| 1 | /*!
|
---|
| 2 | * \file ParrotCamV.h
|
---|
| 3 | * \brief Class for ardrone2 horizontal camera
|
---|
| 4 | * \author Guillaume Sanahuja
|
---|
| 5 | * \date 2014/07/16
|
---|
| 6 | * \version 4.0
|
---|
| 7 | */
|
---|
| 8 |
|
---|
| 9 | #ifndef PARROTCAMV_H
|
---|
| 10 | #define PARROTCAMV_H
|
---|
| 11 |
|
---|
| 12 | #define CMATRIX_LEN 6
|
---|
| 13 |
|
---|
| 14 | #include "V4LCamera.h"
|
---|
| 15 |
|
---|
| 16 | namespace flair
|
---|
| 17 | {
|
---|
| 18 | namespace core
|
---|
| 19 | {
|
---|
| 20 | class FrameworkManager;
|
---|
| 21 | class I2cPort;
|
---|
| 22 | }
|
---|
| 23 | }
|
---|
| 24 |
|
---|
| 25 | namespace flair
|
---|
| 26 | {
|
---|
| 27 | namespace sensor
|
---|
| 28 | {
|
---|
| 29 | /*! \class ParrotCamV
|
---|
| 30 | *
|
---|
| 31 | * \brief Class for ardrone2 horizontal cameraH
|
---|
| 32 | */
|
---|
| 33 | class ParrotCamV : public V4LCamera
|
---|
| 34 | {
|
---|
| 35 |
|
---|
| 36 | public:
|
---|
| 37 | /*!
|
---|
| 38 | * \brief Constructor
|
---|
| 39 | *
|
---|
| 40 | * Construct a ParrotCamV.
|
---|
| 41 | *
|
---|
| 42 | * \param parent parent
|
---|
| 43 | * \param name name
|
---|
| 44 | * \param priority priority of the Thread
|
---|
| 45 | */
|
---|
| 46 | ParrotCamV(const core::FrameworkManager* parent,std::string name,uint8_t priority);
|
---|
| 47 |
|
---|
| 48 | /*!
|
---|
| 49 | * \brief Destructor
|
---|
| 50 | *
|
---|
| 51 | */
|
---|
| 52 | ~ParrotCamV();
|
---|
| 53 |
|
---|
| 54 | private:
|
---|
| 55 | /*!
|
---|
| 56 | * \brief Set Gain
|
---|
| 57 | *
|
---|
| 58 | * Reimplemented from V4LCamera class
|
---|
| 59 | *
|
---|
| 60 | * \param value value between 0 and 1
|
---|
| 61 | */
|
---|
| 62 | void SetGain(float value);
|
---|
| 63 |
|
---|
| 64 | /*!
|
---|
| 65 | * \brief Set Auto Gain
|
---|
| 66 | *
|
---|
| 67 | * Reimplemented from V4LCamera class
|
---|
| 68 | *
|
---|
| 69 | * \param value value
|
---|
| 70 | */
|
---|
| 71 | void SetAutoGain(bool value);
|
---|
| 72 |
|
---|
| 73 | /*!
|
---|
| 74 | * \brief Set Exposure
|
---|
| 75 | *
|
---|
| 76 | * Reimplemented from V4LCamera class
|
---|
| 77 | *
|
---|
| 78 | * \param value value between 0 and 1
|
---|
| 79 | */
|
---|
| 80 | void SetExposure(float value);
|
---|
| 81 |
|
---|
| 82 | /*!
|
---|
| 83 | * \brief Set Auto Exposure
|
---|
| 84 | *
|
---|
| 85 | * Reimplemented from V4LCamera class
|
---|
| 86 | *
|
---|
| 87 | * \param value value
|
---|
| 88 | */
|
---|
| 89 | void SetAutoExposure(bool value);
|
---|
| 90 |
|
---|
| 91 | /*!
|
---|
| 92 | * \brief Set Brightness
|
---|
| 93 | *
|
---|
| 94 | * Reimplemented from V4LCamera class
|
---|
| 95 | *
|
---|
| 96 | * \param value value between 0 and 1
|
---|
| 97 | */
|
---|
| 98 | void SetBrightness(float value);
|
---|
| 99 |
|
---|
| 100 | /*!
|
---|
| 101 | * \brief Set Saturation
|
---|
| 102 | *
|
---|
| 103 | * Reimplemented from V4LCamera class
|
---|
| 104 | *
|
---|
| 105 | * \param value value between 0 and 1
|
---|
| 106 | */
|
---|
| 107 | void SetSaturation(float value);
|
---|
| 108 |
|
---|
| 109 | /*!
|
---|
| 110 | * \brief Set Hue
|
---|
| 111 | *
|
---|
| 112 | * Reimplemented from V4LCamera class
|
---|
| 113 | *
|
---|
| 114 | * \param value value between 0 and 1
|
---|
| 115 | */
|
---|
| 116 | void SetHue(float value);
|
---|
| 117 |
|
---|
| 118 | /*!
|
---|
| 119 | * \brief Set Contrast
|
---|
| 120 | *
|
---|
| 121 | * Reimplemented from V4LCamera class
|
---|
| 122 | *
|
---|
| 123 | * \param value value between 0 and 1
|
---|
| 124 | */
|
---|
| 125 | void SetContrast(float value);
|
---|
| 126 |
|
---|
| 127 | int ov7670_write(uint8_t reg,uint8_t value);
|
---|
| 128 | int ov7670_read(uint8_t reg,uint8_t* value);
|
---|
| 129 | unsigned char ov7670_abs_to_sm(uint8_t v);
|
---|
| 130 | int ov7670_store_cmatrix(int matrix[CMATRIX_LEN]);
|
---|
| 131 | void ov7670_calc_cmatrix(int matrix[CMATRIX_LEN]);
|
---|
| 132 | float hue,sat;
|
---|
| 133 | core::I2cPort* i2cport;
|
---|
| 134 | //cmatrix for V4L2_MBUS_FMT_UYVY8_2X8
|
---|
| 135 | int cmatrix[CMATRIX_LEN]= { 128, -128, 0, -34, -94, 128 };
|
---|
| 136 | };
|
---|
| 137 | } // end namespace sensor
|
---|
| 138 | } // end namespace flair
|
---|
| 139 | #endif // PARROTCAMV_H
|
---|