view of this camera. | |
| virtual void | setChannelMask (int mask) |
| Set the channel mask. | |
| virtual int | getChannelMask () |
| Get the current channel mask. | |
Protected Attributes | |
| int | _iChannelMask |
| The current channel mask. | |
| Format | _format |
| The current image format. | |
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An enumeration of possible types for a camera.
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Initialize a camera server and bind it to a name in a naming service.
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Get the image data formatted as requested by setFormat. A pointer to the image data accompanied with the length of the data are stored into a Blob.
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Get the position of the camera. Typically, position is measured relative to a moving base, e.g. a mobile robot.
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Get the name of the camera, e.g. "YC-02B". |
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Get a list of recognized properties. The default implementation returns the standard property names (see above). If your implementation adds properties, you need to add them to the returned list. |
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Default implementation for getProperty as inherited from PropertyServer. This method parses the given property name parts, and recognizes the standard property names. Subclasses may add whatever properties are needed by overriding this method. If the default behaviour is still needed, one may call CameraServer::getProperty from the overridden method.
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Get the version of the software, e.g. "1.2". |
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Set the channel mask. Ones in the binary representation of this number represent active channels (i.e. channels that are sent to the client) 1 means channel 0, 2 means channel 1, 5 (=1+4) means channels 0 and 2 and so on. For an illustrative example, setting the channel mask to 6 will request th G and B channels in RGB color space. |
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Set the focal length of this camera. The default implementation does nothing as many cameras have a fixed of manually modifiable focal length. |
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Set the position of the camera. Cameras equipped with a pan-tilt unit, for example, are able to move themselves.
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Default implementation for setProperty as inherited from PropertyServer. This method parses the given property name parts, and recognizes the standard property names. Subclasses may add whatever properties are needed by overriding this method. If the default behaviour is still needed, one may call CameraServer::setProperty from the overridden method.
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