com.aldebaran.qi.helper.proxies

Class ALVideoDevice

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALVideoDevice

public class ALVideoDevice
extends ALProxy

ALVideoDevice, formerly called Video Input systemis architectured in order to provide every module related to vision, called vision module, a direct access to raw images from video source, or an access to images transformed in the requested format. Extension name of the methods providing images depends on wether modules are local (dynamic library) or remote (executable).

See Also:

NAOqi APIs for ALVideoDevice

Field Summary

Fields inherited from class com.aldebaran.qi.helper.ALProxy

name, service

Constructor Summary

Constructors

Constructor and Description
ALVideoDevice(Session session)

Method Summary

Modifier and Type	Method and Description
void	clearStats()
java.lang.Boolean	closeCamera(java.lang.Integer param1)
void	exit() Exits and unregisters the module.
java.lang.Integer	getActiveCamera() Tells which camera is the default one
java.lang.Integer	getActiveCamera(java.lang.String name)
java.lang.Object	getActiveCameras(java.lang.String name)
java.util.List<java.lang.Float>	getAngPosFromImgPos(java.util.List<java.lang.Float> param1)
java.util.List<java.lang.Float>	getAngSizeFromImgSize(java.util.List<java.lang.Float> param1)
java.util.List<java.lang.Float>	getAngularPositionFromImagePosition(java.lang.Integer param1, java.util.List<java.lang.Float> param2)
java.util.List<java.lang.Float>	getAngularSizeFromImageSize(java.lang.Integer param1, java.util.List<java.lang.Float> param2)
java.lang.String	getBrokerName() Gets the name of the parent broker.
java.lang.Object	getCameraIndexes()
java.lang.Integer	getCameraModel(java.lang.Integer cameraIndex)
java.lang.Integer	getCameraModelID()
java.lang.String	getCameraName(java.lang.Integer cameraIndex)
java.lang.Integer	getCameraParameter(java.lang.String name, java.lang.Integer parameterId)
java.lang.Object	getCameraParameterInfo(java.lang.String name, java.lang.Integer parameterId)
java.lang.Object	getCameraParameterRange(java.lang.String name, java.lang.Integer parameterId)
java.lang.Object	getCamerasParameter(java.lang.String name, java.lang.Integer parameterId)
java.lang.Integer	getColorSpace(java.lang.Integer cameraIndex)
java.lang.Integer	getColorSpace(java.lang.String name)
java.lang.Object	getColorSpaces(java.lang.String name)
java.lang.Object	getDirectRawImageLocal(java.lang.String name) Retrieves the latest image from the video source and returns a pointer to the locked ALImage, with data array pointing directly to raw data.
java.lang.Object	getDirectRawImageRemote(java.lang.String name) Fills an ALValue with data coming directly from raw buffer (no format conversion).
java.lang.Object	getDirectRawImagesLocal(java.lang.String name) Retrieves the latest image from the video source and returns a pointer to the locked ALImage, with data array pointing directly to raw data.
java.lang.Object	getDirectRawImagesRemote(java.lang.String name) Fills an ALValue with data coming directly from raw buffer (no format conversion).
java.lang.Object	getExpectedImageParameters() called by the simulator to know expected image parameters
java.lang.Object	getExpectedImageParameters(java.lang.Integer cameraIndex) called by the simulator to know expected image parameters
java.lang.Integer	getFrameRate(java.lang.Integer cameraIndex)
java.lang.Integer	getFrameRate(java.lang.String name)
java.lang.Integer	getGVMColorSpace(java.lang.String param1)
java.lang.Integer	getGVMFrameRate(java.lang.String param1)
java.lang.Integer	getGVMResolution(java.lang.String param1)
java.lang.Float	getHorizontalAperture(java.lang.Integer cameraIndex)
java.lang.Float	getHorizontalFOV(java.lang.Integer cameraIndex)
java.util.List<java.lang.Float>	getImageInfoFromAngularInfo(java.lang.Integer param1, java.util.List<java.lang.Float> param2)
java.util.List<java.lang.Float>	getImageInfoFromAngularInfoWithResolution(java.lang.Integer param1, java.util.List<java.lang.Float> param2, java.lang.Integer param3)
java.lang.Object	getImageLocal(java.lang.String name) Applies transformations to the last image from video source and returns a pointer to a locked ALImage.
java.util.List<java.lang.Float>	getImagePositionFromAngularPosition(java.lang.Integer param1, java.util.List<java.lang.Float> param2)
java.lang.Object	getImageRemote(java.lang.String name) Applies transformations to the last image from video source and fills pFrameOut.
java.util.List<java.lang.Float>	getImageSizeFromAngularSize(java.lang.Integer param1, java.util.List<java.lang.Float> param2)
java.lang.Object	getImagesLocal(java.lang.String name) Applies transformations to the last image from video source and returns a pointer to a locked ALImage.
java.lang.Object	getImagesRemote(java.lang.String name) Applies transformations to the last image from video source and fills pFrameOut.
java.util.List<java.lang.Float>	getImgInfoFromAngInfo(java.util.List<java.lang.Float> param1)
java.util.List<java.lang.Float>	getImgInfoFromAngInfoWithRes(java.util.List<java.lang.Float> param1, java.lang.Integer param2)
java.util.List<java.lang.Float>	getImgPosFromAngPos(java.util.List<java.lang.Float> param1)
java.util.List<java.lang.Float>	getImgSizeFromAngSize(java.util.List<java.lang.Float> param1)
java.lang.Object	getMethodHelp(java.lang.String methodName) Retrieves a method's description.
java.util.List<java.lang.String>	getMethodList() Retrieves the module's method list.
java.lang.Object	getModuleHelp() Retrieves the module's description.
java.lang.Integer	getParam(java.lang.Integer pParam)
java.lang.Integer	getParam(java.lang.Integer pParam, java.lang.Integer pCameraIndex)
java.lang.Integer	getParameter(java.lang.Integer cameraIndex, java.lang.Integer parameterId)
java.lang.Object	getParameterInfo(java.lang.Integer cameraIndex, java.lang.Integer parameterId)
java.lang.Object	getParameterRange(java.lang.Integer cameraIndex, java.lang.Integer parameterId)
java.lang.Integer	getResolution(java.lang.Integer cameraIndex)
java.lang.Integer	getResolution(java.lang.String name)
java.lang.Object	getResolutions(java.lang.String name)
java.lang.Object	getSubscribers()
java.lang.String	getUsage(java.lang.String name) Gets the method usage string.
java.lang.Float	getVerticalAperture(java.lang.Integer cameraIndex)
java.lang.Float	getVerticalFOV(java.lang.Integer cameraIndex)
java.lang.Integer	getVIMColorSpace()
java.lang.Integer	getVIMFrameRate()
java.lang.Integer	getVIMResolution()
java.lang.Boolean	hasDepthCamera()
java.lang.Boolean	isCameraOpen(java.lang.Integer param1)
java.lang.Boolean	isCameraStarted(java.lang.Integer param1)
java.lang.Integer	isFrameGrabberOff() Advanced method that asks if the framegrabber is off.
java.lang.Boolean	isFrameGrabberOff(java.lang.Integer cameraIndex)
java.lang.Boolean	isRunning(java.lang.Integer id) Returns true if the method is currently running.
java.lang.Boolean	isStatsEnabled()
java.lang.Boolean	isTraceEnabled()
void	onClientDisconnected(java.lang.String eventName, java.lang.Object eventContents, java.lang.String message) Callback when client is disconnected
java.lang.Boolean	openCamera(java.lang.Integer param1)
java.lang.Boolean	ping() Just a ping.
java.lang.Boolean	putImage(java.lang.Integer cameraIndex, java.lang.Integer width, java.lang.Integer height, java.lang.Object imageBuffer) Allow image buffer pushing
java.lang.Boolean	putImage(java.lang.Object imageBuffer) Allow image buffer pushing
java.lang.Boolean	recordVideo(java.lang.String id, java.lang.String path, java.lang.Integer totalNumber, java.lang.Integer period) Background record of an .arv raw format video from the images processed by a vision module Actualy it take picture each time the vision module call getDirectRawImageRemote().
java.lang.Boolean	releaseDirectRawImage(java.lang.String name) Release image buffer locked by getDirectRawImageLocal().
java.lang.Object	releaseDirectRawImages(java.lang.String name) Release image buffer locked by getDirectRawImagesLocal().
java.lang.Boolean	releaseImage(java.lang.String name) Release image buffer locked by getImageLocal().
java.lang.Object	releaseImages(java.lang.String name) Release image buffer locked by getImageLocal().
java.lang.Boolean	resetCamera(java.lang.Integer param1)
java.lang.Object	resolutionToSizes(java.lang.Integer param1)
java.lang.Boolean	setActiveCamera(java.lang.Integer activeCamera) Set the active camera
java.lang.Boolean	setActiveCamera(java.lang.String name, java.lang.Integer cameraIndex)
java.lang.Object	setActiveCameras(java.lang.String name, java.lang.Object cameraIndexes)
java.lang.Boolean	setAllCameraParametersToDefault(java.lang.String name)
java.lang.Boolean	setAllParametersToDefault(java.lang.Integer cameraIndex)
java.lang.Boolean	setCameraParameter(java.lang.String name, java.lang.Integer parameterId, java.lang.Integer value)
java.lang.Boolean	setCameraParameterToDefault(java.lang.String name, java.lang.Integer parameterId)
java.lang.Object	setCamerasParameter(java.lang.String name, java.lang.Integer parameterId, java.lang.Object values)
java.lang.Object	setCamerasParameterToDefault(java.lang.String name, java.lang.Integer parameterId)
java.lang.Boolean	setColorSpace(java.lang.String name, java.lang.Integer colorSpace)
java.lang.Object	setColorSpaces(java.lang.String name, java.lang.Object colorSpaces)
java.lang.Boolean	setFrameRate(java.lang.String name, java.lang.Integer frameRate)
void	setParam(java.lang.Integer pParam, java.lang.Integer pNewValue) Sets the value of a specific parameter for the video source.
void	setParam(java.lang.Integer pParam, java.lang.Integer pNewValue, java.lang.Integer pCameraIndex) Sets the value of a specific parameter for the video source.
void	setParamDefault(java.lang.Integer param1)
java.lang.Boolean	setParameter(java.lang.Integer cameraIndex, java.lang.Integer parameterId, java.lang.Integer value)
java.lang.Boolean	setParameterToDefault(java.lang.Integer cameraIndex, java.lang.Integer parameterId)
java.lang.Boolean	setResolution(java.lang.String name, java.lang.Integer resolution)
java.lang.Object	setResolutions(java.lang.String name, java.lang.Object resolutions)
java.lang.Boolean	setSimCamInputSize(java.lang.Integer width, java.lang.Integer height) called by the simulator to know expected image parameters
java.lang.Integer	sizesToResolution(java.lang.Integer param1, java.lang.Integer param2)
java.lang.Boolean	startCamera(java.lang.Integer param1)
java.lang.Boolean	startFrameGrabber() Advanced method that opens and initialize video source device if it was not before.
java.lang.Boolean	startFrameGrabber(java.lang.Integer cameraIndex)
void	stop(java.lang.Integer id) returns true if the method is currently running
java.lang.Boolean	stopCamera(java.lang.Integer param1)
java.lang.Boolean	stopFrameGrabber() Advanced method that close video source device.
java.lang.Boolean	stopFrameGrabber(java.lang.Integer cameraIndex)
java.lang.Boolean	stopVideo(java.lang.String id) Stop writing the video sequence
java.lang.String	subscribe(java.lang.String gvmName, java.lang.Integer resolution, java.lang.Integer colorSpace, java.lang.Integer fps) Register to ALVideoDevice (formerly Video Input Module/V.I.M.).
java.lang.String	subscribeCamera(java.lang.String name, java.lang.Integer cameraIndex, java.lang.Integer resolution, java.lang.Integer colorSpace, java.lang.Integer fps)
java.lang.String	subscribeCameras(java.lang.String name, java.lang.Object cameraIndexes, java.lang.Object resolutions, java.lang.Object colorSpaces, java.lang.Integer fps)
java.lang.Boolean	unsubscribe(java.lang.String nameId)
void	unsubscribeAllInstances(java.lang.String id) Used to unsubscribe all instances for a given G.V.M.
java.lang.String	version() Returns the version of the module.
java.lang.Boolean	wait(java.lang.Integer id, java.lang.Integer timeoutPeriod) Wait for the end of a long running method that was called using 'post'

Methods inherited from class com.aldebaran.qi.helper.ALProxy

call, connect, connect, disconnect, getNaoqiType, getService, isProxyReady, setService

Methods inherited from class java.lang.Object

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

Constructor Detail

ALVideoDevice

public ALVideoDevice(Session session)
              throws java.lang.Exception

Throws:

java.lang.Exception

Method Detail

isStatsEnabled

public java.lang.Boolean isStatsEnabled()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

clearStats

public void clearStats()
                throws CallError,
                       java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

isTraceEnabled

public java.lang.Boolean isTraceEnabled()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

exit

public void exit()
          throws CallError,
                 java.lang.InterruptedException

Exits and unregisters the module.

Throws:

CallError

java.lang.InterruptedException

version

public java.lang.String version()
                         throws CallError,
                                java.lang.InterruptedException

Returns the version of the module.

Returns:

A string containing the version of the module.

Throws:

CallError

java.lang.InterruptedException

ping

public java.lang.Boolean ping()
                       throws CallError,
                              java.lang.InterruptedException

Just a ping. Always returns true

Returns:

returns true

Throws:

CallError

java.lang.InterruptedException

getMethodList

public java.util.List<java.lang.String> getMethodList()
                                               throws CallError,
                                                      java.lang.InterruptedException

Retrieves the module's method list.

Returns:

An array of method names.

Throws:

CallError

java.lang.InterruptedException

getMethodHelp

public java.lang.Object getMethodHelp(java.lang.String methodName)
                               throws CallError,
                                      java.lang.InterruptedException

Retrieves a method's description.

Parameters:

methodName - The name of the method.

Returns:

A structure containing the method's description.

Throws:

CallError

java.lang.InterruptedException

getModuleHelp

public java.lang.Object getModuleHelp()
                               throws CallError,
                                      java.lang.InterruptedException

Retrieves the module's description.

Returns:

A structure describing the module.

Throws:

CallError

java.lang.InterruptedException

wait

public java.lang.Boolean wait(java.lang.Integer id,
                              java.lang.Integer timeoutPeriod)
                       throws CallError,
                              java.lang.InterruptedException

Wait for the end of a long running method that was called using 'post'

Parameters:

id - The ID of the method that was returned when calling the method using 'post'

timeoutPeriod - The timeout period in ms. To wait indefinately, use a timeoutPeriod of zero.

Returns:

True if the timeout period terminated. False if the method returned.

Throws:

CallError

java.lang.InterruptedException

isRunning

public java.lang.Boolean isRunning(java.lang.Integer id)
                            throws CallError,
                                   java.lang.InterruptedException

Returns true if the method is currently running.

Parameters:

id - The ID of the method that was returned when calling the method using 'post'

Returns:

True if the method is currently running

Throws:

CallError

java.lang.InterruptedException

stop

public void stop(java.lang.Integer id)
          throws CallError,
                 java.lang.InterruptedException

returns true if the method is currently running

Parameters:

id - the ID of the method to wait for

Throws:

CallError

java.lang.InterruptedException

getBrokerName

public java.lang.String getBrokerName()
                               throws CallError,
                                      java.lang.InterruptedException

Gets the name of the parent broker.

Returns:

The name of the parent broker.

Throws:

CallError

java.lang.InterruptedException

getUsage

public java.lang.String getUsage(java.lang.String name)
                          throws CallError,
                                 java.lang.InterruptedException

Gets the method usage string. This summarises how to use the method.

Parameters:

name - The name of the method.

Returns:

A string that summarises the usage of the method.

Throws:

CallError

java.lang.InterruptedException

subscribeCamera

public java.lang.String subscribeCamera(java.lang.String name,
                                        java.lang.Integer cameraIndex,
                                        java.lang.Integer resolution,
                                        java.lang.Integer colorSpace,
                                        java.lang.Integer fps)
                                 throws CallError,
                                        java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

cameraIndex - Camera requested.

resolution - Resolution requested.{0=kQQVGA, 1=kQVGA, 2=kVGA, 3=k4VGA}

colorSpace - Colorspace requested.{0=kYuv, 9=kYUV422, 10=kYUV, 11=kRGB, 12=kHSY, 13=kBGR}

fps - Fps (frames per second) requested.{5, 10, 15, 30}

Returns:

Name under which the vision module is known from ALVideoDevice

Throws:

CallError

java.lang.InterruptedException

subscribeCameras

public java.lang.String subscribeCameras(java.lang.String name,
                                         java.lang.Object cameraIndexes,
                                         java.lang.Object resolutions,
                                         java.lang.Object colorSpaces,
                                         java.lang.Integer fps)
                                  throws CallError,
                                         java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

cameraIndexes - Cameras requested.

resolutions - Resolutions requested.{0=kQQVGA, 1=kQVGA, 2=kVGA, 3=k4VGA}

colorSpaces - Colorspaces requested.{0=kYuv, 9=kYUV422, 10=kYUV, 11=kRGB, 12=kHSY, 13=kBGR}

fps - Fps (frames per second) requested.{5, 10, 15, 30}

Returns:

Name under which the vision module is known from ALVideoDevice

Throws:

CallError

java.lang.InterruptedException

unsubscribe

public java.lang.Boolean unsubscribe(java.lang.String nameId)
                              throws CallError,
                                     java.lang.InterruptedException

Parameters:

nameId - Name under which the vision module is known from ALVideoDevice.

Returns:

True if success, false otherwise

Throws:

CallError

java.lang.InterruptedException

getSubscribers

public java.lang.Object getSubscribers()
                                throws CallError,
                                       java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getCameraIndexes

public java.lang.Object getCameraIndexes()
                                  throws CallError,
                                         java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getActiveCamera

public java.lang.Integer getActiveCamera()
                                  throws CallError,
                                         java.lang.InterruptedException

Tells which camera is the default one

Returns:

0: top camera - 1: bottom camera

Throws:

CallError

java.lang.InterruptedException

setActiveCamera

public java.lang.Boolean setActiveCamera(java.lang.Integer activeCamera)
                                  throws CallError,
                                         java.lang.InterruptedException

Set the active camera

Parameters:

activeCamera - 0: top camera - 1: bottom camera

Throws:

CallError

java.lang.InterruptedException

getCameraModel

public java.lang.Integer getCameraModel(java.lang.Integer cameraIndex)
                                 throws CallError,
                                        java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Returns:

1(kOV7670): VGA camera - 2(kMT9M114): HD camera

Throws:

CallError

java.lang.InterruptedException

getCameraName

public java.lang.String getCameraName(java.lang.Integer cameraIndex)
                               throws CallError,
                                      java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Returns:

CameraTop - CameraBottom - CameraDepth

Throws:

CallError

java.lang.InterruptedException

getFrameRate

public java.lang.Integer getFrameRate(java.lang.Integer cameraIndex)
                               throws CallError,
                                      java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

getResolution

public java.lang.Integer getResolution(java.lang.Integer cameraIndex)
                                throws CallError,
                                       java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

getColorSpace

public java.lang.Integer getColorSpace(java.lang.Integer cameraIndex)
                                throws CallError,
                                       java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

getHorizontalFOV

public java.lang.Float getHorizontalFOV(java.lang.Integer cameraIndex)
                                 throws CallError,
                                        java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

getVerticalFOV

public java.lang.Float getVerticalFOV(java.lang.Integer cameraIndex)
                               throws CallError,
                                      java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

getParameter

public java.lang.Integer getParameter(java.lang.Integer cameraIndex,
                                      java.lang.Integer parameterId)
                               throws CallError,
                                      java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

parameterId - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

getParameterRange

public java.lang.Object getParameterRange(java.lang.Integer cameraIndex,
                                          java.lang.Integer parameterId)
                                   throws CallError,
                                          java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

parameterId - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

getParameterInfo

public java.lang.Object getParameterInfo(java.lang.Integer cameraIndex,
                                         java.lang.Integer parameterId)
                                  throws CallError,
                                         java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

parameterId - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

setParameter

public java.lang.Boolean setParameter(java.lang.Integer cameraIndex,
                                      java.lang.Integer parameterId,
                                      java.lang.Integer value)
                               throws CallError,
                                      java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

parameterId - Camera parameter requested.

value - value requested.

Throws:

CallError

java.lang.InterruptedException

setParameterToDefault

public java.lang.Boolean setParameterToDefault(java.lang.Integer cameraIndex,
                                               java.lang.Integer parameterId)
                                        throws CallError,
                                               java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

parameterId - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

setAllParametersToDefault

public java.lang.Boolean setAllParametersToDefault(java.lang.Integer cameraIndex)
                                            throws CallError,
                                                   java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

openCamera

public java.lang.Boolean openCamera(java.lang.Integer param1)
                             throws CallError,
                                    java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

closeCamera

public java.lang.Boolean closeCamera(java.lang.Integer param1)
                              throws CallError,
                                     java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

isCameraOpen

public java.lang.Boolean isCameraOpen(java.lang.Integer param1)
                               throws CallError,
                                      java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

startCamera

public java.lang.Boolean startCamera(java.lang.Integer param1)
                              throws CallError,
                                     java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

stopCamera

public java.lang.Boolean stopCamera(java.lang.Integer param1)
                             throws CallError,
                                    java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

isCameraStarted

public java.lang.Boolean isCameraStarted(java.lang.Integer param1)
                                  throws CallError,
                                         java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

resetCamera

public java.lang.Boolean resetCamera(java.lang.Integer param1)
                              throws CallError,
                                     java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

startFrameGrabber

public java.lang.Boolean startFrameGrabber(java.lang.Integer cameraIndex)
                                    throws CallError,
                                           java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

stopFrameGrabber

public java.lang.Boolean stopFrameGrabber(java.lang.Integer cameraIndex)
                                   throws CallError,
                                          java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

isFrameGrabberOff

public java.lang.Boolean isFrameGrabberOff(java.lang.Integer cameraIndex)
                                    throws CallError,
                                           java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

hasDepthCamera

public java.lang.Boolean hasDepthCamera()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getFrameRate

public java.lang.Integer getFrameRate(java.lang.String name)
                               throws CallError,
                                      java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

Throws:

CallError

java.lang.InterruptedException

setFrameRate

public java.lang.Boolean setFrameRate(java.lang.String name,
                                      java.lang.Integer frameRate)
                               throws CallError,
                                      java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

frameRate - Frame Rate requested.

Throws:

CallError

java.lang.InterruptedException

getActiveCamera

public java.lang.Integer getActiveCamera(java.lang.String name)
                                  throws CallError,
                                         java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

Throws:

CallError

java.lang.InterruptedException

setActiveCamera

public java.lang.Boolean setActiveCamera(java.lang.String name,
                                         java.lang.Integer cameraIndex)
                                  throws CallError,
                                         java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

getResolution

public java.lang.Integer getResolution(java.lang.String name)
                                throws CallError,
                                       java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

Throws:

CallError

java.lang.InterruptedException

setResolution

public java.lang.Boolean setResolution(java.lang.String name,
                                       java.lang.Integer resolution)
                                throws CallError,
                                       java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

resolution - Resolution requested.

Throws:

CallError

java.lang.InterruptedException

getColorSpace

public java.lang.Integer getColorSpace(java.lang.String name)
                                throws CallError,
                                       java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

Throws:

CallError

java.lang.InterruptedException

setColorSpace

public java.lang.Boolean setColorSpace(java.lang.String name,
                                       java.lang.Integer colorSpace)
                                throws CallError,
                                       java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

colorSpace - Color Space requested.

Throws:

CallError

java.lang.InterruptedException

getCameraParameter

public java.lang.Integer getCameraParameter(java.lang.String name,
                                            java.lang.Integer parameterId)
                                     throws CallError,
                                            java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

parameterId - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

getCameraParameterRange

public java.lang.Object getCameraParameterRange(java.lang.String name,
                                                java.lang.Integer parameterId)
                                         throws CallError,
                                                java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

parameterId - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

getCameraParameterInfo

public java.lang.Object getCameraParameterInfo(java.lang.String name,
                                               java.lang.Integer parameterId)
                                        throws CallError,
                                               java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

parameterId - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

setCameraParameter

public java.lang.Boolean setCameraParameter(java.lang.String name,
                                            java.lang.Integer parameterId,
                                            java.lang.Integer value)
                                     throws CallError,
                                            java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

parameterId - Camera parameter requested.

value - value requested.

Throws:

CallError

java.lang.InterruptedException

setCameraParameterToDefault

public java.lang.Boolean setCameraParameterToDefault(java.lang.String name,
                                                     java.lang.Integer parameterId)
                                              throws CallError,
                                                     java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

parameterId - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

setAllCameraParametersToDefault

public java.lang.Boolean setAllCameraParametersToDefault(java.lang.String name)
                                                  throws CallError,
                                                         java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

Throws:

CallError

java.lang.InterruptedException

getDirectRawImageLocal

public java.lang.Object getDirectRawImageLocal(java.lang.String name)
                                        throws CallError,
                                               java.lang.InterruptedException

Retrieves the latest image from the video source and returns a pointer to the locked ALImage, with data array pointing directly to raw data. There is no format conversion and no copy of the raw buffer. Warning: When image is not necessary anymore, a call to releaseDirectRawImage() is requested. Warning: When using this mode for several vision module, if they need raw data for more than 25ms check that you have strictly less modules in this mode than the amount of kernel buffers!! Warning: Release all kernel buffers before any action requesting a modification in camera running mode (e.g. resolution, switch between cameras).

Parameters:

name - Name of the subscribing vision module

Returns:

Pointer to the locked image buffer, NULL if error. Warning, image pointer is valid only for C++ dynamic library.

Throws:

CallError

java.lang.InterruptedException

getDirectRawImageRemote

public java.lang.Object getDirectRawImageRemote(java.lang.String name)
                                         throws CallError,
                                                java.lang.InterruptedException

Fills an ALValue with data coming directly from raw buffer (no format conversion).

Parameters:

name - Name of the subscribing vision module

Returns:

Array containing image informations : [0] : width; [1] : height; [2] : number of layers; [3] : ColorSpace; [4] : time stamp (highest 32 bits); [5] : time stamp (lowest 32 bits); [6] : array of size height * width * nblayers containing image data; [7] : cameraID; [8] : left angle; [9] : top angle; [10] : right angle; [11] : bottom angle;

Throws:

CallError

java.lang.InterruptedException

releaseDirectRawImage

public java.lang.Boolean releaseDirectRawImage(java.lang.String name)
                                        throws CallError,
                                               java.lang.InterruptedException

Release image buffer locked by getDirectRawImageLocal().

Parameters:

name - Name of the subscribing vision module

Returns:

true if success

Throws:

CallError

java.lang.InterruptedException

getImageLocal

public java.lang.Object getImageLocal(java.lang.String name)
                               throws CallError,
                                      java.lang.InterruptedException

Applies transformations to the last image from video source and returns a pointer to a locked ALImage. When image is not necessary anymore, a call to releaseImage() is requested.

Parameters:

name - Name of the subscribing vision module

Returns:

Pointer of the locked image buffer, NULL if error.Warning, image pointer is valid only for C++ dynamic library.

Throws:

CallError

java.lang.InterruptedException

getImageRemote

public java.lang.Object getImageRemote(java.lang.String name)
                                throws CallError,
                                       java.lang.InterruptedException

Applies transformations to the last image from video source and fills pFrameOut.

Parameters:

name - Name of the subscribing vision module

Returns:

Array containing image informations : [0] : width; [1] : height; [2] : number of layers; [3] : ColorSpace; [4] : time stamp (highest 32 bits); [5] : time stamp (lowest 32 bits); [6] : array of size height * width * nblayers containing image data; [7] : cameraID; [8] : left angle; [9] : top angle; [10] : right angle; [11] : bottom angle;

Throws:

CallError

java.lang.InterruptedException

releaseImage

public java.lang.Boolean releaseImage(java.lang.String name)
                               throws CallError,
                                      java.lang.InterruptedException

Release image buffer locked by getImageLocal(). If G.V.M. had no locked image buffer, does nothing.

Parameters:

name - Name of the subscribing vision module

Returns:

true if success

Throws:

CallError

java.lang.InterruptedException

getActiveCameras

public java.lang.Object getActiveCameras(java.lang.String name)
                                  throws CallError,
                                         java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

Throws:

CallError

java.lang.InterruptedException

setActiveCameras

public java.lang.Object setActiveCameras(java.lang.String name,
                                         java.lang.Object cameraIndexes)
                                  throws CallError,
                                         java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

cameraIndexes - Cameras requested.

Throws:

CallError

java.lang.InterruptedException

getResolutions

public java.lang.Object getResolutions(java.lang.String name)
                                throws CallError,
                                       java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

Throws:

CallError

java.lang.InterruptedException

setResolutions

public java.lang.Object setResolutions(java.lang.String name,
                                       java.lang.Object resolutions)
                                throws CallError,
                                       java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

resolutions - Resolutions requested.

Throws:

CallError

java.lang.InterruptedException

getColorSpaces

public java.lang.Object getColorSpaces(java.lang.String name)
                                throws CallError,
                                       java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

Throws:

CallError

java.lang.InterruptedException

setColorSpaces

public java.lang.Object setColorSpaces(java.lang.String name,
                                       java.lang.Object colorSpaces)
                                throws CallError,
                                       java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

colorSpaces - Color Spaces requested.

Throws:

CallError

java.lang.InterruptedException

getCamerasParameter

public java.lang.Object getCamerasParameter(java.lang.String name,
                                            java.lang.Integer parameterId)
                                     throws CallError,
                                            java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

parameterId - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

setCamerasParameter

public java.lang.Object setCamerasParameter(java.lang.String name,
                                            java.lang.Integer parameterId,
                                            java.lang.Object values)
                                     throws CallError,
                                            java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

parameterId - Camera parameter requested.

values - values requested.

Throws:

CallError

java.lang.InterruptedException

setCamerasParameterToDefault

public java.lang.Object setCamerasParameterToDefault(java.lang.String name,
                                                     java.lang.Integer parameterId)
                                              throws CallError,
                                                     java.lang.InterruptedException

Parameters:

name - Name of the subscribing vision module

parameterId - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

getDirectRawImagesLocal

public java.lang.Object getDirectRawImagesLocal(java.lang.String name)
                                         throws CallError,
                                                java.lang.InterruptedException

Retrieves the latest image from the video source and returns a pointer to the locked ALImage, with data array pointing directly to raw data. There is no format conversion and no copy of the raw buffer. Warning: When image is not necessary anymore, a call to releaseDirectRawImage() is requested. Warning: When using this mode for several vision module, if they need raw data for more than 25ms check that you have strictly less modules in this mode than the amount of kernel buffers!! Warning: Release all kernel buffers before any action requesting a modification in camera running mode (e.g. resolution, switch between cameras).

Parameters:

name - Name of the subscribing vision module

Returns:

Array of pointer to the locked image buffer, NULL if error. Warning, image pointer is valid only for C++ dynamic library.

Throws:

CallError

java.lang.InterruptedException

getDirectRawImagesRemote

public java.lang.Object getDirectRawImagesRemote(java.lang.String name)
                                          throws CallError,
                                                 java.lang.InterruptedException

Fills an ALValue with data coming directly from raw buffer (no format conversion).

Parameters:

name - Name of the subscribing vision module

Returns:

Array containing image informations : [0] : width; [1] : height; [2] : number of layers; [3] : ColorSpace; [4] : time stamp (highest 32 bits); [5] : time stamp (lowest 32 bits); [6] : array of size height * width * nblayers containing image data; [7] : cameraID; [8] : left angle; [9] : top angle; [10] : right angle; [11] : bottom angle;

Throws:

CallError

java.lang.InterruptedException

releaseDirectRawImages

public java.lang.Object releaseDirectRawImages(java.lang.String name)
                                        throws CallError,
                                               java.lang.InterruptedException

Release image buffer locked by getDirectRawImagesLocal().

Parameters:

name - Name of the subscribing vision module

Returns:

true if success

Throws:

CallError

java.lang.InterruptedException

getImagesLocal

public java.lang.Object getImagesLocal(java.lang.String name)
                                throws CallError,
                                       java.lang.InterruptedException

Applies transformations to the last image from video source and returns a pointer to a locked ALImage. When image is not necessary anymore, a call to releaseImage() is requested.

Parameters:

name - Name of the subscribing vision module

Returns:

Array of pointer of the locked image buffer, NULL if error.Warning, image pointer is valid only for C++ dynamic library.

Throws:

CallError

java.lang.InterruptedException

getImagesRemote

public java.lang.Object getImagesRemote(java.lang.String name)
                                 throws CallError,
                                        java.lang.InterruptedException

Applies transformations to the last image from video source and fills pFrameOut.

Parameters:

name - Name of the subscribing vision module

Returns:

Array containing image informations : [0] : width; [1] : height; [2] : number of layers; [3] : ColorSpace; [4] : time stamp (highest 32 bits); [5] : time stamp (lowest 32 bits); [6] : array of size height * width * nblayers containing image data; [7] : cameraID; [8] : left angle; [9] : top angle; [10] : right angle; [11] : bottom angle;

Throws:

CallError

java.lang.InterruptedException

releaseImages

public java.lang.Object releaseImages(java.lang.String name)
                               throws CallError,
                                      java.lang.InterruptedException

Release image buffer locked by getImageLocal(). If G.V.M. had no locked image buffer, does nothing.

Parameters:

name - Name of the subscribing vision module

Returns:

true if success

Throws:

CallError

java.lang.InterruptedException

recordVideo

public java.lang.Boolean recordVideo(java.lang.String id,
                                     java.lang.String path,
                                     java.lang.Integer totalNumber,
                                     java.lang.Integer period)
                              throws CallError,
                                     java.lang.InterruptedException

Background record of an .arv raw format video from the images processed by a vision module Actualy it take picture each time the vision module call getDirectRawImageRemote().

Parameters:

id - Name under which the G.V.M. is known from the V.I.M.

path - path/name of the video to be recorded

totalNumber - number of images to be recorded. 0xFFFFFFFF for "unlimited"

period - one image recorded every pPeriod images

Returns:

true if success

Throws:

CallError

java.lang.InterruptedException

stopVideo

public java.lang.Boolean stopVideo(java.lang.String id)
                            throws CallError,
                                   java.lang.InterruptedException

Stop writing the video sequence

Parameters:

id - Name under which the G.V.M. is known from ALVideoDevice.

Returns:

true if success

Throws:

CallError

java.lang.InterruptedException

getAngularPositionFromImagePosition

public java.util.List<java.lang.Float> getAngularPositionFromImagePosition(java.lang.Integer param1,
                                                                           java.util.List<java.lang.Float> param2)
                                                                    throws CallError,
                                                                           java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getImagePositionFromAngularPosition

public java.util.List<java.lang.Float> getImagePositionFromAngularPosition(java.lang.Integer param1,
                                                                           java.util.List<java.lang.Float> param2)
                                                                    throws CallError,
                                                                           java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getAngularSizeFromImageSize

public java.util.List<java.lang.Float> getAngularSizeFromImageSize(java.lang.Integer param1,
                                                                   java.util.List<java.lang.Float> param2)
                                                            throws CallError,
                                                                   java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getImageSizeFromAngularSize

public java.util.List<java.lang.Float> getImageSizeFromAngularSize(java.lang.Integer param1,
                                                                   java.util.List<java.lang.Float> param2)
                                                            throws CallError,
                                                                   java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getImageInfoFromAngularInfo

public java.util.List<java.lang.Float> getImageInfoFromAngularInfo(java.lang.Integer param1,
                                                                   java.util.List<java.lang.Float> param2)
                                                            throws CallError,
                                                                   java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getImageInfoFromAngularInfoWithResolution

public java.util.List<java.lang.Float> getImageInfoFromAngularInfoWithResolution(java.lang.Integer param1,
                                                                                 java.util.List<java.lang.Float> param2,
                                                                                 java.lang.Integer param3)
                                                                          throws CallError,
                                                                                 java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

putImage

public java.lang.Boolean putImage(java.lang.Integer cameraIndex,
                                  java.lang.Integer width,
                                  java.lang.Integer height,
                                  java.lang.Object imageBuffer)
                           throws CallError,
                                  java.lang.InterruptedException

Allow image buffer pushing

Parameters:

cameraIndex - Camera requested.

width - int width of image among 1280*960, 640*480, 320*240, 240*160

height - int height of image

imageBuffer - Image buffer in bitmap form

Returns:

true if the put succeeded

Throws:

CallError

java.lang.InterruptedException

getExpectedImageParameters

public java.lang.Object getExpectedImageParameters(java.lang.Integer cameraIndex)
                                            throws CallError,
                                                   java.lang.InterruptedException

called by the simulator to know expected image parameters

Parameters:

cameraIndex - Camera requested.

Returns:

ALValue of expected parameters, [int resolution, int framerate]

Throws:

CallError

java.lang.InterruptedException

onClientDisconnected

public void onClientDisconnected(java.lang.String eventName,
                                 java.lang.Object eventContents,
                                 java.lang.String message)
                          throws CallError,
                                 java.lang.InterruptedException

Callback when client is disconnected

Parameters:

eventName - The echoed event name

eventContents - The name of the client that has disconnected

message - The message give when subscribing.

Throws:

CallError

java.lang.InterruptedException

subscribe

public java.lang.String subscribe(java.lang.String gvmName,
                                  java.lang.Integer resolution,
                                  java.lang.Integer colorSpace,
                                  java.lang.Integer fps)
                           throws CallError,
                                  java.lang.InterruptedException

Register to ALVideoDevice (formerly Video Input Module/V.I.M.). When a General Video Module(G.V.M.) registers to ALVideoDevice, a buffer of the requested image format is added to the buffers list. Returns the name under which the G.V.M. is registered to ALVideoDevice (useful when two G.V.M. try to register using the same name

Parameters:

gvmName - Name of the subscribing G.V.M.

resolution - Resolution requested. { 0 = kQQVGA, 1 = kQVGA, 2 = kVGA }

colorSpace - Colorspace requested. { 0 = kYuv, 9 = kYUV422, 10 = kYUV, 11 = kRGB, 12 = kHSY, 13 = kBGR }

fps - Fps (frames per second) requested. { 5, 10, 15, 30 }

Returns:

Name under which the G.V.M. is known from ALVideoDevice, 0 if failed.

Throws:

CallError

java.lang.InterruptedException

unsubscribeAllInstances

public void unsubscribeAllInstances(java.lang.String id)
                             throws CallError,
                                    java.lang.InterruptedException

Used to unsubscribe all instances for a given G.V.M. (e.g. VisionModule and VisionModule_5) from ALVideoDevice.

Parameters:

id - Root name of the G.V.M. (e.g. with the example above this will be VisionModule).

Throws:

CallError

java.lang.InterruptedException

getVIMResolution

public java.lang.Integer getVIMResolution()
                                   throws CallError,
                                          java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getVIMColorSpace

public java.lang.Integer getVIMColorSpace()
                                   throws CallError,
                                          java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getVIMFrameRate

public java.lang.Integer getVIMFrameRate()
                                  throws CallError,
                                         java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getGVMResolution

public java.lang.Integer getGVMResolution(java.lang.String param1)
                                   throws CallError,
                                          java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getGVMColorSpace

public java.lang.Integer getGVMColorSpace(java.lang.String param1)
                                   throws CallError,
                                          java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getGVMFrameRate

public java.lang.Integer getGVMFrameRate(java.lang.String param1)
                                  throws CallError,
                                         java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getCameraModelID

public java.lang.Integer getCameraModelID()
                                   throws CallError,
                                          java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

setParam

public void setParam(java.lang.Integer pParam,
                     java.lang.Integer pNewValue)
              throws CallError,
                     java.lang.InterruptedException

Sets the value of a specific parameter for the video source.

Parameters:

pParam - Camera parameter requested.

pNewValue - value requested.

Throws:

CallError

java.lang.InterruptedException

setParam

public void setParam(java.lang.Integer pParam,
                     java.lang.Integer pNewValue,
                     java.lang.Integer pCameraIndex)
              throws CallError,
                     java.lang.InterruptedException

Sets the value of a specific parameter for the video source.

Parameters:

pParam - Camera parameter requested.

pNewValue - value requested.

pCameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

getParam

public java.lang.Integer getParam(java.lang.Integer pParam)
                           throws CallError,
                                  java.lang.InterruptedException

Parameters:

pParam - Camera parameter requested.

Throws:

CallError

java.lang.InterruptedException

getParam

public java.lang.Integer getParam(java.lang.Integer pParam,
                                  java.lang.Integer pCameraIndex)
                           throws CallError,
                                  java.lang.InterruptedException

Parameters:

pParam - Camera parameter requested.

pCameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

setParamDefault

public void setParamDefault(java.lang.Integer param1)
                     throws CallError,
                            java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getAngPosFromImgPos

public java.util.List<java.lang.Float> getAngPosFromImgPos(java.util.List<java.lang.Float> param1)
                                                    throws CallError,
                                                           java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getImgPosFromAngPos

public java.util.List<java.lang.Float> getImgPosFromAngPos(java.util.List<java.lang.Float> param1)
                                                    throws CallError,
                                                           java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getAngSizeFromImgSize

public java.util.List<java.lang.Float> getAngSizeFromImgSize(java.util.List<java.lang.Float> param1)
                                                      throws CallError,
                                                             java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getImgSizeFromAngSize

public java.util.List<java.lang.Float> getImgSizeFromAngSize(java.util.List<java.lang.Float> param1)
                                                      throws CallError,
                                                             java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getImgInfoFromAngInfo

public java.util.List<java.lang.Float> getImgInfoFromAngInfo(java.util.List<java.lang.Float> param1)
                                                      throws CallError,
                                                             java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getImgInfoFromAngInfoWithRes

public java.util.List<java.lang.Float> getImgInfoFromAngInfoWithRes(java.util.List<java.lang.Float> param1,
                                                                    java.lang.Integer param2)
                                                             throws CallError,
                                                                    java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

resolutionToSizes

public java.lang.Object resolutionToSizes(java.lang.Integer param1)
                                   throws CallError,
                                          java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

sizesToResolution

public java.lang.Integer sizesToResolution(java.lang.Integer param1,
                                           java.lang.Integer param2)
                                    throws CallError,
                                           java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

getExpectedImageParameters

public java.lang.Object getExpectedImageParameters()
                                            throws CallError,
                                                   java.lang.InterruptedException

called by the simulator to know expected image parameters

Returns:

ALValue of expected parameters, [int resolution, int framerate]

Throws:

CallError

java.lang.InterruptedException

setSimCamInputSize

public java.lang.Boolean setSimCamInputSize(java.lang.Integer width,
                                            java.lang.Integer height)
                                     throws CallError,
                                            java.lang.InterruptedException

called by the simulator to know expected image parameters

Parameters:

width - int width of image among 1280*960, 640*480, 320*240, 240*160

height - int height of image among 1280*960, 640*480, 320*240, 240*160

Returns:

true if setSize worked

Throws:

CallError

java.lang.InterruptedException

putImage

public java.lang.Boolean putImage(java.lang.Object imageBuffer)
                           throws CallError,
                                  java.lang.InterruptedException

Allow image buffer pushing

Parameters:

imageBuffer - Image buffer in bitmap form

Returns:

true if the put succeeded

Throws:

CallError

java.lang.InterruptedException

startFrameGrabber

public java.lang.Boolean startFrameGrabber()
                                    throws CallError,
                                           java.lang.InterruptedException

Advanced method that opens and initialize video source device if it was not before. Note that the first module subscribing to ALVideoDevice will launch it automatically.

Returns:

true if success

Throws:

CallError

java.lang.InterruptedException

stopFrameGrabber

public java.lang.Boolean stopFrameGrabber()
                                   throws CallError,
                                          java.lang.InterruptedException

Advanced method that close video source device. Note that the last module unsubscribing to ALVideoDevice will launch it automatically.

Returns:

true if success

Throws:

CallError

java.lang.InterruptedException

isFrameGrabberOff

public java.lang.Integer isFrameGrabberOff()
                                    throws CallError,
                                           java.lang.InterruptedException

Advanced method that asks if the framegrabber is off.

Returns:

true if off

Throws:

CallError

java.lang.InterruptedException

getHorizontalAperture

public java.lang.Float getHorizontalAperture(java.lang.Integer cameraIndex)
                                      throws CallError,
                                             java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException

getVerticalAperture

public java.lang.Float getVerticalAperture(java.lang.Integer cameraIndex)
                                    throws CallError,
                                           java.lang.InterruptedException

Parameters:

cameraIndex - Camera requested.

Throws:

CallError

java.lang.InterruptedException