org.openpnp.spi

Interface Camera

All Superinterfaces:

java.lang.AutoCloseable, java.io.Closeable, HeadMountable, Identifiable, Locatable, Movable, MovableMountable, Named, PropertySheetHolder, Solutions.Subject, WizardConfigurable

All Known Implementing Classes:

AbstractBroadcastingCamera, AbstractCamera, AbstractSettlingCamera, BufferedImageCamera, ImageCamera, MjpgCaptureCamera, Neoden4Camera, Neoden4SwitcherCamera, OnvifIPCamera, OpenCvCamera, OpenPnpCaptureCamera, ReferenceCamera, SimulatedUpCamera, SwitcherCamera, Webcams

public interface Camera
extends HeadMountable, WizardConfigurable, PropertySheetHolder, java.io.Closeable

Represents a Camera attached to the system and allows a caller to retrieve images from it.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	Camera.Looking
static class	Camera.SettleOption

Nested classes/interfaces inherited from interface org.openpnp.spi.Locatable

Locatable.LocationOption

Nested classes/interfaces inherited from interface org.openpnp.spi.PropertySheetHolder

PropertySheetHolder.PropertySheet

Method Summary

Modifier and Type	Method and Description
void	actuateLightAfterCapture() Inform the Camera that the light actuator (if any) may now be actuated to the default off setting.
default void	actuateLightBeforeCapture() Inform the Camera that the light actuator (if any) should now be actuated to the default light setting.
void	actuateLightBeforeCapture(java.lang.Object light) Inform the Camera that the light actuator (if any) should now be actuated to the given light setting.
java.awt.image.BufferedImage	capture() Immediately captures an image from the camera and returns it in it's native format.
java.awt.image.BufferedImage	captureRaw()
java.awt.image.BufferedImage	captureTransformed()
void	ensureCameraVisible() Ensure the related CameraView will eventually be made visible on the user interface.
Length	getDefaultZ() Gets the Z height of the default working plane for this camera.
FocusProvider	getFocusProvider()
int	getHeight() Get the height of images in pixels that will be returned from this Camera.
Actuator	getLightActuator()
Location	getLocation(HeadMountable tool) Get the location of the camera including the calibrated offset for the given tool.
Camera.Looking	getLooking() Get the direction the Camera is looking.
Length	getRoamingRadius()
Location	getUnitsPerPixel() The number of X and Y units per pixel this camera shows when in perfect focus.
Location	getUnitsPerPixel(Length z) Gets the units per pixel for determining the physical size of an object in an image given its Z height is known
default Location	getUnitsPerPixelAtZ() Gets units per pixel for determining the physical size of an object in an image given its Z is at the (virtual) Z axis of the camera location.
VisionProvider	getVisionProvider() Get the VisionProvider that is attached to this Camera, if any.
int	getWidth() Get the width of images in pixels that will be returned from this Camera.
boolean	hasNewFrame()
default boolean	isAutoVisible()
boolean	isShownInMultiCameraView()
default boolean	isUnitsPerPixelAtZCalibrated()
java.awt.image.BufferedImage	lightSettleAndCapture() Same as capture(), but lights and settles the camera before capturing.
void	setLooking(Camera.Looking looking)
default java.awt.image.BufferedImage	settleAndCapture() Same as capture() but settles the camera before capturing.
java.awt.image.BufferedImage	settleAndCapture(Camera.SettleOption settleOption) Same as capture() but settles the camera before capturing.
void	setUnitsPerPixel(Location unitsPerPixel)
void	setVisionProvider(VisionProvider visionProvider)
void	startContinuousCapture(CameraListener listener) Registers a listener to receive continuous images from the camera.
void	stopContinuousCapture(CameraListener listener) Requests that the continuous capture be stopped for the previously registered listener.

Methods inherited from interface org.openpnp.spi.HeadMountable

getCameraToolCalibratedOffset, getHead, setHead, toHeadLocation, toHeadMountableLocation, waitForCompletion

Methods inherited from interface org.openpnp.spi.MovableMountable

getAxis, getAxisRotation, getAxisX, getAxisY, getAxisZ, getMappedAxes, toRaw, toTransformed

Methods inherited from interface org.openpnp.spi.Movable

getEffectiveSafeZ, getSafeZ, getSafeZZone, home, isInSafeZZone, isReachable, moveTo, moveTo, moveToSafeZ, moveToSafeZ

Methods inherited from interface org.openpnp.spi.Locatable

getApproximativeLocation, getLocation

Methods inherited from interface org.openpnp.model.Identifiable

getId

Methods inherited from interface org.openpnp.model.Named

getName, setName

Methods inherited from interface org.openpnp.model.Solutions.Subject

findIssues, getSubjectIcon, getSubjectText

Methods inherited from interface org.openpnp.spi.WizardConfigurable

getConfigurationWizard

Methods inherited from interface org.openpnp.spi.PropertySheetHolder

getChildPropertySheetHolders, getPropertySheetHolderActions, getPropertySheetHolderIcon, getPropertySheetHolderTitle, getPropertySheets

Methods inherited from interface java.io.Closeable

close

Method Detail

getLocation

Location getLocation(HeadMountable tool)

Get the location of the camera including the calibrated offset for the given tool. If the bottom camera focal plane is different from the PCB surface plane, the various tools might introduce slight offsets in X, Y as their Z axes are not perfectly parallel. This offset is compensated if the getLocation(tool) method is used instead of the plain getLocation() method. If tool == null it returns the same as plain getLocation().

Parameters:

tool -

Returns:

getLooking

Camera.Looking getLooking()

Get the direction the Camera is looking.

Returns:

setLooking

void setLooking(Camera.Looking looking)

getUnitsPerPixel

Location getUnitsPerPixel()

The number of X and Y units per pixel this camera shows when in perfect focus. The Z value of this location is the height at which the units per pixel were measured.

Returns:

a Location whose x and y length represent the units per pixel in those axis respectively

setUnitsPerPixel

void setUnitsPerPixel(Location unitsPerPixel)

getUnitsPerPixel

Location getUnitsPerPixel(Length z)

Gets the units per pixel for determining the physical size of an object in an image given its Z height is known

Parameters:

z - - a length with the z coordinate of the imaged object, if null, the height of the default working plane for this camera is used

Returns:

a Location whose x and y length represent the units per pixel in those axis respectively

getUnitsPerPixelAtZ

default Location getUnitsPerPixelAtZ()

Gets units per pixel for determining the physical size of an object in an image given its Z is at the (virtual) Z axis of the camera location. If the camera Z is at or above Safe Z, meaning the Z is actually not set, it will fall back to the standard units per pixel. This is also the default for cameras that do not have a concept of a location or Z axis.

Returns:

getDefaultZ

Length getDefaultZ()

Gets the Z height of the default working plane for this camera. This is the height at which objects are assumed to be if no other information is available.

Returns:

the Z height of the default working plane

isUnitsPerPixelAtZCalibrated

default boolean isUnitsPerPixelAtZCalibrated()

Returns:

true, if Z-dependent units per pixel are available and configured.

capture

java.awt.image.BufferedImage capture()
                              throws java.lang.Exception

Immediately captures an image from the camera and returns it in it's native format. Fires the Camera.BeforeCapture and Camera.AfterCapture scripting events before and after.

Returns:

Throws:

java.lang.Exception

captureTransformed

java.awt.image.BufferedImage captureTransformed()

captureRaw

java.awt.image.BufferedImage captureRaw()

settleAndCapture

java.awt.image.BufferedImage settleAndCapture(Camera.SettleOption settleOption)
                                       throws java.lang.Exception

Same as capture() but settles the camera before capturing.

Parameters:

settleOption - Determines how thorough the settling is.

Returns:

Throws:

java.lang.Exception

settleAndCapture

default java.awt.image.BufferedImage settleAndCapture()
                                               throws java.lang.Exception

Same as capture() but settles the camera before capturing.

Returns:

Throws:

java.lang.Exception

lightSettleAndCapture

java.awt.image.BufferedImage lightSettleAndCapture()
                                            throws java.lang.Exception

Same as capture(), but lights and settles the camera before capturing. Uses default lighting.

Returns:

Throws:

java.lang.Exception

hasNewFrame

boolean hasNewFrame()

Returns:

True if the Camera device has a new frame available (since the last one was captured).

startContinuousCapture

void startContinuousCapture(CameraListener listener)

Registers a listener to receive continuous images from the camera.

Parameters:

listener -

stopContinuousCapture

void stopContinuousCapture(CameraListener listener)

Requests that the continuous capture be stopped for the previously registered listener. If the Camera has other listeners they should still receive updates.

Parameters:

listener -

setVisionProvider

void setVisionProvider(VisionProvider visionProvider)

getVisionProvider

VisionProvider getVisionProvider()

Get the VisionProvider that is attached to this Camera, if any.

Returns:

getWidth

int getWidth()

Get the width of images in pixels that will be returned from this Camera.

Returns:

getHeight

int getHeight()

Get the height of images in pixels that will be returned from this Camera.

Returns:

getLightActuator

Actuator getLightActuator()

Returns:

the Camera light actuator.

actuateLightBeforeCapture

void actuateLightBeforeCapture(java.lang.Object light)
                        throws java.lang.Exception

Inform the Camera that the light actuator (if any) should now be actuated to the given light setting. Effective actuation may be optimized to span longer periods/prevent blinking.

Parameters:

light - Provides the light actuation value or null for default lighting.

Throws:

java.lang.Exception

actuateLightBeforeCapture

default void actuateLightBeforeCapture()
                                throws java.lang.Exception

Inform the Camera that the light actuator (if any) should now be actuated to the default light setting. Effective actuation may be optimized to span longer periods/prevent blinking.

Throws:

java.lang.Exception

actuateLightAfterCapture

void actuateLightAfterCapture()
                       throws java.lang.Exception

Inform the Camera that the light actuator (if any) may now be actuated to the default off setting. Effective actuation may be optimized to span longer periods/prevent blinking.

Throws:

java.lang.Exception

ensureCameraVisible

void ensureCameraVisible()

Ensure the related CameraView will eventually be made visible on the user interface.

isAutoVisible

default boolean isAutoVisible()

Returns:

True if ensureCameraVisible() should be called on this Camera whenever a targeted user action changes the Camera view.

isShownInMultiCameraView

boolean isShownInMultiCameraView()

Returns:

True if this Camera should be shown in multi camera view panels.

getFocusProvider

FocusProvider getFocusProvider()

getRoamingRadius

Length getRoamingRadius()

Returns:

The bottom camera roaming radius within which a part is allowed to be positioned at camera Z. It includes moving the nozzle around to take different shots of the parts, and the part extent itself. It does not include pick offsets and other deviations that may occur during practical operation, a physical camera "pit" must allow for some extra wiggle space, on to of this nominal radius.