#include <visp3/robot/vpServolens.h>

Public Types
enum	vpServoType { ZOOM = 1 , FOCUS = 2 , IRIS = 3 }

enum	vpLimitsType { ZOOM_MAX = 10000 , ZOOM_MIN = 1000 , FOCUS_MAX = 1500 , FOCUS_MIN = 100 , IRIS_MAX = 1000 , IRIS_MIN = 160 }

enum	vpControllerType { AUTO = 1 , CONTROLLED = 2 , RELEASED = 3 }

Public Member Functions
	vpServolens ()

VP_EXPLICIT	vpServolens (const char *port)

virtual	~vpServolens ()

void	open (const char *port="/dev/ttyS0")

void	close ()

void	reset () const

void	setController (vpControllerType controller) const

void	setAutoIris (bool enable) const

void	setPosition (vpServoType servo, unsigned int position) const

bool	getPosition (vpServoType servo, unsigned int &position) const

vpCameraParameters	getCameraParameters (vpImage< unsigned char > &I) const

void	enablePrompt (bool active) const

Detailed Description

Interface for the Servolens lens attached to the camera fixed on the Afma4 robot.

The code below shows how to manipulate this class to get and modify the position of the focal lens.

#include <iostream>
#include <visp3/vs/vpServolens.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  // Open the serial device to communicate with the Servolens lens
  vpServolens servolens("/dev/ttyS0");
 
  // Get the current zoom position
  unsigned zoom;
  servolens.getPosition(vpServolens::ZOOM, zoom);
  std::cout << "Actual zoom value: " << zoom << std::endl;
 
  // Set a new zoom value
  servolens.setPosition(vpServolens::ZOOM, zoom+1000);
}

Definition at line 94 of file vpServolens.h.

Member Enumeration Documentation

◆ vpControllerType

enum vpServolens::vpControllerType

Enumerator
AUTO
CONTROLLED
RELEASED

Definition at line 107 of file vpServolens.h.

◆ vpLimitsType

enum vpServolens::vpLimitsType

Enumerator
ZOOM_MAX
ZOOM_MIN
FOCUS_MAX
FOCUS_MIN
IRIS_MAX
IRIS_MIN

Definition at line 98 of file vpServolens.h.

◆ vpServoType

enum vpServolens::vpServoType

Enumerator
ZOOM
FOCUS
IRIS

Definition at line 97 of file vpServolens.h.

Constructor & Destructor Documentation

◆ vpServolens() [1/2]

BEGIN_VISP_NAMESPACE vpServolens::vpServolens ( )

Default constructor. Does nothing.

See also: open()

Definition at line 69 of file vpServolens.cpp.

◆ vpServolens() [2/2]

vpServolens::vpServolens ( const char * port )

Open and initialize the Servolens serial link at 9600 bauds, 7 data bits, even parity, 1 stop bit. The cariage return mode is not active, that means that each character is directly read without waitong for a cariage return.

See also: open()

Definition at line 79 of file vpServolens.cpp.

References open().

◆ ~vpServolens()

vpServolens::~vpServolens ( )

virtual

Destructor.

Close the Servolens serial link.

See also: close()

Definition at line 88 of file vpServolens.cpp.

References close().

Member Function Documentation

◆ close()

void vpServolens::close ( )

Close the Servolens serial link.

See also: open()

Definition at line 176 of file vpServolens.cpp.

Referenced by open(), and ~vpServolens().

◆ enablePrompt()

void vpServolens::enablePrompt ( bool active ) const

Enable or disable the emission of the Servolens prompt "SERVOLENS>".

Parameters

active : true to activate the emission of the prompy. false to disable this functionality.

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 258 of file vpServolens.cpp.

References vpRobotException::communicationError, and vpERROR_TRACE.

◆ getCameraParameters()

vpCameraParameters vpServolens::getCameraParameters ( vpImage< unsigned char > & I ) const

These parameters are computed from the Dragonfly2 DR2-COL camera sensor pixel size (7.4 um) and from the servolens zoom position.

Parameters

I	: An image coming from the Dragonfly2 camera attached to the servolens.

#include <visp3/vs/vpServolens.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  // UNIX vpServolens servolens("/dev/ttyS0");
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
 
  vpImage<unsigned char> I(240, 320);
  vpCameraParameters cam = servolens.getCameraParameters(I);
  std::cout << "Camera parameters: " << cam << std::endl;
#endif
  }

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 574 of file vpServolens.cpp.

References vpRobotException::communicationError, vpImage< Type >::getHeight(), getPosition(), vpImage< Type >::getWidth(), vpCameraParameters::initPersProjWithoutDistortion(), vpERROR_TRACE, and ZOOM.

◆ getPosition()

bool vpServolens::getPosition	(	vpServoType	servo,
		unsigned int &	position
	)		const

Get the Servolens current servo position.

Parameters

servo	: Servolens servo motor to actuate.
position	: Measured position of the servo.

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 432 of file vpServolens.cpp.

References vpRobotException::communicationError, FOCUS, IRIS, vpERROR_TRACE, and ZOOM.

Referenced by getCameraParameters(), and open().

◆ open()

void vpServolens::open ( const char * port = "/dev/ttyS0" )

Open and initialize the Servolens serial link at 9600 bauds, 7 data bits, even parity, 1 stop bit. The cariage return mode is not active, that means that each character is directly read without waitong for a cariage return.

Parameters

port	: Serial device like /dev/ttyS0 or /dev/ttya.

Exceptions

vpRobotException::communicationError : If cannot open Servolens serial port or initialize the serial link.

See also: close()

Definition at line 104 of file vpServolens.cpp.

References close(), vpRobotException::communicationError, getPosition(), vpERROR_TRACE, and ZOOM.

Referenced by vpServolens().

◆ reset()

void vpServolens::reset ( ) const

Reset the Servolens.

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 191 of file vpServolens.cpp.

References vpRobotException::communicationError, vpERROR_TRACE, and vpTime::wait().

◆ setAutoIris()

void vpServolens::setAutoIris ( bool enable ) const

Activates the auto iris mode of the Servolens.

Parameters

enable : true to activate the auto iris.

Definition at line 321 of file vpServolens.cpp.

References vpRobotException::communicationError, and vpERROR_TRACE.

◆ setController()

void vpServolens::setController ( vpControllerType controller ) const

Set the controller type.

Parameters

controller : Controller type.

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 283 of file vpServolens.cpp.

References AUTO, vpRobotException::communicationError, CONTROLLED, RELEASED, and vpERROR_TRACE.

◆ setPosition()

void vpServolens::setPosition	(	vpServoType	servo,
		unsigned int	position
	)		const

Set the Servolens servo to the desired position.

Parameters

servo	: Servolens servo motor to actuate.
position	: Desired position of the servo.

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 347 of file vpServolens.cpp.

References vpRobotException::communicationError, FOCUS, FOCUS_MAX, IRIS, IRIS_MAX, vpERROR_TRACE, ZOOM, and ZOOM_MIN.

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ vpControllerType

◆ vpLimitsType

◆ vpServoType

Constructor & Destructor Documentation

◆ vpServolens() [1/2]

◆ vpServolens() [2/2]

◆ ~vpServolens()

Member Function Documentation

◆ close()

◆ enablePrompt()

◆ getCameraParameters()

◆ getPosition()

◆ open()

◆ reset()

◆ setAutoIris()

◆ setController()

◆ setPosition()