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<h1>camera.h</h1> </div>
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<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2000</span>
<a name="l00004"></a>00004 <span class="comment"> * Pouya Bastani, Richard Vaughan, Radu Bogdan Rusu</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00018"></a>00018 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00019"></a>00019 <span class="comment"> *</span>
<a name="l00020"></a>00020 <span class="comment"> */</span>
<a name="l00021"></a>00021
<a name="l00022"></a>00022 <span class="preprocessor">#ifndef CAMERA_H_</span>
<a name="l00023"></a>00023 <span class="preprocessor"></span><span class="preprocessor">#define CAMERA_H_</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span>
<a name="l00025"></a>00025 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00026"></a>00026 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span>
<a name="l00027"></a>00027 {
<a name="l00028"></a>00028 <span class="preprocessor">#endif</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span>
<a name="l00030"></a>00030 <span class="preprocessor">#include <fcntl.h></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <termios.h></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <stdio.h></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <time.h></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <string.h></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <stdlib.h></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <unistd.h></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="comment">/* These should NOT be redefined. */</span>
<a name="l00039"></a>00039 <span class="comment">//typedef unsigned int uint32_t;</span>
<a name="l00040"></a>00040 <span class="comment">//typedef unsigned short uint16_t;</span>
<a name="l00041"></a>00041 <span class="comment">//typedef unsigned char uint8_t;</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">/* Instead #include playerconfig.h, which gets them in a portable way */</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include "playerconfig.h"</span>
<a name="l00045"></a>00045
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="comment">/**************************************************************************</span>
<a name="l00048"></a>00048 <span class="comment"> *** CONSTANST ***</span>
<a name="l00049"></a>00049 <span class="comment">**************************************************************************/</span>
<a name="l00050"></a>00050 <span class="preprocessor">#define IMAGE_WIDTH 174 // the width of the frame camera sends</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#define IMAGE_HEIGHT 143 // the height of the frame camera sends</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">#define CONTRAST 5 // camera's contrast register #</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">#define BRIGHTNESS 6 // camera's brightness register #</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">#define COLORMODE 18 // camera's colormode register #</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">#define RGB_AWT_ON 44 // camera's RGB auto white balance on</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#define RGB_AWT_OFF 40 // camera'sRGB auto white balance off</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#define YCRCB_AWT_ON 36 // camera'sYCrCb auto white balance on</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define YCRCB_AWT_OFF 32 // camera'sYCrCb auto white balance off</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define AUTOGAIN 19 // camera's autogain register #</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor">#define AUTOGAIN_ON 33 // camera's autogain on</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span><span class="preprocessor">#define AUTOGAIN_OFF 32 // camera's autogain off</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span><span class="preprocessor">#define ZERO_POSITION 128 // servos' middle position as defiend by camera</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#define MIN_RGB 16 // camera's min rgb value</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span><span class="preprocessor">#define MAX_RGB 240 // camera's max rgb value</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span><span class="preprocessor">#define T_PACKET_LENGTH 50 // max length of T packet that camera returns</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor">#define F_PACKET_LENGTH 37474 // max length of F packet that camera returns</span>
<a name="l00067"></a>00067 <span class="preprocessor"></span>
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="comment">/**************************************************************************</span>
<a name="l00070"></a>00070 <span class="comment"> *** T PACKET ***</span>
<a name="l00071"></a>00071 <span class="comment">**************************************************************************/</span>
<a name="l00072"></a><a class="code" href="structpacket__t.html">00072</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><span class="comment">// camera's output packet for tracking blobs</span>
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 <span class="keywordtype">int</span> middle_x, middle_y; <span class="comment">// the blob entroid (image coords)</span>
<a name="l00075"></a>00075 <span class="keywordtype">int</span> left_x; <span class="comment">// the left most corner's x value</span>
<a name="l00076"></a>00076 <span class="keywordtype">int</span> left_y; <span class="comment">// the left msot corner's y value</span>
<a name="l00077"></a>00077 <span class="keywordtype">int</span> right_x; <span class="comment">// the right most corner's x vlaue</span>
<a name="l00078"></a>00078 <span class="keywordtype">int</span> right_y; <span class="comment">// the right most corner's y value</span>
<a name="l00079"></a>00079 <span class="keywordtype">int</span> blob_area; <span class="comment">// number of pixles int he tracked regtion,</span>
<a name="l00080"></a>00080 <span class="comment">// scaled and capped at 255:(pixles+4)/8</span>
<a name="l00081"></a>00081 <span class="keywordtype">int</span> confidence; <span class="comment">// the (# of pixles/area)*256 of the bounded</span>
<a name="l00082"></a>00082 <span class="comment">// rectangle and capped at 255</span>
<a name="l00083"></a>00083 }<a class="code" href="structpacket__t.html">packet_t</a>;
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="comment">/**************************************************************************</span>
<a name="l00086"></a>00086 <span class="comment"> *** F PACKET ***</span>
<a name="l00087"></a>00087 <span class="comment">**************************************************************************/</span>
<a name="l00088"></a><a class="code" href="structrgb__type.html">00088</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 <span class="keywordtype">int</span> r, g, b;
<a name="l00091"></a>00091 } <a class="code" href="structrgb__type.html">rgb_type</a>;
<a name="l00092"></a>00092
<a name="l00093"></a><a class="code" href="structrow__type.html">00093</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <span class="keywordtype">int</span> rowbyte;
<a name="l00096"></a>00096 <a class="code" href="structrgb__type.html">rgb_type</a> <a class="code" href="structrgb.html">rgb</a>[IMAGE_WIDTH];
<a name="l00097"></a>00097 } <a class="code" href="structrow__type.html">row_type</a>;
<a name="l00098"></a>00098
<a name="l00099"></a><a class="code" href="structpacket__f.html">00099</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101 <span class="keywordtype">int</span> first;
<a name="l00102"></a>00102 <span class="keywordtype">int</span> xsize, ysize;
<a name="l00103"></a>00103 <a class="code" href="structrow__type.html">row_type</a> rows[IMAGE_HEIGHT];
<a name="l00104"></a>00104 <span class="keywordtype">int</span> last;
<a name="l00105"></a>00105 } <a class="code" href="structpacket__f.html">packet_f</a>;
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">/**************************************************************************</span>
<a name="l00108"></a>00108 <span class="comment"> *** IMAGER CONFIG ***</span>
<a name="l00109"></a>00109 <span class="comment">**************************************************************************/</span>
<a name="l00110"></a><a class="code" href="structimager__config.html">00110</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><span class="comment">// camera's internal register controlling image quality</span>
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 uint8_t subtype; <span class="comment">// must be PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS.</span>
<a name="l00113"></a>00113 int16_t brightness; <span class="comment">// contrast: -1 = no change. (0-255)</span>
<a name="l00114"></a>00114 int16_t contrast; <span class="comment">// brightness: -1 = no change. (0-255)</span>
<a name="l00115"></a>00115 int8_t colormode; <span class="comment">// color mode: -1 = no change.</span>
<a name="l00116"></a>00116 <span class="comment">// 0 = RGB/auto white balance Off,</span>
<a name="l00117"></a>00117 <span class="comment">// 1 = RGB/AutoWhiteBalance On,</span>
<a name="l00118"></a>00118 <span class="comment">// 2 = YCrCB/AutoWhiteBalance Off,</span>
<a name="l00119"></a>00119 <span class="comment">// 3 = YCrCb/AWB On)</span>
<a name="l00120"></a>00120 int8_t autogain; <span class="comment">// auto gain: -1 = no change.</span>
<a name="l00121"></a>00121 <span class="comment">// 0 = off, o</span>
<a name="l00122"></a>00122 <span class="comment">// 1 = on.</span>
<a name="l00123"></a>00123 } <a class="code" href="structimager__config.html">imager_config</a>;
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <span class="comment">/**************************************************************************</span>
<a name="l00126"></a>00126 <span class="comment"> *** CONFIG CONFIG ***</span>
<a name="l00127"></a>00127 <span class="comment">**************************************************************************/</span>
<a name="l00128"></a><a class="code" href="structcolor__config.html">00128</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00129"></a>00129 {
<a name="l00130"></a>00130 uint8_t subtype; <span class="comment">// must be PLAYER_BLOBFINDER_REQ_SET_COLOR.</span>
<a name="l00131"></a>00131 int16_t rmin, rmax; <span class="comment">// RGB minimum and max values (0-255)</span>
<a name="l00132"></a>00132 int16_t gmin, gmax;
<a name="l00133"></a>00133 int16_t bmin, bmax;
<a name="l00134"></a>00134 } <a class="code" href="structcolor__config.html">color_config</a>;
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="comment">/**************************************************************************</span>
<a name="l00137"></a>00137 <span class="comment"> *** RGB ***</span>
<a name="l00138"></a>00138 <span class="comment">**************************************************************************/</span>
<a name="l00139"></a>00139 <span class="keyword">typedef</span> <span class="keyword">struct </span><span class="comment">// RGB values</span>
<a name="l00140"></a>00140 {
<a name="l00141"></a>00141 <span class="keywordtype">int</span> red;
<a name="l00142"></a>00142 <span class="keywordtype">int</span> green;
<a name="l00143"></a>00143 <span class="keywordtype">int</span> blue;
<a name="l00144"></a>00144 } <a class="code" href="structrgb.html">rgb</a>;
<a name="l00145"></a>00145
<a name="l00146"></a>00146 <span class="comment">/**************************************************************************</span>
<a name="l00147"></a>00147 <span class="comment"> *** CONFIG CONFIG ***</span>
<a name="l00148"></a>00148 <span class="comment">**************************************************************************/</span>
<a name="l00149"></a><a class="code" href="structimage.html">00149</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><span class="comment">// camera's image</span>
<a name="l00150"></a>00150 {
<a name="l00151"></a>00151 <span class="keywordtype">int</span> width;
<a name="l00152"></a>00152 <span class="keywordtype">int</span> height;
<a name="l00153"></a>00153 <a class="code" href="structrgb.html">rgb</a> **pixel;
<a name="l00154"></a>00154 } <a class="code" href="structimage.html">image</a>;
<a name="l00155"></a>00155
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="comment">/**************************************************************************</span>
<a name="l00158"></a>00158 <span class="comment"> *** FUNCTION PROTOTYPES ***</span>
<a name="l00159"></a>00159 <span class="comment">**************************************************************************/</span>
<a name="l00160"></a>00160 <span class="keywordtype">int</span> get_t_packet(<span class="keywordtype">int</span> fd, <a class="code" href="structpacket__t.html">packet_t</a> *tpacket);
<a name="l00161"></a>00161 <span class="keywordtype">int</span> set_imager_config(<span class="keywordtype">int</span> fd, <a class="code" href="structimager__config.html">imager_config</a> ic);
<a name="l00162"></a>00162 <span class="keywordtype">int</span> get_bytes(<span class="keywordtype">int</span> fd, <span class="keywordtype">char</span> *buf, <span class="keywordtype">size_t</span> len);
<a name="l00163"></a>00163 <span class="keywordtype">int</span> open_port(<span class="keywordtype">char</span> *devicepath);
<a name="l00164"></a>00164 <span class="keywordtype">void</span> close_port(<span class="keywordtype">int</span> fd);
<a name="l00165"></a>00165 <span class="keywordtype">void</span> read_t_packet(<span class="keywordtype">int</span> fd, <span class="keywordtype">char</span> *tpackChars);
<a name="l00166"></a>00166 <span class="keywordtype">int</span> read_f_packet (<span class="keywordtype">int</span> fd, <span class="keywordtype">char</span> *fpackChars);
<a name="l00167"></a>00167 <span class="keywordtype">int</span> set_t_packet( <a class="code" href="structpacket__t.html">packet_t</a> *tpacket, <span class="keywordtype">char</span> tpack_chars[] );
<a name="l00168"></a>00168 <span class="keywordtype">int</span> set_f_packet (<a class="code" href="structpacket__f.html">packet_f</a> *fpacket, <span class="keywordtype">char</span> fpack_chars[], <span class="keywordtype">int</span> chan_num);
<a name="l00169"></a>00169 <span class="keywordtype">int</span> set_servo_position(<span class="keywordtype">int</span> fd, <span class="keywordtype">int</span> servo_num, <span class="keywordtype">int</span> angle);
<a name="l00170"></a>00170 <span class="keywordtype">int</span> get_servo_position(<span class="keywordtype">int</span> fd, <span class="keywordtype">int</span> servo_num);
<a name="l00171"></a>00171 <span class="keywordtype">void</span> stop_tracking(<span class="keywordtype">int</span> fd);
<a name="l00172"></a>00172 <span class="keywordtype">int</span> write_check(<span class="keywordtype">int</span> fd, <span class="keywordtype">char</span> *msg, <span class="keywordtype">int</span> respond_size);
<a name="l00173"></a>00173 <span class="keywordtype">int</span> poll_mode(<span class="keywordtype">int</span> fd, <span class="keywordtype">int</span> on);
<a name="l00174"></a>00174 <span class="keywordtype">void</span> make_command(<span class="keywordtype">char</span> *cmd, <span class="keywordtype">int</span> *n, <span class="keywordtype">size_t</span> size, <span class="keywordtype">char</span> *fullCommand);
<a name="l00175"></a>00175 <span class="keywordtype">int</span> auto_servoing(<span class="keywordtype">int</span> fd, <span class="keywordtype">int</span> on);
<a name="l00176"></a>00176 <span class="keywordtype">void</span> track_blob(<span class="keywordtype">int</span> fd, <a class="code" href="structcolor__config.html">color_config</a> cc);
<a name="l00177"></a>00177 <span class="keywordtype">int</span> read_image (<span class="keywordtype">int</span> fd, <span class="keywordtype">int</span> chan_num, <a class="code" href="structpacket__f.html">packet_f</a> *fpacket);
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00180"></a>00180 <span class="preprocessor"></span>}
<a name="l00181"></a>00181 <span class="preprocessor">#endif</span>
<a name="l00182"></a>00182 <span class="preprocessor"></span>
<a name="l00183"></a>00183 <span class="preprocessor">#endif</span>
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Last updated 12 September 2005 21:38:45
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