java.lang.Object
- org.robwork.sdurw.Sensor
- - org.robwork.sdurw.Camera

Direct Known Subclasses:

CameraFirewire
```
public class Camera
extends Sensor
```
The Camera class defines a generel interface to a camera.
A great deal of the interface resembles the DCAM standard since
DCAM allready defines a very wide interface.

typical usage:
Camera c;
// setup camera features modes and so on
c.initialize();
c.start();
// acquire images
c.stop();

Constructor Summary

Constructors
Constructor Description

Camera(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`acquire()`	aquires an image from the camera.
`boolean`	`addListener(CameraListener listener)`	adds a CameraListener to this camera
`void`	`delete()`
`static long`	`getCPtr(Camera obj)`
`double`	`getFrameRate()`	returns the framerate that this camera is setup with
`double`	`getGain()`	Get actual gain value. Note: If gain is not available then a dummy implementation returning -1 is used and an error message is produced.
`long`	`getHeight()`	get width of the captured images
`Image`	`getImage()`	returns the last image acquired from the camera.
`java.lang.String`	`getModelInfo()`	returns the camera model information (version, type, size, etc.)
`double`	`getShutter()`	Get actual shutter value. Note: If shutter is not available then a dummy implementation will throw an error message.
`pairDoubleDouble`	`getShutterBounds()`	gets the shutter bounds. Note: If shutter is not available then a dummy implementation will throw an error message.
`long`	`getWidth()`	get width of the captured images
`boolean`	`initialize()`	initializes the camera to the current settings (CaptureMode,ColorMode,etc.)
`boolean`	`isGainAvailable()`	Check if gain is available.
`boolean`	`isImageReady()`	tests whether a image has been acquired
`boolean`	`isInitialized()`	returns whether this camera is initialized or not.
`boolean`	`isShutterAvailable()`	Check if shutter is available.
`boolean`	`isStarted()`	returns whether this camera is started or not.
`boolean`	`removeListener(CameraListener listener)`	removes a CameraListener from this cameras listener list.
`void`	`setFrameRate(double framerate)`	sets the framerate of this camera.
`double`	`setGain(double Value)`	Set gain value.
`void`	`setShutter(double Value)`	Set shutter value.
`boolean`	`start()`	starts this camera, if the camera has not been initialized the initialize function will be called.
`void`	`stop()`	stops this camera.

Methods inherited from class org.robwork.sdurw.Sensor
getCPtr, getDescription, getName, getPropertyMap, getSensorModel, setSensorModel

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - Camera
```
public Camera(long cPtr,
              boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(Camera obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class Sensor
  - getModelInfo
```
public java.lang.String getModelInfo()
```
    returns the camera model information (version, type, size, etc.)
    
    Returns:
    
    camera model information
  - initialize
```
public boolean initialize()
```
    initializes the camera to the current settings
    (CaptureMode,ColorMode,etc.)
    
    Returns:
    
    true if initialization is succesfully, false otherwise.
  - isInitialized
```
public boolean isInitialized()
```
    returns whether this camera is initialized or not.
    
    Returns:
    
    true if intialized, false otherwise
  - start
```
public boolean start()
```
    starts this camera, if the camera has not been
    initialized the initialize function will be called.
    
    Returns:
    
    true if camera was successfully started, false
    otherwise
  - isStarted
```
public boolean isStarted()
```
    returns whether this camera is started or not.
    
    Returns:
    
    true if started, false otherwise
  - stop
```
public void stop()
```
    stops this camera. When the camera is stopped it can be
    reinitialized using initialize()
  - acquire
```
public void acquire()
```
    aquires an image from the camera. This method is not blocking.
    Use isImageReady to poll for completion of acquire.
  - isImageReady
```
public boolean isImageReady()
```
    tests whether a image has been acquired
    
    Returns:
    
    true if an image has been acquired, false otherwise.
  - getImage
```
public Image getImage()
```
    returns the last image acquired from the camera. This method
    is not blocking, if no image has been acquired yet an empty image
    is returned. The image returned can for some specific drivers be read
    only.
    
    Returns:
    
    last image captured from camera.
  - getFrameRate
```
public double getFrameRate()
```
    returns the framerate that this camera is setup with
    
    Returns:
    
    the framerate in frames per second
  - setFrameRate
```
public void setFrameRate(double framerate)
```
    sets the framerate of this camera. If the framerate is not
    supported the closest supported framerate is choosen.
    
    Parameters:
    
    framerate - [in] the framerate
  - getWidth
```
public long getWidth()
```
    get width of the captured images
    
    Returns:
    
    width
  - getHeight
```
public long getHeight()
```
    get width of the captured images
    
    Returns:
    
    width
  - addListener
```
public boolean addListener(CameraListener listener)
```
    adds a CameraListener to this camera
    
    Parameters:
    
    listener - [in] the CameraListener that is to be added
    
    Returns:
    
    true if listener was added succesfully, false otherwise
  - removeListener
```
public boolean removeListener(CameraListener listener)
```
    removes a CameraListener from this cameras listener list.
    
    Parameters:
    
    listener - [in] the listener that is to be removed
    
    Returns:
    
    true if listener was removed succesfully, false otherwise.
  - isShutterAvailable
```
public boolean isShutterAvailable()
```
    Check if shutter is available.
    
    Returns:
    
    True if shutter is available
  - getShutter
```
public double getShutter()
```
    Get actual shutter value.
    Note: If shutter is not available then a dummy implementation
    will throw an error message.
    
    Returns:
    
    shutter value in micro-seconds.
  - setShutter
```
public void setShutter(double Value)
```
    Set shutter value. If the given value is not possible the nearest
    value are choosen.
    Note: If shutter is not available then a dummy implementation
    will throw an error message.
    
    Parameters:
    
    Value - New shutter value.
  - getShutterBounds
```
public pairDoubleDouble getShutterBounds()
```
    gets the shutter bounds.
    Note: If shutter is not available then a dummy implementation
    will throw an error message.
    
    Returns:
    
    first value is the min bound and second value is the max bound
  - isGainAvailable
```
public boolean isGainAvailable()
```
    Check if gain is available.
    
    Returns:
    
    True if zoom is available
  - getGain
```
public double getGain()
```
    Get actual gain value.
    Note: If gain is not available then a dummy implementation
    returning -1 is used and an error message is produced.
    
    Returns:
    
    Gain value.
  - setGain
```
public double setGain(double Value)
```
    Set gain value. If the given value is not possible the nearest
    value are choosen.
    Note: If gain is not available then a dummy implementation
    returning -1 is used and an error message is produced.
    
    Parameters:
    
    Value - New gain value.
    
    Returns:
    
    New nearest gain value.

Class Camera

Constructor Summary

Method Summary

Methods inherited from class org.robwork.sdurw.Sensor

Methods inherited from class java.lang.Object

Constructor Detail

Camera

Method Detail

getCPtr

delete

getModelInfo

initialize

isInitialized

start

isStarted

stop

acquire

isImageReady

getImage

getFrameRate

setFrameRate

getWidth

getHeight

addListener

removeListener

isShutterAvailable

getShutter

setShutter

getShutterBounds

isGainAvailable

getGain

setGain