The CMUcam4 class implements a generic C++ interface library for the CMUcam4. More...

#include <CMUcam4.h>

Public Member Functions
	CMUcam4 ()
	Initialize the CMUcam4 object to use the default Serial port.
	CMUcam4 (int port)
	Initialize the CMUcam4 object to use the `port` Serial port.
int	getPixel (CMUcam4_image_data_t *pointer, int row, int column)
	Gets a pixel (0 or 1) from a binary bitmap data structure.
int	setPixel (CMUcam4_image_data_t *pointer, int row, int column, int value)
	Sets a pixel (0 or 1) in a binary bitmap data structure.
int	andPixels (CMUcam4_image_data_t destination, CMUcam4_image_data_t source0, CMUcam4_image_data_t *source1)
	Logically AND's two binary bitmaps together - useful for image manipulation.
int	orPixels (CMUcam4_image_data_t destination, CMUcam4_image_data_t source0, CMUcam4_image_data_t *source1)
	Logically OR's two binary bitmaps together - useful for image manipulation.
int	xorPixels (CMUcam4_image_data_t destination, CMUcam4_image_data_t source0, CMUcam4_image_data_t *source1)
	Logically XOR's two binary bitmaps together - useful for image manipulation.
int	notPixels (CMUcam4_image_data_t *destination)
	Logically NOT's a binary bitmap - useful for image manipulation.
int	isReadOnly (CMUcam4_directory_entry_t *pointer)
	Returns if a directory entry is read-only (0 or 1).
int	isHidden (CMUcam4_directory_entry_t *pointer)
	Returns if a directory entry is hidden (0 or 1).
int	isSystem (CMUcam4_directory_entry_t *pointer)
	Returns if a directory entry is system (0 or 1).
int	isVolumeID (CMUcam4_directory_entry_t *pointer)
	Returns if a directory entry is the volume ID (0 or 1).
int	isDirectory (CMUcam4_directory_entry_t *pointer)
	Returns if a directory entry is a directory (0 or 1).
int	isArchive (CMUcam4_directory_entry_t *pointer)
	Returns if a directory entry is ready to archive (0 or 1).
int	begin ()
	Activates the interface library.
int	end ()
	Deactivates the interface library.
int	getVersion ()
	Gets the CMUcam4's firmware version number.
int	resetSystem ()
	Resets the CMUcam4 device.
int	sleepDeeply ()
	Causes the CMUcam4 to sleep deeply.
int	sleepLightly ()
	Causes the CMUcam4 to sleep lightly.
int	cameraBrightness (int brightness)
	Change the camera brightness setting - useful for low brightness situations.
int	cameraContrast (int contrast)
	Change the camera contrast setting - useful for low contrast situations.
int	cameraRegisterRead (int reg)
	Read a camera register value.
int	cameraRegisterWrite (int reg, int value, int mask)
	Write a camera register value.
int	autoGainControl (int active)
	Turns the camera automatic gain control off or on.
int	autoWhiteBalance (int active)
	Turns the camera automatic white balance off or on.
int	horizontalMirror (int active)
	Horizontally mirror the camera module image.
int	verticalFlip (int active)
	Vertically flip the camera module image.
int	blackAndWhiteMode (int active)
	Cause the camera to output a black and white image.
int	negativeMode (int active)
	Cause the camera to output a negative image.
int	getButtonState ()
	Returns the user button state on the CMUcam4.
long	getButtonDuration ()
	Returns the user button duration in the current state on the CMUcam4 in milliseconds.
int	getButtonPressed ()
	Returns if the user button was pressed.
int	getButtonReleased ()
	Returns if the user button was released.
int	panInput ()
	Gets the digital state of the pan pin on the CMUcam4.
int	panOutput (int direction, int output)
	Sets the digital state of the pan pin on the CMUcam4.
int	tiltInput ()
	Gets the digital state of the tilt pin on the CMUcam4.
int	tiltOutput (int direction, int output)
	Sets the digital state of the tilt pin on the CMUcam4.
int	getInputs ()
	Gets the digital states of the pan and tilt pins on the CMUcam4.
int	setOutputs (int directions, int outputs)
	Sets the digital states of the pan and tilt pins on the CMUcam4.
int	LEDOff ()
	Disables the auxiliary LED on the CMUcam4.
int	LEDOn (long frequency)
	Enables the auxiliary LED on the CMUcam4.
int	getServoPosition (int servo)
	Gets the pan or tilt servo pulse length in microseconds.
int	setServoPosition (int servo, int active, int pulseLength)
	Sets the pan or tilt servo pulse length in microseconds.
int	automaticPan (int active, int reverse)
	Setup automatic pan control.
int	automaticTilt (int active, int reverse)
	Setup automatic tilt control.
int	autoPanParameters (int proportionalGain, int derivativeGain)
	Setup automatic pan control gain values.
int	autoTiltParameters (int proportionalGain, int derivativeGain)
	Setup automatic tilt control gain values.
int	monitorOff ()
	Turn the television monitor signal off.
int	monitorOn ()
	Turn the television monitor signal on.
int	monitorFreeze (int active)
	Freeze the television monitor signal.
int	monitorSignal (int active)
	Change the television monitor signal.
int	getTrackingParameters (CMUcam4_tracking_parameters_t *pointer)
	Populates a CMUcam4_tracking_parameters_t data structure with the current color tracking threshold parameters in use by the CMUcam4.
int	getTrackingWindow (CMUcam4_tracking_window_t *pointer)
	Populates a CMUcam4_tracking_window_t data structure with the current color tracking window parameters in use by the CMUcam4.
int	setTrackingParameters ()
	Reset the color tracking threshold parameters to track all possible colors.
int	setTrackingParameters (int redMin, int redMax, int greenMin, int greenMax, int blueMin, int blueMax)
	Set the color tracking threshold parameters to track a range of colors.
int	setTrackingWindow ()
	Reset the color tracking window parameters to track all possible pixels.
int	setTrackingWindow (int topLeftX, int topLeftY, int bottomRightX, int bottomRightY)
	Set the color tracking window parameters to track a range of pixels.
int	idleCamera ()
	Causes the CMUcam4 to enter idle mode and do nothing.
int	trackColor ()
	Causes the CMUcam4 to enter stream mode and begin sending type T data packets.
int	trackColor (int redMin, int redMax, int greenMin, int greenMax, int blueMin, int blueMax)
	Causes the CMUcam4 to enter stream mode and begin sending type T data packets.
int	trackWindow (int redRange, int greenRange, int blueRange)
	Causes the CMUcam4 to enter stream mode and begin sending type T data packets.
int	getHistogram (int channel, int bins)
	Causes the CMUcam4 to enter stream mode and begin sending type H data packets.
int	getMean ()
	Causes the CMUcam4 to enter stream mode and begin sending type S data packets.
int	getTypeFDataPacket (CMUcam4_image_data_t *pointer)
	Waits for a type F data packet to appear in the data stream from the CMUcam4 and stores that type F data packet in a CMUcam4_image_data_t data strucutre.
int	getTypeHDataPacket (CMUcam4_histogram_data_1_t *pointer)
	Waits for a type H-1 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_1_t data structure.
int	getTypeHDataPacket (CMUcam4_histogram_data_2_t *pointer)
	Waits for a type H-2 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_2_t data structure.
int	getTypeHDataPacket (CMUcam4_histogram_data_4_t *pointer)
	Waits for a type H-4 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_4_t data structure.
int	getTypeHDataPacket (CMUcam4_histogram_data_8_t *pointer)
	Waits for a type H-8 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_8_t data structure.
int	getTypeHDataPacket (CMUcam4_histogram_data_16_t *pointer)
	Waits for a type H-16 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_16_t data structure.
int	getTypeHDataPacket (CMUcam4_histogram_data_32_t *pointer)
	Waits for a type H-32 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_32_t data structure.
int	getTypeHDataPacket (CMUcam4_histogram_data_64_t *pointer)
	Waits for a type H-64 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_64_t data structure.
int	getTypeSDataPacket (CMUcam4_statistics_data_t *pointer)
	Waits for a type S data packet to appear in the data stream from the CMUcam4 and stores that type S data packet in a CMUcam4_statistics_data_t data structure.
int	getTypeTDataPacket (CMUcam4_tracking_data_t *pointer)
	Waits for a type T data packet to appear in the data stream from the CMUcam4 and stores that type T data packet in a CMUcam4_tracking_data_t data strucutre.
int	pollMode (int active)
	Turn poll mode off or on.
int	lineMode (int active)
	Turn line mode off or on.
int	switchingMode (int active)
	Turn switching mode off or on.
int	testMode (int active)
	Turn test mode off or on.
int	colorTracking (int active)
	Turn color tracking off or on.
int	histogramTracking (int active)
	Turn histogram tracking off or on.
int	invertedFilter (int active)
	Turn the inverted filter off or on.
int	noiseFilter (int threshold)
	Turn the noise filter off or on.
int	changeAttributes (const char fileOrDirectoryPathName, const char attributes)
	Change a file's or directory's attributes on the disk.
int	changeDirectory (const char *directoryPathAndName)
	Change the working directory.
int	diskInformation (CMUcam4_disk_information_t *pointer)
	Get information about the disk's geometry.
int	diskSpace (CMUcam4_disk_space_t *pointer)
	Get information about the disk's free and used sector space.
int	formatDisk ()
	Deletes all files and directories on the disk.
long	listDirectory (CMUcam4_directory_entry_t *pointer, size_t size, unsigned long offset)
	Reads all or part of the entries in the working directory to a buffer.
int	makeDirectory (const char *directoryPathAndName)
	Makes a new directory on the disk.
int	moveEntry (const char oldEntryPathAndName, const char newEntryPathAndName)
	Moves a file or directory on the disk.
int	printLine (const char filePathAndName, const char textToAppend)
	Prints a line of text to a file.
long	filePrint (const char filePathAndName, uint8_t buffer, size_t size, unsigned long offset)
	Reads all or part of a file to a buffer.
int	removeEntry (const char *fileOrDirectoryPathAndName)
	Deletes a file or empty directory on the disk.
int	unmountDisk ()
	Unmounts the micro secure digital card.
int	dumpBitmap ()
	Saves an 80x60 binary bitmap to the disk in BMP file format.
int	dumpFrame (int horizontalResolution, int verticalResolution)
	Saves an 640:320:160:80x480:240:120:60 image to the disk in BMP file format.
int	sendBitmap (CMUcam4_image_data_t *pointer)
	Receive an 80x60 binary bitmap from the CMUcam4.
int	sendFrame (int horizontalResolution, int verticalResolution, uint16_t *buffer, size_t horizonalSize, size_t horizontalOffset, size_t verticalSize, size_t verticalOffset)
	Receive an 640:320:160:80x480:240:120:60 image from the CMUcam4.

Detailed Description

The CMUcam4 class implements a generic C++ interface library for the CMUcam4.

This interface library provides a wrapper function for all native CMUcam4 functions. Addtionally, this interface library has built in utility functions for manipulating data structures and low level camera settings.

Definition at line 1081 of file CMUcam4.h.

Constructor & Destructor Documentation

CMUcam4 ( int port )

Initialize the CMUcam4 object to use the port Serial port.

Parameters:

[in] port The port.

See also:: CMUCOM4_SERIAL; CMUCOM4_SERIAL1; CMUCOM4_SERIAL2; CMUCOM4_SERIAL3

Definition at line 34 of file CMUcam4.cpp.

Member Function Documentation

int getPixel	(	CMUcam4_image_data_t *	pointer,
		int	row,
		int	column
	)

Gets a pixel (0 or 1) from a binary bitmap data structure.

Parameters:

[in]	pointer	A pointer to the binary bitmap data structure.
[in]	row	The pixel row. Must be between 0 and 59.
[in]	column	The pixel column. Must be between 0 and 79.

Returns:: The pixel value on success and a negative error value on failure.

See also:: CMUcam4_image_data_t; CMUcam4::getTypeFDataPacket(); CMUcam4::sendBitmap(); CMUCAM4_GET_PIXEL()

Definition at line 46 of file CMUcam4.cpp.

int setPixel	(	CMUcam4_image_data_t *	pointer,
		int	row,
		int	column,
		int	value
	)

Sets a pixel (0 or 1) in a binary bitmap data structure.

Parameters:

[out]	pointer	A pointer to the binary bitmap data structure.
[in]	row	The pixel row. Must be between 0 and 59.
[in]	column	The pixel column. Must be between 0 and 79.
[in]	value	The pixel value (0 or 1).

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4_image_data_t; CMUcam4::getTypeFDataPacket(); CMUcam4::sendBitmap(); CMUCAM4_SET_PIXEL()

Definition at line 60 of file CMUcam4.cpp.

int andPixels	(	CMUcam4_image_data_t *	destination,
		CMUcam4_image_data_t *	source0,
		CMUcam4_image_data_t *	source1
	)

Logically AND's two binary bitmaps together - useful for image manipulation.

Parameters:

[out]	destination	A pointer to a binary bitmap data structure.
[in]	source0	A pointer to a binary bitmap data structure.
[in]	source1	A pointer to a binary bitmap data structure.

Returns:: Zero on success and a negative value if any parameter is invalid.

See also:: CMUcam4_image_data_t; CMUcam4::getTypeFDataPacket(); CMUcam4::sendBitmap()

Definition at line 81 of file CMUcam4.cpp.

int orPixels	(	CMUcam4_image_data_t *	destination,
		CMUcam4_image_data_t *	source0,
		CMUcam4_image_data_t *	source1
	)

Logically OR's two binary bitmaps together - useful for image manipulation.

Parameters:

[out]	destination	A pointer to a binary bitmap data structure.
[in]	source0	A pointer to a binary bitmap data structure.
[in]	source1	A pointer to a binary bitmap data structure.

Returns:: Zero on success and a negative value if any parameter is invalid.

See also:: CMUcam4_image_data_t; CMUcam4::getTypeFDataPacket(); CMUcam4::sendBitmap()

Definition at line 101 of file CMUcam4.cpp.

int xorPixels	(	CMUcam4_image_data_t *	destination,
		CMUcam4_image_data_t *	source0,
		CMUcam4_image_data_t *	source1
	)

Logically XOR's two binary bitmaps together - useful for image manipulation.

Parameters:

[out]	destination	A pointer to a binary bitmap data structure.
[in]	source0	A pointer to a binary bitmap data structure.
[in]	source1	A pointer to a binary bitmap data structure.

Returns:: Zero on success and a negative value if any parameter is invalid.

See also:: CMUcam4_image_data_t; CMUcam4::getTypeFDataPacket(); CMUcam4::sendBitmap()

Definition at line 121 of file CMUcam4.cpp.

int notPixels ( CMUcam4_image_data_t * destination )

Logically NOT's a binary bitmap - useful for image manipulation.

Parameters:

[in,out] destination A pointer to a binary bitmap data structure.

Returns:: Zero on success and a negative value if any parameter is invalid.

See also:: CMUcam4_image_data_t; CMUcam4::getTypeFDataPacket(); CMUcam4::sendBitmap()

Definition at line 141 of file CMUcam4.cpp.

int isReadOnly ( CMUcam4_directory_entry_t * pointer )

Returns if a directory entry is read-only (0 or 1).

Parameters:

[in] pointer A pointer to a directory entry data structure.

Returns:: 1 if read-only, 0 if not, and a negative value if pointer is NULL.

See also:: CMUcam4_directory_entry_t; CMUcam4::listDirectory()

Definition at line 159 of file CMUcam4.cpp.

int isHidden ( CMUcam4_directory_entry_t * pointer )

Returns if a directory entry is hidden (0 or 1).

Parameters:

[in] pointer A pointer to a directory entry data structure.

Returns:: 1 if hidden, 0 if not, and a negative value if pointer is NULL.

See also:: CMUcam4_directory_entry_t; CMUcam4::listDirectory()

Definition at line 172 of file CMUcam4.cpp.

int isSystem ( CMUcam4_directory_entry_t * pointer )

Returns if a directory entry is system (0 or 1).

Parameters:

[in] pointer A pointer to a directory entry data structure.

Returns:: 1 if system, 0 if not, and a negative value if pointer is NULL.

See also:: CMUcam4_directory_entry_t; CMUcam4::listDirectory()

Definition at line 185 of file CMUcam4.cpp.

int isVolumeID ( CMUcam4_directory_entry_t * pointer )

Returns if a directory entry is the volume ID (0 or 1).

This function is included for completeness only. The CMUcam4's listDirectory function does not list the volume ID located in the root directory.

Parameters:

[in] pointer A pointer to a directory entry data structure.

Returns:: 1 if ID, 0 if not, and a negative value if pointer is NULL.

See also:: CMUcam4_directory_entry_t; CMUcam4::listDirectory()

Definition at line 198 of file CMUcam4.cpp.

int isDirectory ( CMUcam4_directory_entry_t * pointer )

Returns if a directory entry is a directory (0 or 1).

Parameters:

[in] pointer A pointer to a directory entry data structure.

Returns:: 1 if a directory, 0 if not, and a negative value if pointer is NULL.

See also:: CMUcam4_directory_entry_t; CMUcam4::listDirectory()

Definition at line 211 of file CMUcam4.cpp.

int isArchive ( CMUcam4_directory_entry_t * pointer )

Returns if a directory entry is ready to archive (0 or 1).

Parameters:

[in] pointer A pointer to a directory entry data structure.

Returns:: 1 if ready to archive, 0 if not, and a negative value if pointer is NULL.

See also:: CMUcam4_directory_entry_t; CMUcam4::listDirectory()

Definition at line 224 of file CMUcam4.cpp.

int begin ( )

Activates the interface library.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::end()

Definition at line 241 of file CMUcam4.cpp.

int end ( )

Deactivates the interface library.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::begin()

Definition at line 364 of file CMUcam4.cpp.

int getVersion ( )

Gets the CMUcam4's firmware version number.

Returns:: The version number on success and a negative error value on failure.

See also:: CMUCAM4_FIRMWARE_V100; CMUCAM4_FIRMWARE_V101; CMUCAM4_FIRMWARE_V102; CMUCAM4_FIRMWARE_V103

Definition at line 381 of file CMUcam4.cpp.

int resetSystem ( )

Resets the CMUcam4 device.

Returns:: 0 on success and a negative error value on failure.

Definition at line 386 of file CMUcam4.cpp.

int sleepDeeply ( )

Causes the CMUcam4 to sleep deeply.

This disables servo outputs.

Returns:: 0 on success and a negative error value on failure.

Definition at line 391 of file CMUcam4.cpp.

int sleepLightly ( )

Causes the CMUcam4 to sleep lightly.

This does not disable servo outputs.

Returns:: 0 on success and a negative error value on failure.

Definition at line 396 of file CMUcam4.cpp.

int cameraBrightness ( int brightness )

Change the camera brightness setting - useful for low brightness situations.

Parameters:

[in] brightness Between -127 and 127. The default is 0.

Returns:: 0 on success and a negative error value on failure.

Definition at line 405 of file CMUcam4.cpp.

int cameraContrast ( int contrast )

Change the camera contrast setting - useful for low contrast situations.

Parameters:

[in] contrast Between -31 and 31. The default is 0.

Returns:: 0 on success and a negative error value on failure.

Definition at line 413 of file CMUcam4.cpp.

int cameraRegisterRead ( int reg )

Read a camera register value.

Parameters:

[in] reg The register address. Between 0 and 255.

Returns:: The register value on success and a negative error value on failure.

Definition at line 421 of file CMUcam4.cpp.

int cameraRegisterWrite	(	int	reg,
		int	value,
		int	mask
	)

Write a camera register value.

Parameters:

[in]	reg	The register address. Between 0 and 255.
[in]	value	The value to write. Between 0 and 255.
[in]	mask	The mask of bit positions to write to. Between 0 and 255.

Returns:: 0 on success and a negative error value on failure.

Definition at line 429 of file CMUcam4.cpp.

int autoGainControl ( int active )

Turns the camera automatic gain control off or on.

Parameters:

[in] active 0 for off and 1 for on.

Returns:: 0 on success and a negative error value on failure.

Definition at line 441 of file CMUcam4.cpp.

int autoWhiteBalance ( int active )

Turns the camera automatic white balance off or on.

Parameters:

[in] active 0 for off and 1 for on.

Returns:: 0 on success and a negative error value on failure.

Definition at line 449 of file CMUcam4.cpp.

int horizontalMirror ( int active )

Horizontally mirror the camera module image.

Parameters:

[in] active 0 for normal mode and 1 for horizontally mirrored mode.

Returns:: 0 on success and a negative error value on failure.

Definition at line 461 of file CMUcam4.cpp.

int verticalFlip ( int active )

Vertically flip the camera module image.

Parameters:

[in] active 0 for normal mode and 1 for vertically flipped mode.

Returns:: 0 on success and a negative error value on failure.

Definition at line 469 of file CMUcam4.cpp.

int blackAndWhiteMode ( int active )

Cause the camera to output a black and white image.

Parameters:

[in] active 0 for normal mode and 1 for black and white mode.

Returns:: 0 on success and a negative error value on failure.

Definition at line 481 of file CMUcam4.cpp.

int negativeMode ( int active )

Cause the camera to output a negative image.

Parameters:

[in] active 0 for normal mode and 1 for negative mode.

Returns:: 0 on success and a negative error value on failure.

Definition at line 489 of file CMUcam4.cpp.

int getButtonState ( )

Returns the user button state on the CMUcam4.

0 for released. 1 for pressed.

Returns:: 0 or 1 on success and a negative error value on failure.

Definition at line 501 of file CMUcam4.cpp.

long getButtonDuration ( )

Returns the user button duration in the current state on the CMUcam4 in milliseconds.

Between 0 and 65,535 milliseconds.

Returns:: The button duration in state in milliseconds on success and a negative error value on failure.

Definition at line 506 of file CMUcam4.cpp.

int getButtonPressed ( )

Returns if the user button was pressed.

0 for no and 1 for yes.

Returns:: 0 or 1 on success and a negative error value on failure.

Definition at line 527 of file CMUcam4.cpp.

int getButtonReleased ( )

Returns if the user button was released.

0 for no and 1 for yes.

Returns:: 0 or 1 on success and a negative error value on failure.

Definition at line 532 of file CMUcam4.cpp.

int panInput ( )

Gets the digital state of the pan pin on the CMUcam4.

Returns:: 0 or 1 on success and a negative error value on failure.

Definition at line 537 of file CMUcam4.cpp.

int panOutput	(	int	direction,
		int	output
	)

Sets the digital state of the pan pin on the CMUcam4.

Parameters:

[in]	direction	The boolean direction state. 0 for input. 1 for output.
[in]	output	The boolean output state. 0 for low. 1 for high.

Returns:: 0 on success and a negative error value on failure.

Definition at line 542 of file CMUcam4.cpp.

int tiltInput ( )

Gets the digital state of the tilt pin on the CMUcam4.

Returns:: 0 or 1 on success and a negative error value on failure.

Definition at line 550 of file CMUcam4.cpp.

int tiltOutput	(	int	direction,
		int	output
	)

Sets the digital state of the tilt pin on the CMUcam4.

Parameters:

[in]	direction	The boolean direction state. 0 for input. 1 for output.
[in]	output	The boolean output state. 0 for low. 1 for high.

Returns:: 0 on success and a negative error value on failure.

Definition at line 555 of file CMUcam4.cpp.

int getInputs ( )

Gets the digital states of the pan and tilt pins on the CMUcam4.

The pan pin is bit 0. The tilt pin is bit 1.

Returns:: 0, 1, 2, or 3 on success and a negative error value on failure.

Definition at line 563 of file CMUcam4.cpp.

int setOutputs	(	int	directions,
		int	outputs
	)

Sets the digital states of the pan and tilt pins on the CMUcam4.

The pan pin is bit 0. The tilt pin is bit 1.

Parameters:

[in]	directions	The boolean direction states. 0 for input. 1 for output.
[in]	outputs	The boolean output states. 0 for low. 1 for high.

Returns:: 0 on success and a negative error value on failure.

Definition at line 568 of file CMUcam4.cpp.

int LEDOff ( )

Disables the auxiliary LED on the CMUcam4.

Returns:: 0 on success and a negative error value on failure.

Definition at line 576 of file CMUcam4.cpp.

int LEDOn ( long frequency )

Enables the auxiliary LED on the CMUcam4.

Parameters:

[in] frequency The frequency to blink the auxiliary to at. Between 0 Hz and 10,000,000 Hz. -1 to turn off.

Returns:: 0 on success and a negative error value on failure.

Definition at line 581 of file CMUcam4.cpp.

int getServoPosition ( int servo )

Gets the pan or tilt servo pulse length in microseconds.

Between 750 to 2,250 us - 0 when the servo is disabled.

Parameters:

[in] servo The servo number. 0 for pan and 1 for tilt.

Returns:: The pulse length on success and a negative error value on failure.

Definition at line 593 of file CMUcam4.cpp.

int setServoPosition	(	int	servo,
		int	active,
		int	pulseLength
	)

Sets the pan or tilt servo pulse length in microseconds.

Between 750 to 2,250 us.

Parameters:

[in]	servo	The servo number. 0 for pan and 1 for tilt.
[in]	active	The servo state. 0 for disabled and 1 for enabled.
[in]	pulseLength	The servo pulse length in microseconds.

Returns:: 0 on success and a negative error value on failure.

Definition at line 601 of file CMUcam4.cpp.

int automaticPan	(	int	active,
		int	reverse
	)

Setup automatic pan control.

Parameters:

[in]	active	The function state. 0 for disabled and 1 for enabled.
[in]	reverse	0 for not reversed and 1 for reversed.

Returns:: 0 on success and a negative error value on failure.

Definition at line 609 of file CMUcam4.cpp.

int automaticTilt	(	int	active,
		int	reverse
	)

Setup automatic tilt control.

Parameters:

[in]	active	The function state. 0 for disabled and 1 for enabled.
[in]	reverse	0 for not reversed and 1 for reversed.

Returns:: 0 on success and a negative error value on failure.

Definition at line 617 of file CMUcam4.cpp.

int autoPanParameters	(	int	proportionalGain,
		int	derivativeGain
	)

Setup automatic pan control gain values.

Parameters:

[in]	proportionalGain	PD loop P gain. Between 0 (disable) and 1000.
[in]	derivativeGain	PD loop D gain. Between 0 (disable) and 1000.

Returns:: 0 on success and a negative error value on failure.

Definition at line 625 of file CMUcam4.cpp.

int autoTiltParameters	(	int	proportionalGain,
		int	derivativeGain
	)

Setup automatic tilt control gain values.

Parameters:

[in]	proportionalGain	PD loop P gain. Between 0 (disable) and 1000.
[in]	derivativeGain	PD loop D gain. Between 0 (disable) and 1000.

Returns:: 0 on success and a negative error value on failure.

Definition at line 633 of file CMUcam4.cpp.

int monitorOff ( )

Turn the television monitor signal off.

Returns:: 0 on success and a negative error value on failure.

Definition at line 645 of file CMUcam4.cpp.

int monitorOn ( )

Turn the television monitor signal on.

Returns:: 0 on success and a negative error value on failure.

Definition at line 650 of file CMUcam4.cpp.

int monitorFreeze ( int active )

Freeze the television monitor signal.

Parameters:

[in] active 0 to unfreeze and 1 to freeze.

Returns:: 0 on success and a negative error value on failure.

Definition at line 655 of file CMUcam4.cpp.

int monitorSignal ( int active )

Change the television monitor signal.

Parameters:

[in] active 0 for NTSC and 1 for PAL.

Returns:: 0 on success and a negative error value on failure.

Definition at line 663 of file CMUcam4.cpp.

int getTrackingParameters ( CMUcam4_tracking_parameters_t * pointer )

Populates a CMUcam4_tracking_parameters_t data structure with the current color tracking threshold parameters in use by the CMUcam4.

Parameters:

[out] pointer A pointer to a CMUcam4_tracking_parameters_t data structure.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4_tracking_parameters_t

Definition at line 675 of file CMUcam4.cpp.

int getTrackingWindow ( CMUcam4_tracking_window_t * pointer )

Populates a CMUcam4_tracking_window_t data structure with the current color tracking window parameters in use by the CMUcam4.

Parameters:

[out] pointer A pointer to a CMUcam4_tracking_window_t data structure.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4_tracking_window_t

Definition at line 707 of file CMUcam4.cpp.

int setTrackingParameters ( )

Reset the color tracking threshold parameters to track all possible colors.

Returns:: 0 on success and a negative error value on failure.

Definition at line 737 of file CMUcam4.cpp.

int setTrackingParameters	(	int	redMin,
		int	redMax,
		int	greenMin,
		int	greenMax,
		int	blueMin,
		int	blueMax
	)

Set the color tracking threshold parameters to track a range of colors.

A pixel's red, green, and blue components must fall between the redMin, redMax, greenMin, greenMax, blueMin, and blueMax thresholds for the pixel to be tracked.

Parameters:

[in]	redMin	The minimum red threshold - between 0 to 255.
[in]	redMax	The maximum red threshold - between 0 to 255.
[in]	greenMin	The minimum green threshold - between 0 to 255.
[in]	greenMax	The maximum green threshold - between 0 to 255.
[in]	blueMin	The minimum blue threshold - between 0 to 255.
[in]	blueMax	The maximum blue threshold - between 0 to 255.

Returns:: 0 on success and a negative error value on failure.

Definition at line 742 of file CMUcam4.cpp.

int setTrackingWindow ( )

Reset the color tracking window parameters to track all possible pixels.

Returns:: 0 on success and a negative error value on failure.

Definition at line 754 of file CMUcam4.cpp.

int setTrackingWindow	(	int	topLeftX,
		int	topLeftY,
		int	bottomRightX,
		int	bottomRightY
	)

Set the color tracking window parameters to track a range of pixels.

A pixel's horizontal position and vertical position must fall between the topLeftX, topLeftY, bottomRightX, and bottomRightY positions for the pixel to be tracked.

Parameters:

[in]	topLeftX	Top left X position (X1) - between 0 and 159.
[in]	topLeftY	Top left Y position (Y1) - between 0 and 119.
[in]	bottomRightX	Bottom right X position (X2) - between X1 and 159.
[in]	bottomRightY	Bottom right Y position (Y2) - between Y2 and 119.

Returns:: 0 on success and a negative error value on failure.

Definition at line 759 of file CMUcam4.cpp.

int idleCamera ( )

Causes the CMUcam4 to enter idle mode and do nothing.

The CMUcam4 will automatically exit streaming mode if any function other than the getType_DataPackets functions is called.

Returns:: 0 on success and a negative error value on failure.

Definition at line 770 of file CMUcam4.cpp.

int trackColor ( )

Causes the CMUcam4 to enter stream mode and begin sending type T data packets.

Only the getType_DataPackets functions may be called after calling this function to get packets. The CMUcam4 will automatically exit streaming mode if any function other than the getType_DataPackets functions is called. This function doesn't change the color tracking settings when called.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getTypeTDataPacket()

Definition at line 804 of file CMUcam4.cpp.

int trackColor	(	int	redMin,
		int	redMax,
		int	greenMin,
		int	greenMax,
		int	blueMin,
		int	blueMax
	)

Causes the CMUcam4 to enter stream mode and begin sending type T data packets.

Only the getType_DataPackets functions may be called after calling this function to get packets. The CMUcam4 will automatically exit streaming mode if any function other than the getType_DataPackets functions is called. This function does change the color tracking settings when called.

Parameters:

[in]	redMin	The minimum red threshold - between 0 to 255.
[in]	redMax	The maximum red threshold - between 0 to 255.
[in]	greenMin	The minimum green threshold - between 0 to 255.
[in]	greenMax	The maximum green threshold - between 0 to 255.
[in]	blueMin	The minimum blue threshold - between 0 to 255.
[in]	blueMax	The maximum blue threshold - between 0 to 255.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getTypeTDataPacket()

Definition at line 809 of file CMUcam4.cpp.

int trackWindow	(	int	redRange,
		int	greenRange,
		int	blueRange
	)

Causes the CMUcam4 to enter stream mode and begin sending type T data packets.

Only the getType_DataPackets functions may be called after calling this function to get packets. The CMUcam4 will automatically exit streaming mode if any function other than the getType_DataPackets functions is called. This function automatically changes the color tracking settings when called.

Parameters:

[in]	redRange	The red average from the center of the color tracking window plus and minus the `redRange` is used to set the redMax and redMin values for the color tracking threshold parameters.
[in]	greenRange	The green average from the center of the color tracking window plus and minus the `greenRange` is used to set the greenMax and greenMin values for the color tracking threshold parameters.
[in]	blueRange	The blue average from the center of the color tracking window plus and minus the `blueRange` is used to set the blueMax and blueMin values for the color tracking threshold parameters.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getTypeTDataPacket()

Definition at line 821 of file CMUcam4.cpp.

int getHistogram	(	int	channel,
		int	bins
	)

Causes the CMUcam4 to enter stream mode and begin sending type H data packets.

Only the getType_DataPackets functions may be called after calling this function to get packets. The CMUcam4 will automatically exit streaming mode if any function other than the getType_DataPackets functions is called. The red and blue channels can have up to 32 bins. The green channel can have up to 64 bins.

Parameters:

[in]	channel	The color channel of the histogram to send: 0 = Red Channel, 1 = Green Channel, 2 = Blue Channel.
[in]	bins	The number of bins of the histogram channel to send: 0=1 bin, 1=2 bins, 2=4 bins, 3=8 bins, 4=16 bins, 5=32 bins, 6=64 bins.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getTypeHDataPacket(CMUcam4_histogram_data_1_t * pointer); CMUcam4::getTypeHDataPacket(CMUcam4_histogram_data_2_t * pointer); CMUcam4::getTypeHDataPacket(CMUcam4_histogram_data_4_t * pointer); CMUcam4::getTypeHDataPacket(CMUcam4_histogram_data_8_t * pointer); CMUcam4::getTypeHDataPacket(CMUcam4_histogram_data_16_t * pointer); CMUcam4::getTypeHDataPacket(CMUcam4_histogram_data_32_t * pointer); CMUcam4::getTypeHDataPacket(CMUcam4_histogram_data_64_t * pointer)

Definition at line 830 of file CMUcam4.cpp.

int getMean ( )

Causes the CMUcam4 to enter stream mode and begin sending type S data packets.

Only the getType_DataPackets functions may be called after calling this function to get packets. The CMUcam4 will automatically exit streaming mode if any function other than the getType_DataPackets functions is called.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getTypeSDataPacket()

Definition at line 839 of file CMUcam4.cpp.

int getTypeFDataPacket ( CMUcam4_image_data_t * pointer )

Waits for a type F data packet to appear in the data stream from the CMUcam4 and stores that type F data packet in a CMUcam4_image_data_t data strucutre.

A stream of type F data packets must be started first for this function not to fail and timeout waiting for a type F data packet.

Parameters:

[out] pointer A pointer to a CMUcam4_image_data_t data structure to store the received type F data packet to.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::lineMode()

Definition at line 844 of file CMUcam4.cpp.

int getTypeHDataPacket ( CMUcam4_histogram_data_1_t * pointer )

Waits for a type H-1 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_1_t data structure.

A stream of type H-1 data packets must be started first for this function not to fail and timeout waiting for a type H-1 data packet.

Parameters:

[out] pointer A pointer to a CMUcam4_histogram_data_1_t data structure to store the received type H-1 data packet to.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getHistogram(); CMUcam4::lineMode()

Definition at line 874 of file CMUcam4.cpp.

int getTypeHDataPacket ( CMUcam4_histogram_data_2_t * pointer )

Waits for a type H-2 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_2_t data structure.

A stream of type H-2 data packets must be started first for this function not to fail and timeout waiting for a type H-2 data packet.

Parameters:

[out] pointer A pointer to a CMUcam4_histogram_data_2_t data structure to store the received type H-2 data packet to.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getHistogram(); CMUcam4::lineMode()

Definition at line 906 of file CMUcam4.cpp.

int getTypeHDataPacket ( CMUcam4_histogram_data_4_t * pointer )

Waits for a type H-4 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_4_t data structure.

A stream of type H-4 data packets must be started first for this function not to fail and timeout waiting for a type H-4 data packet.

Parameters:

[out] pointer A pointer to a CMUcam4_histogram_data_4_t data structure to store the received type H-4 data packet to.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getHistogram(); CMUcam4::lineMode()

Definition at line 938 of file CMUcam4.cpp.

int getTypeHDataPacket ( CMUcam4_histogram_data_8_t * pointer )

Waits for a type H-8 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_8_t data structure.

A stream of type H-8 data packets must be started first for this function not to fail and timeout waiting for a type H-8 data packet.

Parameters:

[out] pointer A pointer to a CMUcam4_histogram_data_8_t data structure to store the received type H-8 data packet to.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getHistogram(); CMUcam4::lineMode()

Definition at line 970 of file CMUcam4.cpp.

int getTypeHDataPacket ( CMUcam4_histogram_data_16_t * pointer )

Waits for a type H-16 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_16_t data structure.

A stream of type H-16 data packets must be started first for this function not to fail and timeout waiting for a type H-16 data packet.

Parameters:

[out] pointer A pointer to a CMUcam4_histogram_data_16_t data structure to store the received type H-16 data packet to.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getHistogram(); CMUcam4::lineMode()

Definition at line 1002 of file CMUcam4.cpp.

int getTypeHDataPacket ( CMUcam4_histogram_data_32_t * pointer )

Waits for a type H-32 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_32_t data structure.

A stream of type H-32 data packets must be started first for this function not to fail and timeout waiting for a type H-32 data packet.

Parameters:

[out] pointer A pointer to a CMUcam4_histogram_data_32_t data structure to store the received type H-32 data packet to.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getHistogram(); CMUcam4::lineMode()

Definition at line 1034 of file CMUcam4.cpp.

int getTypeHDataPacket ( CMUcam4_histogram_data_64_t * pointer )

Waits for a type H-64 data packet to appear in the data stream from the CMUcam4 and stores that type H data packet in a CMUcam4_histogram_data_64_t data structure.

A stream of type H-64 data packets must be started first for this function not to fail and timeout waiting for a type H-64 data packet.

Parameters:

[out] pointer A pointer to a CMUcam4_histogram_data_64_t data structure to store the received type H-64 data packet to.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getHistogram(); CMUcam4::lineMode()

Definition at line 1066 of file CMUcam4.cpp.

int getTypeSDataPacket ( CMUcam4_statistics_data_t * pointer )

Waits for a type S data packet to appear in the data stream from the CMUcam4 and stores that type S data packet in a CMUcam4_statistics_data_t data structure.

A stream of type S data packets must be started first for this function not to fail and timeout waiting for a type S data packet.

Parameters:

[out] pointer A pointer to a CMUcam4_statistics_data_t data structure to store the received type S data packet to.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getMean(); CMUcam4::lineMode(); CMUcam4::switchingMode()

Definition at line 1098 of file CMUcam4.cpp.

int getTypeTDataPacket ( CMUcam4_tracking_data_t * pointer )

Waits for a type T data packet to appear in the data stream from the CMUcam4 and stores that type T data packet in a CMUcam4_tracking_data_t data strucutre.

A stream of type T data packets must be started first for this function not to fail and timeout waiting for a type T data packet.

Parameters:

[out] pointer A pointer to a CMUcam4_tracking_data_t data structure to store the received type T data packet to.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::trackColor(); CMUcam4::trackWindow(); CMUcam4::lineMode(); CMUcam4::switchingMode()

Definition at line 1129 of file CMUcam4.cpp.

int pollMode ( int active )

Turn poll mode off or on.

Poll mode causes the CMUcam4 to send one and only one type F, H, S, or T packet after calling CMUcam4::trackColor(), CMUcam4::trackWindow(), CMUcam4::getHistogram(), or CMUcam4::getMean() instead of a stream of packets that the CMUcam4 would normally send.

Parameters:

[in] active 0 for off and 1 for on.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1156 of file CMUcam4.cpp.

int lineMode ( int active )

Turn line mode off or on.

Line mode causes the CMUcam4 to send type F data packets after sending type H, S, or T data packets.

Parameters:

[in] active 0 for off and 1 for on.

Returns:: 0 on success and a negative error value on failure.

See also:: CMUcam4::getTypeFDataPacket(); CMUcam4_image_data_t

Definition at line 1164 of file CMUcam4.cpp.

int switchingMode ( int active )

Turn switching mode off or on.

Switching mode causes the CMUcam4 to send type S data packets after sending type T data packets and vice versa.

Parameters:

[in] active 0 for off and 1 for on.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1172 of file CMUcam4.cpp.

int testMode ( int active )

Turn test mode off or on.

Test mode causes the CMUcam4 to process an image of color bars instead of processing the normal image.

Parameters:

[in] active 0 for off and 1 for on.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1180 of file CMUcam4.cpp.

int colorTracking ( int active )

Turn color tracking off or on.

If off, then the CMUcam4 operates in RGB mode. In RGB mode R maps to the red channel, G maps to the green channel, and B maps to the blue channel.

If on, then the CMUcam4 operates in YUV mode. In YUV mode Y maps to the green channel, U maps to the blue channel, and V maps to the red channel.

Parameters:

[in] active 0 for off and 1 for on.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1188 of file CMUcam4.cpp.

int histogramTracking ( int active )

Turn histogram tracking off or on.

If off, then the CMUcam4 calculates the histogram and image statisitcs on all tracked and untracked pixels inside of the color tracking window.

If on, then the CMUcam4 calculates the histogram and image statisitcs on all tracked pixels inside of the color tracking window.

Parameters:

[in] active 0 for off and 1 for on.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1196 of file CMUcam4.cpp.

int invertedFilter ( int active )

Turn the inverted filter off or on.

If off, then the CMUcam4 tracks all pixels that fall inside of the color tracking bounds.

If on, then the CMUcam4 tracks all pixels that fall outside of the color tracking bounds.

Parameters:

[in] active 0 for off and 1 for on.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1204 of file CMUcam4.cpp.

int noiseFilter ( int threshold )

Turn the noise filter off or on.

For example:: 0 to filter out no pixels
1 to filter out the leading 1 pixels in any group of pixels in a row
2 to filter out the leading 2 pixels in any group of pixels in a row
...
255 to filter out the leading 255 pixels in any group of pixels in a row

Parameters:

[in] threshold 0 for off and 1 or more for on.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1212 of file CMUcam4.cpp.

int changeAttributes	(	const char *	fileOrDirectoryPathName,
		const char *	attributes
	)

Change a file's or directory's attributes on the disk.

Parameters:

[in]	fileOrDirectoryPathName	The file or directory to change.
[in]	attributes	The new attribute string. E.g. "RHSA" or "_".

Returns:: 0 on success and a negative error value on failure.

Definition at line 1224 of file CMUcam4.cpp.

int changeDirectory ( const char * directoryPathAndName )

Change the working directory.

Parameters:

[in] directoryPathAndName The directory to change to.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1239 of file CMUcam4.cpp.

int diskInformation ( CMUcam4_disk_information_t * pointer )

Get information about the disk's geometry.

Parameters:

[out] pointer A pointer to a CMUcam4_disk_information_t structure to be filled with information about the disk's geometry.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1253 of file CMUcam4.cpp.

int diskSpace ( CMUcam4_disk_space_t * pointer )

Get information about the disk's free and used sector space.

Parameters:

[out] pointer A pointer to a CMUcam4_disk_space_t structure to be filled with information about the disk's free and used sector space.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1293 of file CMUcam4.cpp.

int formatDisk ( )

Deletes all files and directories on the disk.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1323 of file CMUcam4.cpp.

long listDirectory	(	CMUcam4_directory_entry_t *	pointer,
		size_t	size,
		unsigned long	offset
	)

Reads all or part of the entries in the working directory to a buffer.

Parameters:

[out]	pointer	The array to store directory entry information to.
[in]	size	The size of the CMUcam4_directory_entry_t array.
[in]	offset	The number of entries to skip before storing.

Returns:: The absolute number of directory entries in the working directory on success and a negative error value on failure.

Definition at line 1328 of file CMUcam4.cpp.

int makeDirectory ( const char * directoryPathAndName )

Makes a new directory on the disk.

Parameters:

[in] directoryPathAndName The new directory to make.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1388 of file CMUcam4.cpp.

int moveEntry	(	const char *	oldEntryPathAndName,
		const char *	newEntryPathAndName
	)

Moves a file or directory on the disk.

Parameters:

[in]	oldEntryPathAndName	The source entry to move.
[in]	newEntryPathAndName	The destination of the entry to move.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1402 of file CMUcam4.cpp.

int printLine	(	const char *	filePathAndName,
		const char *	textToAppend
	)

Prints a line of text to a file.

Parameters:

[in]	filePathAndName	The file to append to.
[in]	textToAppend	The string to append to the file.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1417 of file CMUcam4.cpp.

long filePrint	(	const char *	filePathAndName,
		uint8_t *	buffer,
		size_t	size,
		unsigned long	offset
	)

Reads all or part of a file to a buffer.

Parameters:

[in]	filePathAndName	The file to read.
[out]	buffer	The buffer to store all or part of the file to.
[in]	size	The size of the buffer in bytes.
[in]	offset	The offset in the file to start to read from in bytes.

Returns:: The absolute file size in bytes on success and a negative error value on failure.

Definition at line 1431 of file CMUcam4.cpp.

int removeEntry ( const char * fileOrDirectoryPathAndName )

Deletes a file or empty directory on the disk.

Parameters:

[in] fileOrDirectoryPathAndName The file or directory to delete.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1470 of file CMUcam4.cpp.

int unmountDisk ( )

Unmounts the micro secure digital card.

Other file system functions automatically mount the disk by default. This function must be called to explictly unmount the disk before removal.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1484 of file CMUcam4.cpp.

int dumpBitmap ( )

Saves an 80x60 binary bitmap to the disk in BMP file format.

The saved binary bitmap is the 160x120 segmented color tracking image down-sampled to 80x60.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1493 of file CMUcam4.cpp.

int dumpFrame	(	int	horizontalResolution,
		int	verticalResolution
	)

Saves an 640:320:160:80x480:240:120:60 image to the disk in BMP file format.

Use this function to get feedback about what the CMUcam4 sees.

Parameters:

[in]	horizontalResolution	The horizontal resolution to save the image with: 0=640 pixels, 1=320 pixels, 2=160 pixels, 3=80 pixels.
[in]	verticalResolution	The vertical resolution to save the image with: 0=480 pixels, 1=240 pixels, 2=160 pixels, 3=60 pixels.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1498 of file CMUcam4.cpp.

int sendBitmap ( CMUcam4_image_data_t * pointer )

Receive an 80x60 binary bitmap from the CMUcam4.

The sent binary bitmap is the 160x120 segmented color tracking image down-sampled to 80x60.

Parameters:

[out] pointer The address of where to put the received binary bitmap.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1507 of file CMUcam4.cpp.

int sendFrame	(	int	horizontalResolution,
		int	verticalResolution,
		uint16_t *	buffer,
		size_t	horizonalSize,
		size_t	horizontalOffset,
		size_t	verticalSize,
		size_t	verticalOffset
	)

Receive an 640:320:160:80x480:240:120:60 image from the CMUcam4.

Use this function to get feedback about what the CMUcam4 sees.

Parameters:

[in]	horizontalResolution	The horizontal resolution to send the image in: 0=640 pixels, 1=320 pixels, 2=160 pixels, 3=80 pixels.
[in]	verticalResolution	The vertical resolution to send the image in: 0=480 pixels, 1=240 pixels, 2=160 pixels, 3=60 pixels.
[out]	buffer	The address of where to put the received RGB565 bitmap.
[in]	horizonalSize	The horizontal size of the array in 16-bit words.
[in]	horizontalOffset	A horizontal pixel offset within the image to start to store image data from. The `horizontalOffset` plus the array `horizonalSize` must be less than or equal the selected horizontal resolution.
[in]	verticalSize	The vertical size of the array.
[in]	verticalOffset	A vertical pixel offset within the image to start to store image data from. The `verticalOffset` plus the array `verticalSize` must be less than or equal the selected vertical resolution.

Returns:: 0 on success and a negative error value on failure.

Definition at line 1537 of file CMUcam4.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation