kaos.robots.activmedia
Class CannonCamera

java.lang.Object
  kaos.robots.activmedia.CannonCamera

All Implemented Interfaces:

PanTiltBase, VideoCamera, Zoomable

public class CannonCamera
extends java.lang.Object
implements VideoCamera, Zoomable, PanTiltBase

Field Summary

protected Logger

_logger

Constructor Summary

CannonCamera()

Method Summary

protected static void	center()
void	CenterPanTilt() CenterPanTilt
java.lang.Double	GetMaxZoom() GetMaxZoom
protected static double	getPan()
java.lang.Double	GetPan() GetPan
Pose	GetPanTiltPose() GetPanTiltPose
protected static double	getTilt()
java.lang.Double	GetTilt() GetTilt
protected static double	getZoom()
java.lang.Double	GetZoom() GetZoom
SerializableBufferImage	GrabFrameAsBuffer() CaptureImage
protected static int	initCamera()
protected static void	pan(double direction)
void	Pan(java.util.HashMap properties) Pan
protected static void	panRel(double direction)
void	SetPan(java.util.HashMap properties) SetPan
void	SetPanTiltPose(java.util.HashMap properties) SetPanTiltPose
void	SetTilt(java.util.HashMap properties) SetTilt
void	SetZoom(java.util.HashMap properties) SetZoom
protected static void	tilt(double direction)
void	Tilt(java.util.HashMap properties) Tilt
protected static void	tiltRel(double direction)
protected static void	zoom(double direction)
void	Zoom(java.util.HashMap properties) Zoom
protected static void	zoomRel(double direction)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

_logger

protected Logger _logger

Constructor Detail

CannonCamera

public CannonCamera()

Method Detail

GrabFrameAsBuffer

public SerializableBufferImage GrabFrameAsBuffer()
                                          throws java.lang.Exception

CaptureImage

Specified by:

GrabFrameAsBuffer in interface VideoCamera

Parameters:

none -

Returns:

Buffer buffer of image

Throws:

java.lang.Exception

Zoom

public void Zoom(java.util.HashMap properties)
          throws java.lang.Exception

Zoom

Specified by:

Zoom in interface Zoomable

Parameters:

HashMap - of properties required key hasDirection values in | out optional key hasValue values amount to zoom relative to current setting | [default 20%]

Throws:

java.lang.Exception

SetZoom

public void SetZoom(java.util.HashMap properties)
             throws java.lang.Exception

SetZoom

Specified by:

SetZoom in interface Zoomable

Parameters:

HashMap - of properties required key hasPercent values Double [0-1] indicating percentage

Throws:

java.lang.Exception

GetZoom

public java.lang.Double GetZoom()
                         throws java.lang.Exception

GetZoom

Specified by:

GetZoom in interface Zoomable

Parameters:

None -

Returns:

double [0-1] indicating current zoom percentage

Throws:

java.lang.Exception

GetMaxZoom

public java.lang.Double GetMaxZoom()
                            throws java.lang.Exception

GetMaxZoom

Specified by:

GetMaxZoom in interface Zoomable

Parameters:

None -

Returns:

int indicating the maximum zoom

Throws:

java.lang.Exception

Pan

public void Pan(java.util.HashMap properties)
         throws java.lang.Exception

Pan

Specified by:

Pan in interface PanTiltBase

Parameters:

HashMap - of properties required key hasDirection values left|right optional key hasDegrees values number of degrees to pan relative to current angle | [default 20 degrees]

Throws:

java.lang.Exception

SetPan

public void SetPan(java.util.HashMap properties)
            throws java.lang.Exception

SetPan

Specified by:

SetPan in interface PanTiltBase

Parameters:

HashMap - of properties required key hasPercent values percent of degrees to pan absolute from center OR key hasDegrees values number of degrees to pan absolute from center

Throws:

java.lang.Exception

Tilt

public void Tilt(java.util.HashMap properties)
          throws java.lang.Exception

Tilt

Specified by:

Tilt in interface PanTiltBase

Parameters:

HashMap - of properties required key hasDirection values up|down optional key hasDegrees values number of degrees to pan relative to current angle | [default 20 degrees]

Throws:

java.lang.Exception

SetTilt

public void SetTilt(java.util.HashMap properties)
             throws java.lang.Exception

SetTilt

Specified by:

SetTilt in interface PanTiltBase

Parameters:

HashMap - of properties required key hasPercent values percent of degrees to pan absolute from center OR key hasDegrees values number of degrees to pan absolute from center

Throws:

java.lang.Exception

SetPanTiltPose

public void SetPanTiltPose(java.util.HashMap properties)
                    throws java.lang.Exception

SetPanTiltPose

Specified by:

SetPanTiltPose in interface PanTiltBase

Parameters:

HashMap - of properties required key hasPose values Pose with pan (Yaw) and tilt (pitch) in absolute degrees

Throws:

java.lang.Exception

GetPan

public java.lang.Double GetPan()
                        throws java.lang.Exception

GetPan

Specified by:

GetPan in interface PanTiltBase

Parameters:

None -

Returns:

Double pan angle in absolute degrees

Throws:

java.lang.Exception

GetTilt

public java.lang.Double GetTilt()
                         throws java.lang.Exception

GetTilt

Specified by:

GetTilt in interface PanTiltBase

Parameters:

None -

Returns:

Double tilt angle in absolute degrees

Throws:

java.lang.Exception

GetPanTiltPose

public Pose GetPanTiltPose()
                    throws java.lang.Exception

GetPanTiltPose

Specified by:

GetPanTiltPose in interface PanTiltBase

Parameters:

None -

Returns:

Pose pan (Yaw) and tilt (pitch) in absolute degrees

Throws:

java.lang.Exception

CenterPanTilt

public void CenterPanTilt()
                   throws java.lang.Exception

CenterPanTilt

Specified by:

CenterPanTilt in interface PanTiltBase

Parameters:

None -

Throws:

java.lang.Exception

initCamera

protected static int initCamera()

pan

protected static void pan(double direction)

tilt

protected static void tilt(double direction)

zoom

protected static void zoom(double direction)

panRel

protected static void panRel(double direction)

tiltRel

protected static void tiltRel(double direction)

zoomRel

protected static void zoomRel(double direction)

center

protected static void center()

getPan

protected static double getPan()

getTilt

protected static double getTilt()

getZoom

protected static double getZoom()