CameraControlPanTilt Class Reference

Camera pan/tilt control interface. More...

#include <cams/control/pantilt.h>

Inheritance diagram for CameraControlPanTilt:


Public Member Functions
virtual	~CameraControlPanTilt ()
	Empty virtual destructor.
virtual void	process_pantilt ()=0
	Process pan/tilt information.
virtual bool	supports_pan ()=0
	Check whether this controller supports panning.
virtual bool	supports_tilt ()=0
	Check whether this controller supports tilting.
virtual void	set_pan (int pan)=0
	Set pan value.
virtual void	set_tilt (int tilt)=0
	Set tilt value.
virtual void	set_pan_tilt (int pan, int tilt)=0
	Set pan and tilt in one go.
virtual void	set_pan_tilt_rad (float pan, float tilt)=0
	Set pan and tilt as float value.
virtual int	pan ()=0
	Get pan value.
virtual int	tilt ()=0
	Get tilt value.
virtual void	start_get_pan_tilt ()=0
	Start asynchronous fetch operation for pan and tilt values.
virtual void	pan_tilt (int &pan, int &tilt)=0
	Get pan and tilt at the same time.
virtual void	pan_tilt_rad (float &pan, float &tilt)=0
	Get pan and tilt at the same time in radiant.
virtual int	min_pan ()=0
	Get minimum pan value.
virtual int	max_pan ()=0
	Get maximum pan value.
virtual int	min_tilt ()=0
	Get minimum tilt value.
virtual int	max_tilt ()=0
	Get maximum tilt value.
virtual void	reset_pan_tilt ()=0
	Bring camera into home position.
virtual void	set_pan_tilt_limit (int pan_left, int pan_right, int tilt_up, int tilt_down)=0
	Set pan/tilt limits.
virtual void	reset_pan_tilt_limit ()=0
	Reset pan/tilt limits.

Detailed Description

Camera pan/tilt control interface.

Some cameras feature an actuator to allow for panning and tilting the camera.

This interface shall be implemented by such cameras or for other external units for panning and tilting.

Author:: Tim Niemueller
Tobias Kellner

Definition at line 30 of file pantilt.h.

Constructor & Destructor Documentation

CameraControlPanTilt::~CameraControlPanTilt ( ) [virtual]

Empty virtual destructor.

Definition at line 147 of file pantilt.cpp.

Member Function Documentation

int CameraControlPanTilt::max_pan ( ) [pure virtual]

Get maximum pan value.

Returns:: maximum camera-specific pan value

Implemented in DummyCameraControl, and SonyEviD100PControl.

int CameraControlPanTilt::max_tilt ( ) [pure virtual]

Get maximum tilt value.

Returns:: maximum camera-specific tilt value

Implemented in DummyCameraControl, and SonyEviD100PControl.

int CameraControlPanTilt::min_pan ( ) [pure virtual]

Get minimum pan value.

Returns:: minimum camera-specific pan value

Implemented in DummyCameraControl, and SonyEviD100PControl.

int CameraControlPanTilt::min_tilt ( ) [pure virtual]

Get minimum tilt value.

Returns:: minimum camera-specific tilt value

Implemented in DummyCameraControl, and SonyEviD100PControl.

int CameraControlPanTilt::pan ( ) [pure virtual]

Get pan value.

Returns:: camera control specific pan value

Implemented in DummyCameraControl, and SonyEviD100PControl.

void CameraControlPanTilt::pan_tilt	(	int &	pan,
		int &	tilt
	)			`[pure virtual]`

Get pan and tilt at the same time.

This will store the current pan and tilt values in the given arguments.

Parameters:

	pan	contains current pan after call
	tilt	contains current tilt after call

Implemented in DummyCameraControl, and SonyEviD100PControl.

void CameraControlPanTilt::pan_tilt_rad	(	float &	pan,
		float &	tilt
	)			`[pure virtual]`

Get pan and tilt at the same time in radiant.

This will store the current pan and tilt values in the given arguments.

Parameters:

	pan	contains current pan after call
	tilt	contains current tilt after call

See also:: set_pan_tilt_rad()

Implemented in DummyCameraControl, and SonyEviD100PControl.

void CameraControlPanTilt::process_pantilt ( ) [pure virtual]

Process pan/tilt information.

Some operations allow for asynchronous usage (like fetching pan/tilt data). This is because some cameras need some time to retrieve the information and thus it is a good idea to let that run besides the image processing loop. With process_control the incoming information is processed.

Implemented in DummyCameraControl, and SonyEviD100PControl.

void CameraControlPanTilt::reset_pan_tilt ( ) [pure virtual]

Bring camera into home position.

After the reset the camera shall look forward (horizontally and vertically centered "home" position).

Implemented in DummyCameraControl, and SonyEviD100PControl.

void CameraControlPanTilt::reset_pan_tilt_limit ( ) [pure virtual]

Reset pan/tilt limits.

This removes all limits from the pan/tilt methods thus the only constraints are hardware induced.

Implemented in DummyCameraControl, and SonyEviD100PControl.

void CameraControlPanTilt::set_pan ( int pan ) [pure virtual]

Set pan value.

The pan value is dependent on the camera control. See the implementations documentation for details.

Parameters:

pan

new pan value

Implemented in DummyCameraControl, and SonyEviD100PControl.

void CameraControlPanTilt::set_pan_tilt	(	int	pan,
		int	tilt
	)			`[pure virtual]`

Set pan and tilt in one go.

Sometimes camera controls have a command for setting pan and tilt at the same time. If possible this should be preferred since is minimizes the number of required operations and communication acts. See the implementations documentation for details.

Parameters:

	pan	new pan value
	tilt	new tilt value

Implemented in DummyCameraControl, and SonyEviD100PControl.

void CameraControlPanTilt::set_pan_tilt_limit	(	int	pan_left,
		int	pan_right,
		int	tilt_up,
		int	tilt_down
	)			`[pure virtual]`

Set pan/tilt limits.

Some camera controls allow for extra constraints to the min and max pan/tilt values.

Parameters:

	pan_left	new minimum pan limit
	pan_right	new maximum pan limit
	tilt_up	new minimum tilt limit
	tilt_down	new maximum tilt limit

Implemented in DummyCameraControl, and SonyEviD100PControl.

void CameraControlPanTilt::set_pan_tilt_rad	(	float	pan,
		float	tilt
	)			`[pure virtual]`

Set pan and tilt as float value.

You give a radiant value where the camera should head relative to the basic camera position. Implementations shall look forward (center the camera) for if pan equals zero, look right if the pan is positive and left is the pan is negative, they shall look forward (vertically centered) if tilt is zero, upwards if tilt is negative and downwards if tilt is positive.

Parameters: