dlife.robot.khepera2
Class Khepera2Camera

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.vision.Camera
              dlife.robot.khepera2.Khepera2Camera

All Implemented Interfaces:

Observer

public class Khepera2Camera
extends Camera

A Camera for processing video streamed from a Khepera2 robot via the dLife VisionServer.

Version:

Jan 31, 2011

Author:

Grant Braught, Dickinson College

See Also:

dlife.vision.server

Field Summary

Fields inherited from class dlife.vision.Camera

BOTH_VIDEO, FILTERED_VIDEO, RAW_VIDEO

Fields inherited from class dlife.robot.Device

DEFAULT_GUI_UPDATE_DELAY, DEFAULT_READ_DELAY, myRobot, readCount

Constructor Summary

Khepera2Camera()
Create a new Khepera2Camera.

Khepera2Camera(String host, int tcpPort, int udpPort, String dev, String input, String std, int width, int height, int quality)
Create a Khepera2Camera using the given parameters.

Method Summary

Methods inherited from class dlife.vision.Camera

addFilter, clearDrawing, createGUIObjects, drawCircle, drawLine, drawOval, drawRectangle, drawString, freeze, getFilterManager, getFilters, getHeight, getSeekLocation, getVideoDisplay, getVideoSource, getWidth, insertFilter, pause, play, readStateFromRobot, removeFilter, removeFilter, rewind, seek, setFilters, shutDown, startUp, stepBackward, stepForward, update

Methods inherited from class dlife.robot.Device

getAutoRead, getGUI, getGUIUpdateDelay, getReadDelay, getRobot, getSensorReadCount, getSensorReadRate, setAutoRead, setGUIUpdateDelay, setReadDelay, setRobot, startAutoReadTimer, stopAutoReadTimer

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

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

Constructor Detail

Khepera2Camera

public Khepera2Camera()
               throws VideoSourceCreationFailedException

Create a new Khepera2Camera. This method will prompt the user for the IP/port of the vision server and then for the parameters to use with the video capture device (e.g. device name, input, size and image quality.)

Throws:

VideoSourceCreationFailedException - if there is a problem contacting the vision server or if the user cancels the creation.

Khepera2Camera

public Khepera2Camera(String host,
                      int tcpPort,
                      int udpPort,
                      String dev,
                      String input,
                      String std,
                      int width,
                      int height,
                      int quality)

Create a Khepera2Camera using the given parameters.

Parameters:

host - the host of the VisionServer

tcpPort - the port which to connect to the VisionServer

udpPort - the UDP port we wish to receive the video on

dev - the name of the device file on the VisionServer to connect to

input - the name of the input for the given device to connect to

std - the name of the video standard we wish to stream in

width - the width of the video

height - the height of the video

quality - the quality of the image within the range [1,100]