source: flair-src/trunk/lib/FlairSensorActuator/src/ParrotCamV.h@ 3

Last change on this file since 3 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 3.3 KB
Line 
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
16namespace flair
17{
18 namespace core
19 {
20 class FrameworkManager;
21 class I2cPort;
22 }
23}
24
25namespace flair
26{
27namespace 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
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