Class CameraComponent
Support for Vector’s camera.
Vector has a built-in camera which he uses to observe the world around him. You can start receiving camera images from Vector by calling the StartFeed() method. The ImageReceived event will be raised for each frame received. Although there is an ImageEncoding property, the data received from Vector is always in the color JPEG format.
The camera resolution is 1280 x 720 with a field of view of 90 deg (H) x 50 deg (V).
Implements
Inherited Members
Namespace: Anki.Vector
Assembly: Anki.Vector.dll
Syntax
public class CameraComponent : Component, INotifyPropertyChangedProperties
| Improve this Doc View SourceAutoExposureEnabled
Gets a value indicating whether automatic exposure is enabled.
If auto exposure is enabled the Gain and ExposureMs values will constantly be updated by Vector.
public bool AutoExposureEnabled { get; }Property Type
| Boolean |
Config
Gets the configuration and calibration of the camera.
public CameraConfig Config { get; }Property Type
| CameraConfig |
Remarks
Camera configuration is only populated with firmware version 1.7 or greater. See CameraSettings.
ExposureMs
Gets the current camera exposure setting in milliseconds.
public uint ExposureMs { get; }Property Type
| UInt32 |
Remarks
Exposure is only populated with firmware version 1.7 or greater. See CameraSettings.
Gain
Gets the current camera gain setting.
public float Gain { get; }Property Type
| Single |
Remarks
Gain is only populated with firmware version 1.7 or greater. See CameraSettings.
IsFeedActive
Gets a value indicating whether the camera feed is active.
public bool IsFeedActive { get; }Property Type
| Boolean |
LatestImage
Gets the latest image from the camera feed.
public Image LatestImage { get; }Property Type
| Image |
Methods
| Improve this Doc View SourceCaptureHighResolutionImage()
Captures a high resolution image from the robot's camera and returns it.
public Task<Image> CaptureHighResolutionImage()Returns
| Type | Description |
|---|---|
| Task<Image> | A task that represents the asynchronous operation; the task result contains the image captured from the robot. |
Remarks
This metohd is only available with firmware version 1.7 or greater. See HighResolutionImageCapture.
CaptureSingleImage()
Request to capture a single image from the robot's camera.
This call requests the robot to capture an image and returns it. If the camera feed is active, this call returns the contents of the LatestImage property and does not request a new image from the robot.
public Task<Image> CaptureSingleImage()Returns
| Type | Description |
|---|---|
| Task<Image> | A task that represents the asynchronous operation; the task result contains the image captured from the robot. |
EnableAutoExposure()
Enable auto exposure on Vector's Camera.
Enable auto exposure on Vector's camera to constantly update the exposure time and gain values based on the recent images. This is the default mode when any SDK program starts.
public Task<StatusCode> EnableAutoExposure()Returns
| Type | Description |
|---|---|
| Task<StatusCode> | A task that represents the asynchronous operation; the task result contains the result from the robot. |
Remarks
This method is only available with firmware version 1.7 or greater. See CameraSettings.
SetManualExposure(UInt32, Single)
Set manual exposure values for Vector's Camera.
This will disable auto exposure on Vector's camera and force the specified exposure time and gain values.
See the camera Config for valid ranges for the exposure and gain parameters
public Task<StatusCode> SetManualExposure(uint exposureMs, float gain)Parameters
| Type | Name | Description |
|---|---|---|
| UInt32 | exposureMs | The exposure in milliseconds. |
| Single | gain | The gain. |
Returns
| Type | Description |
|---|---|
| Task<StatusCode> | A task that represents the asynchronous operation; the task result contains the result from the robot. |
Remarks
Requires behavior control. This method is only available with firmware version 1.7 or greater. See CameraSettings.
StartFeed()
Starts the camera feed. The feed will run in a background thread and raise the ImageReceived event for each received image. It will also update the LatestImage property.
public Task StartFeed()Returns
| Type | Description |
|---|---|
| Task | A task that represents the asynchronous operation. |
StopFeed()
Stops the camera feed.
public Task StopFeed()Returns
| Type | Description |
|---|---|
| Task | A task that represents the asynchronous operation. |
Events
| Improve this Doc View SourceImageReceived
Occurs when camera feed event.
public event EventHandler<ImageReceivedEventArgs> ImageReceivedEvent Type
| EventHandler<ImageReceivedEventArgs> |