Package org.robwork.sdurw_sensor

Class CameraFirewirePtr

  • public class CameraFirewirePtr
extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.

    • Constructor Detail

      • CameraFirewirePtr

        public CameraFirewirePtr​(long cPtr,
                         boolean cMemoryOwn)

      • CameraFirewirePtr

        public CameraFirewirePtr()
        Default constructor yielding a NULL-pointer.

      • CameraFirewirePtr

        public CameraFirewirePtr​(CameraFirewire ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • delete

        public void delete()

      • deref

        public CameraFirewire deref()
        The pointer stored in the object.

      • isShared

        public boolean isShared()
        check if this Ptr has shared ownership or none
        ownership
        Returns:
        true if Ptr has shared ownership, false if it has no ownership.

      • isNull

        public boolean isNull()
        checks if the pointer is null
        Returns:
        Returns true if the pointer is null

      • getCaptureMode

        public CameraFirewire.CaptureMode getCaptureMode()
        returns the CaptureMode of this camera
        Returns:
        the camera capturemode

      • setCaptureMode

        public boolean setCaptureMode​(CameraFirewire.CaptureMode mode)
        sets the CaptureMode of this camera.
        Parameters:
        mode - [in] the wanted capture mode
        Returns:
        true if CaptureMode was set successfully, false otherwise

      • getColorMode

        public CameraFirewire.ColorCode getColorMode()
        returns the CaptureMode of this camera
        Returns:
        the camera capturemode

      • setColorMode

        public boolean setColorMode​(CameraFirewire.ColorCode mode)
        sets the CaptureMode of this camera.
        Parameters:
        mode - [in] the wanted capture mode
        Returns:
        true if CaptureMode was set successfully, false otherwise

      • getError

        public CameraFirewire.ErrorCode getError()
        returns the errorcode of the latest error. If no error has occured
        then SUCCES is returned.
        Returns:
        the error code

      • isError

        public boolean isError()
        tests whether this camera is in an error state.
        Returns:
        true if camera is in error state, false otherwise

      • getCapturePolicy

        public CameraFirewire.CapturePolicy getCapturePolicy()
        returns the capture policy of this camera.
        Returns:
        capture policy of the camera

      • setCapturePolicy

        public boolean setCapturePolicy​(CameraFirewire.CapturePolicy policy)
        sets the capture policy of this camera
        Parameters:
        policy - [in] the capture policy
        Returns:
        true if capture policy was set succesfully, false otherwise

      • isFeatureAvailable

        public boolean isFeatureAvailable​(CameraFirewire.CameraFeature option)
        returns whether the specified camera option is supported
        by the camera.
        Parameters:
        option - [in] the specific CameraOption
        Returns:
        true if the option is available, false otherwise.

      • getFeature

        public double getFeature​(CameraFirewire.CameraFeature setting)
        returns the value of the specified camera setting. If the
        camera is not initialized or the setting is unsupported -1 is returned.
        Parameters:
        setting - [in] the CameraFeature
        Returns:
        value of the setting if setting is supported and camera is
        initilized, else -1 is returned.

      • setFeature

        public boolean setFeature​(CameraFirewire.CameraFeature setting,
                          double value)
        sets the value of the specified camera setting. If the
        camera is not initialized or the setting is unsupported false is returned.
        Parameters:
        setting - [in] the CameraFeature
        value - [in] the value of the feature
        Returns:
        true if the setting was succesfully changed, false otherwise.

      • getModelInfo

        public java.lang.String getModelInfo()
        returns the camera model information (version, type, size, etc.)
        Returns:
        camera model information

      • initialize

        public boolean initialize()
        initializes the camera to the current settings
        (CaptureMode,ColorMode,etc.)
        Returns:
        true if initialization is succesfully, false otherwise.

      • isInitialized

        public boolean isInitialized()
        returns whether this camera is initialized or not.
        Returns:
        true if intialized, false otherwise

      • start

        public boolean start()
        starts this camera, if the camera has not been
        initialized the initialize function will be called.
        Returns:
        true if camera was successfully started, false
        otherwise

      • isStarted

        public boolean isStarted()
        returns whether this camera is started or not.
        Returns:
        true if started, false otherwise

      • stop

        public void stop()
        stops this camera. When the camera is stopped it can be
        reinitialized using initialize()

      • acquire

        public void acquire()
        aquires an image from the camera. This method is not blocking.
        Use isImageReady to poll for completion of acquire.

      • isImageReady

        public boolean isImageReady()
        tests whether a image has been acquired
        Returns:
        true if an image has been acquired, false otherwise.

      • getImage

        public Image getImage()
        returns the last image acquired from the camera. This method
        is not blocking, if no image has been acquired yet an empty image
        is returned. The image returned can for some specific drivers be read
        only.
        Returns:
        last image captured from camera.

      • getFrameRate

        public double getFrameRate()
        returns the framerate that this camera is setup with
        Returns:
        the framerate in frames per second

      • setFrameRate

        public void setFrameRate​(double framerate)
        sets the framerate of this camera. If the framerate is not
        supported the closest supported framerate is choosen.
        Parameters:
        framerate - [in] the framerate

      • getWidth

        public long getWidth()
        get width of the captured images
        Returns:
        width

      • getHeight

        public long getHeight()
        get width of the captured images
        Returns:
        width

      • addListener

        public boolean addListener​(CameraListener listener)
        adds a CameraListener to this camera
        Parameters:
        listener - [in] the CameraListener that is to be added
        Returns:
        true if listener was added succesfully, false otherwise

      • removeListener

        public boolean removeListener​(CameraListener listener)
        removes a CameraListener from this cameras listener list.
        Parameters:
        listener - [in] the listener that is to be removed
        Returns:
        true if listener was removed succesfully, false otherwise.

      • isShutterAvailable

        public boolean isShutterAvailable()
        Check if shutter is available.
        Returns:
        True if shutter is available

      • getShutter

        public double getShutter()
        Get actual shutter value.
        Note: If shutter is not available then a dummy implementation
        will throw an error message.
        Returns:
        shutter value in micro-seconds.

      • setShutter

        public void setShutter​(double Value)
        Set shutter value. If the given value is not possible the nearest
        value are choosen.
        Note: If shutter is not available then a dummy implementation
        will throw an error message.
        Parameters:
        Value - New shutter value.

      • getShutterBounds

        public pair_d_d getShutterBounds()
        gets the shutter bounds.
        Note: If shutter is not available then a dummy implementation
        will throw an error message.
        Returns:
        first value is the min bound and second value is the max bound

      • isGainAvailable

        public boolean isGainAvailable()
        Check if gain is available.
        Returns:
        True if zoom is available

      • getGain

        public double getGain()
        Get actual gain value.
        Note: If gain is not available then a dummy implementation
        returning -1 is used and an error message is produced.
        Returns:
        Gain value.

      • setGain

        public double setGain​(double Value)
        Set gain value. If the given value is not possible the nearest
        value are choosen.
        Note: If gain is not available then a dummy implementation
        returning -1 is used and an error message is produced.
        Parameters:
        Value - New gain value.
        Returns:
        New nearest gain value.

      • getName

        public java.lang.String getName()
        returns the name of this sensor
        Returns:
        name of sensor

      • getDescription

        public java.lang.String getDescription()
        returns a description of this sensor
        Returns:
        reference to this sensors description

      • getSensorModel

        public SensorModelPtr getSensorModel()
        The frame to which the sensor is attached.

        The frame can be NULL.

      • setSensorModel

        public void setSensorModel​(SensorModelPtr smodel)
        Sets the frame to which the sensor should be attached

        Parameters:
        smodel -

      • getPropertyMap

        public PropertyMap getPropertyMap()
        gets the propertymap of this sensor