for use with Sony PanTilt Cameras, also compatible with WISKA PanTilt Cameras. More...

#include <PanTilt/ViscaControl.hh>

Inheritance diagram for BIAS::ViscaControl:

Collaboration diagram for BIAS::ViscaControl:

Public Types
enum	VISCA_CONSTANT { VISCA_ERROR =-1, VISCA_INTERLACED =0, VISCA_PROGRESSIVE }

Public Member Functions
void	AddDebugLevel (const long int lv)

void	AddDebugLevel (const std::string &name)

void	AdressSet ()

void	CamPower (bool mode)

bool	ClosePanTiltUnit ()

void	ContinuousRead ()

bool	DebugLevelIsSet (const long int lv) const

bool	DebugLevelIsSet (const std::string &name) const

ViscaControl::VISCA_CONSTANT	GetCCDScanningMode ()

int	GetDebugLevel () const

std::ostream &	GetDebugStream () const

void	GetDebugStream (std::ostream &os) const

int	GetMaxZoom ()

int	GetPan ()

int	GetTilt ()

int	GetZoom ()

bool	InitPanTiltUnit (std::string port)

bool	IsConnected ()

void	LightOff ()

void	LightOn ()

void	ManageAnswer ()
	Answers start with X0, where X is the camera number +8, e.g. More...

void	MoveAbsolute (short panPos, short tiltPos)

void	MoveDown ()

void	MoveDownLeft ()

void	MoveDownRight ()

void	MoveHome ()

void	MoveLeft ()

void	MovePhysical (short panSteps, short tiltSteps)

void	MoveRelative (short relPan, short relTilt)

void	MoveRight ()

void	MoveStop ()

void	MoveUp ()

void	MoveUpLeft ()

void	MoveUpRight ()

long int	Name2DebugLevel (const std::string &name) const
	looks up a debuglevel in the internal map, returns 0 if not found More...

long int	NewDebugLevel (const std::string &name)
	creates a new debuglevel More...

void	PanTiltPosInq ()

void	PrintDebugLevel (std::ostream &os=std::cout) const

void	RemoveDebugLevel (const long int lv)

void	RemoveDebugLevel (const std::string &name)

void	ResetCamCustom ()

void	ResetPanTilt ()

void	SetActiveUnit (unsigned char activeUnit)

bool	SetCCDScanningMode (VISCA_CONSTANT mode)

void	SetDebugLevel (const long int lv)

void	SetDebugLevel (const std::string &name)

void	SetDebugStream (const std::ostream &os)

void	SetPanSpeed (unsigned char panSpeed)

void	SetTiltSpeed (unsigned char tiltSpeed)

void	ShowDebugLevel (std::ostream &os=std::cout) const
	prints all internally known debuglevels More...

	ViscaControl ()

void	WaitForAck ()

void	Wash ()

void	Wipe ()

void	ZoomDirect (short zoom)

void	ZoomInq ()

void	ZoomStop ()

void	ZoomTele ()

void	ZoomWide ()

	~ViscaControl ()

Static Public Member Functions
static long int	GetGlobalDebugLevel ()

static void	SetGlobalDebugLevel (long int lev)

Public Attributes
short int	pan_

short int	tilt_

bool	used_

short int	zoom_

Protected Member Functions
int	CamInitialize_ ()

long	ConsumeNextFreeDebuglevel_ ()
	returns the next available debuglevel More...

int	SendCommand_ (unsigned char *buf, int length, bool manageAnswer=true)
	adresses of cameras start with 1, eg, 0x81 is first cam the reply starts with 0 on 90, e.g. More...

Protected Attributes
long int	_liDebugLevel

long int	_liNextDebugLevel
	new concept, debuglevel are managed here in the debug class More...

std::map< std::string, long int >	_String2Debuglevel

unsigned char	activeUnit_

pthread_mutex_t	camMutex

bool	connected_

int	maxZoom_

unsigned char	panSpeed_

unsigned char	sendBuffer [16]

unsigned char *	sendPtr

BIAS::SerialPortIO	serialIO_

unsigned char	tiltSpeed_

bool	zoomed_

Static Protected Attributes
static std::ostream	_zDebugStream

static long int	GlobalDebugLevel = 0

Detailed Description

for use with Sony PanTilt Cameras, also compatible with WISKA PanTilt Cameras.

This is used to control a camera settings. It uses the class SerialPortIO to send commands and receive answers. Also included are some functions of the Camera (MoveUp...), they can be extended as needed (for a full list of functions see the reference manuals for the parts). The commands always start with 8X where X is the camera number, so 1 is the first camera!! and X of {1,...,7}. A broadcast is done with 88. Replies start with 9X and 0!! (unequal to request command!)

Author: ischiller, fnommensen, mfranke

Examples:: ExampleViscaControl.cpp.

Definition at line 57 of file ViscaControl.hh.

Member Enumeration Documentation

enum BIAS::ViscaControl::VISCA_CONSTANT

Enumerator
VISCA_ERROR
VISCA_INTERLACED
VISCA_PROGRESSIVE

Definition at line 61 of file ViscaControl.hh.

Constructor & Destructor Documentation

ViscaControl::ViscaControl ( )

Definition at line 48 of file ViscaControl.cpp.

ViscaControl::~ViscaControl ( )

Definition at line 67 of file ViscaControl.cpp.

Member Function Documentation

void BIAS::Debug::AddDebugLevel ( const long int lv )

inlineinherited

Examples:: EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleMinMax.cpp, ExampleRANSAC_double.cpp, ExampleRANSACPlane.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 355 of file Debug.hh.

Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().

void BIAS::Debug::AddDebugLevel ( const std::string & name )

inlineinherited

Definition at line 362 of file Debug.hh.

void ViscaControl::AdressSet ( )

Definition at line 383 of file ViscaControl.cpp.

int ViscaControl::CamInitialize_ ( )

protected

Definition at line 346 of file ViscaControl.cpp.

void ViscaControl::CamPower ( bool mode )

Definition at line 331 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanel::OnCloseCam(), BIAS::wxViscaControlPanelButtons::OnCloseCam(), BIAS::wxViscaControlPanel::OnOpenCam(), and BIAS::wxViscaControlPanelButtons::OnOpenCam().

bool ViscaControl::ClosePanTiltUnit ( )

Examples:: ExampleViscaControl.cpp.

Definition at line 92 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanel::OnConnect(), and BIAS::wxViscaControlPanelButtons::OnConnect().

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )

inlineprotectedinherited

returns the next available debuglevel

Author: woelk 09/2006

Definition at line 521 of file Debug.hh.

void ViscaControl::ContinuousRead ( )

Definition at line 122 of file ViscaControl.cpp.

bool BIAS::Debug::DebugLevelIsSet ( const long int lv ) const

inlineinherited

Examples:: ExampleTriangulateOptimal.cpp.

Definition at line 341 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().

bool BIAS::Debug::DebugLevelIsSet ( const std::string & name ) const

inlineinherited

Definition at line 350 of file Debug.hh.

ViscaControl::VISCA_CONSTANT ViscaControl::GetCCDScanningMode ( )

Definition at line 652 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanel::OnProgressive(), and BIAS::wxViscaControlPanelButtons::OnProgressive().

int BIAS::Debug::GetDebugLevel ( ) const

inlineinherited

Examples:: ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 332 of file Debug.hh.

Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().

std::ostream& BIAS::Debug::GetDebugStream ( ) const

inlineinherited

Definition at line 405 of file Debug.hh.

void BIAS::Debug::GetDebugStream ( std::ostream & os ) const

inlineinherited

Definition at line 414 of file Debug.hh.

static long int BIAS::Debug::GetGlobalDebugLevel ( )

inlinestaticinherited

Definition at line 431 of file Debug.hh.

int BIAS::ViscaControl::GetMaxZoom ( )

inline

Definition at line 132 of file ViscaControl.hh.

Referenced by BIAS::wxViscaControlPanel::OnScrollZoom(), and BIAS::wxViscaControlPanelButtons::OnScrollZoom().

int BIAS::ViscaControl::GetPan ( )

inline

Definition at line 133 of file ViscaControl.hh.

Referenced by BIAS::wxViscaControlPanelButtons::OnLeft(), and BIAS::wxViscaControlPanelButtons::OnRight().

int BIAS::ViscaControl::GetTilt ( )

inline

Definition at line 134 of file ViscaControl.hh.

Referenced by BIAS::wxViscaControlPanelButtons::OnDown(), BIAS::wxViscaControlPanelButtons::OnDownLeft(), BIAS::wxViscaControlPanelButtons::OnDownRight(), BIAS::wxViscaControlPanelButtons::OnUp(), BIAS::wxViscaControlPanelButtons::OnUpLeft(), and BIAS::wxViscaControlPanelButtons::OnUpRight().

int BIAS::ViscaControl::GetZoom ( )

inline

Definition at line 135 of file ViscaControl.hh.

bool ViscaControl::InitPanTiltUnit ( std::string port )

Examples:: ExampleViscaControl.cpp.

Definition at line 71 of file ViscaControl.cpp.

References BIAS::SPPM_NoParity.

Referenced by BIAS::wxViscaControlPanel::OnConnect(), and BIAS::wxViscaControlPanelButtons::OnConnect().

bool BIAS::ViscaControl::IsConnected ( )

inline

Definition at line 128 of file ViscaControl.hh.

void ViscaControl::LightOff ( )

Definition at line 285 of file ViscaControl.cpp.

void ViscaControl::LightOn ( )

Definition at line 270 of file ViscaControl.cpp.

void ViscaControl::ManageAnswer ( )

Answers start with X0, where X is the camera number +8, e.g.

90 is camera 1

Definition at line 129 of file ViscaControl.cpp.

void ViscaControl::MoveAbsolute	(	short	panPos,
		short	tiltPos
	)

Examples:: ExampleViscaControl.cpp.

Definition at line 227 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanel::OnScrollPan(), and BIAS::wxViscaControlPanel::OnScrollTilt().

void ViscaControl::MoveDown ( )

Definition at line 466 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanelButtons::OnDown().

void ViscaControl::MoveDownLeft ( )

Definition at line 481 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanelButtons::OnDownLeft().

void ViscaControl::MoveDownRight ( )

Definition at line 496 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanelButtons::OnDownRight().

void ViscaControl::MoveHome ( )

Examples:: ExampleViscaControl.cpp.

Definition at line 372 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanelButtons::OnButtonHome().

void ViscaControl::MoveLeft ( )

Definition at line 393 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanelButtons::OnLeft().

void ViscaControl::MovePhysical	(	short	panSteps,
		short	tiltSteps
	)

Definition at line 248 of file ViscaControl.cpp.

void ViscaControl::MoveRelative	(	short	relPan,
		short	relTilt
	)

Definition at line 206 of file ViscaControl.cpp.

void ViscaControl::MoveRight ( )

Definition at line 408 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanelButtons::OnRight().

void ViscaControl::MoveStop ( )

Definition at line 511 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanelButtons::OnButtonHome(), and BIAS::wxViscaControlPanelButtons::OnStop().

void ViscaControl::MoveUp ( )

Definition at line 422 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanelButtons::OnUp().

void ViscaControl::MoveUpLeft ( )

Definition at line 436 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanelButtons::OnUpLeft().

void ViscaControl::MoveUpRight ( )

Definition at line 451 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanelButtons::OnUpRight().

long int BIAS::Debug::Name2DebugLevel ( const std::string & name ) const

inlineinherited

looks up a debuglevel in the internal map, returns 0 if not found

Author: woelk 09/2006

Definition at line 454 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string & name )

inlineinherited

creates a new debuglevel

Author: woelk 09/2006

Definition at line 474 of file Debug.hh.

Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

void ViscaControl::PanTiltPosInq ( )

Definition at line 362 of file ViscaControl.cpp.

void BIAS::Debug::PrintDebugLevel ( std::ostream & os = std::cout ) const

inlineinherited

Definition at line 383 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const long int lv )

inlineinherited

Definition at line 369 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const std::string & name )

inlineinherited

Definition at line 376 of file Debug.hh.

void ViscaControl::ResetCamCustom ( )

Definition at line 578 of file ViscaControl.cpp.

void ViscaControl::ResetPanTilt ( )

Definition at line 567 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanel::OnButtonReset(), and BIAS::wxViscaControlPanelButtons::OnButtonReset().

int ViscaControl::SendCommand_	(	unsigned char *	buf,
		int	length,
		bool	manageAnswer = `true`
	)

protected

adresses of cameras start with 1, eg, 0x81 is first cam the reply starts with 0 on 90, e.g.

0.90 is first cam

Definition at line 105 of file ViscaControl.cpp.

void BIAS::ViscaControl::SetActiveUnit ( unsigned char activeUnit )

inline

Definition at line 114 of file ViscaControl.hh.

bool ViscaControl::SetCCDScanningMode ( VISCA_CONSTANT mode )

Definition at line 632 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanel::OnProgressive(), and BIAS::wxViscaControlPanelButtons::OnProgressive().

void BIAS::Debug::SetDebugLevel ( const long int lv )

inlineinherited

void BIAS::Debug::SetDebugLevel ( const std::string & name )

inlineinherited

Definition at line 325 of file Debug.hh.

void BIAS::Debug::SetDebugStream ( const std::ostream & os )

inlineinherited

Definition at line 398 of file Debug.hh.

static void BIAS::Debug::SetGlobalDebugLevel ( long int lev )

inlinestaticinherited

Definition at line 424 of file Debug.hh.

void BIAS::ViscaControl::SetPanSpeed ( unsigned char panSpeed )

inline

Definition at line 106 of file ViscaControl.hh.

void BIAS::ViscaControl::SetTiltSpeed ( unsigned char tiltSpeed )

inline

Definition at line 109 of file ViscaControl.hh.

void BIAS::Debug::ShowDebugLevel ( std::ostream & os = std::cout ) const

inlineinherited

prints all internally known debuglevels

Author: woelk 09/2006

Definition at line 496 of file Debug.hh.

void BIAS::ViscaControl::WaitForAck ( )

void ViscaControl::Wash ( )

Definition at line 300 of file ViscaControl.cpp.

void ViscaControl::Wipe ( )

Definition at line 315 of file ViscaControl.cpp.

void ViscaControl::ZoomDirect ( short zoom )

Definition at line 605 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanel::OnScrollZoom(), and BIAS::wxViscaControlPanelButtons::OnScrollZoom().

void ViscaControl::ZoomInq ( )

Definition at line 591 of file ViscaControl.cpp.

void ViscaControl::ZoomStop ( )

Definition at line 553 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanel::OnButtonStop(), and BIAS::wxViscaControlPanelButtons::OnButtonStop().

void ViscaControl::ZoomTele ( )

Definition at line 527 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanel::OnButtonTele(), and BIAS::wxViscaControlPanelButtons::OnButtonTele().

void ViscaControl::ZoomWide ( )

Definition at line 541 of file ViscaControl.cpp.

Referenced by BIAS::wxViscaControlPanel::OnButtonWide(), and BIAS::wxViscaControlPanelButtons::OnButtonWide().

Member Data Documentation

long int BIAS::Debug::_liDebugLevel

protectedinherited

Definition at line 510 of file Debug.hh.

Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().

long int BIAS::Debug::_liNextDebugLevel

protectedinherited

new concept, debuglevel are managed here in the debug class

Definition at line 516 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel

protectedinherited

Definition at line 517 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::ostream BIAS::Debug::_zDebugStream

staticprotectedinherited

Definition at line 511 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

unsigned char BIAS::ViscaControl::activeUnit_

protected

Definition at line 162 of file ViscaControl.hh.

pthread_mutex_t BIAS::ViscaControl::camMutex

protected

Definition at line 152 of file ViscaControl.hh.

bool BIAS::ViscaControl::connected_

protected

Definition at line 155 of file ViscaControl.hh.

long int BIAS::Debug::GlobalDebugLevel = 0

staticprotectedinherited

Definition at line 513 of file Debug.hh.

int BIAS::ViscaControl::maxZoom_

protected

Definition at line 156 of file ViscaControl.hh.

short int BIAS::ViscaControl::pan_

Definition at line 139 of file ViscaControl.hh.

unsigned char BIAS::ViscaControl::panSpeed_

protected

Definition at line 160 of file ViscaControl.hh.

unsigned char BIAS::ViscaControl::sendBuffer[16]

protected

Definition at line 157 of file ViscaControl.hh.

unsigned char* BIAS::ViscaControl::sendPtr

protected

Definition at line 158 of file ViscaControl.hh.

BIAS::SerialPortIO BIAS::ViscaControl::serialIO_

protected

Definition at line 164 of file ViscaControl.hh.

short int BIAS::ViscaControl::tilt_

Definition at line 139 of file ViscaControl.hh.

unsigned char BIAS::ViscaControl::tiltSpeed_

protected

Definition at line 161 of file ViscaControl.hh.

bool BIAS::ViscaControl::used_

Definition at line 141 of file ViscaControl.hh.

short int BIAS::ViscaControl::zoom_

Definition at line 139 of file ViscaControl.hh.

bool BIAS::ViscaControl::zoomed_

protected

Definition at line 154 of file ViscaControl.hh.

The documentation for this class was generated from the following files:

PanTilt/ViscaControl.hh
PanTilt/ViscaControl.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation