00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CCImageGrabber_dc1394 00029 #define CCImageGrabber_dc1394 00030 00031 #include <mrpt/config.h> 00032 00033 #include <mrpt/slam/CObservationImage.h> 00034 #include <mrpt/slam/CObservationStereoImages.h> 00035 00036 #include <mrpt/hwdrivers/link_pragmas.h> 00037 00038 namespace mrpt 00039 { 00040 namespace hwdrivers 00041 { 00042 00043 typedef enum { 00044 FRAMERATE_1_875= 32, 00045 FRAMERATE_3_75, 00046 FRAMERATE_7_5, 00047 FRAMERATE_15, 00048 FRAMERATE_30, 00049 FRAMERATE_60, 00050 FRAMERATE_120, 00051 FRAMERATE_240 00052 } grabber_dc1394_framerate_t; 00053 00054 typedef enum { 00055 COLOR_CODING_MONO8= 352, 00056 COLOR_CODING_YUV411, 00057 COLOR_CODING_YUV422, 00058 COLOR_CODING_YUV444, 00059 COLOR_CODING_RGB8, 00060 COLOR_CODING_MONO16 00061 } grabber_dc1394_color_coding_t; 00062 00063 00064 /** Options used when creating an dc1394 capture object 00065 * All but the frame size, framerate, and color_coding can be changed dynamically by CImageGrabber_dc1394::changeCaptureOptions 00066 * \sa CImageGrabber_dc1394 00067 * \ingroup mrpt_hwdrivers_grp 00068 */ 00069 struct TCaptureOptions_dc1394 00070 { 00071 TCaptureOptions_dc1394() : 00072 frame_width (640), 00073 frame_height (480), 00074 framerate (FRAMERATE_15), 00075 color_coding (COLOR_CODING_YUV422), 00076 mode7 (-1), 00077 shutter (-1), 00078 gain (-1), 00079 gamma (-1), 00080 brightness (-1), 00081 exposure (-1), 00082 sharpness (-1), 00083 white_balance (-1), 00084 deinterlace_stereo(false) 00085 {} 00086 00087 int frame_width,frame_height; //!< Capture resolution (Default: 640x480) 00088 grabber_dc1394_framerate_t framerate; 00089 grabber_dc1394_color_coding_t color_coding; 00090 00091 int mode7; //!< -1: Normal mode, i>=0: use MODE7_i, then frame_width/height and color_coding are ignored. 00092 00093 int shutter; //!< Shutter, -1=default:Do not change 00094 int gain; //!< Gain, -1=default:Do not change 00095 int gamma; //!< Gamma, -1=default:Do not change 00096 int brightness; //!< Brightness, -1=default:Do not change 00097 int exposure; //!< Exposure, -1=default:Do not change 00098 int sharpness; //!< Sharpness, -1=default:Do not change 00099 int white_balance; //!< White balance, -1=default:Do not change 00100 bool deinterlace_stereo; //!< For stereo cameras (eg PR Bumblebee) 00101 }; 00102 00103 /** A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library. 00104 * See the constructor for the options when opening the camera. Notice that you may have 00105 * to carefully set the resolution, framerate and color_mode. See the verbose parameter of 00106 * the constructor, which can display a list of supported modes in your camera. 00107 * 00108 * This class is able to manage any Firewire cameras, including Stereo or multi-cameras in general, 00109 * so this can be used to open the Bumblebee camera (not tested yet). 00110 * 00111 * A static method (CImageGrabber_dc1394::enumerateCameras) is provided to enumerate all existing cameras and their properties. It can be used 00112 * to find the GUID of the desired camera, then open it at the constructor. 00113 * 00114 * \note This class requires MRPT compiled with "libdc1394-2" (Only works under Linux for now) and "opencv". 00115 * \note In Linux you may need to execute "chmod 666 /dev/video1394/ * " and "chmod 666 /dev/raw1394" for allowing any user R/W access to firewire cameras. 00116 * \sa The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor 00117 * \ingroup mrpt_hwdrivers_grp 00118 */ 00119 class HWDRIVERS_IMPEXP CImageGrabber_dc1394 00120 { 00121 protected: 00122 /** Set to false if we could not initialize the camera. 00123 */ 00124 bool m_bInitialized; 00125 00126 /** Internal use: */ 00127 void /* dc1394_t * */ *m_dc1394_lib_context; 00128 void /* dc1394camera_t* */ *m_dc1394camera; 00129 int m_desired_mode; 00130 00131 00132 TCaptureOptions_dc1394 m_options; 00133 00134 public: 00135 /** Constructor: open an ieee1394 camera. 00136 * \param cameraGUID Set the camera GUID to open, or 0 to open the first found camera. 00137 * \param cameraUnit (Ignored if cameraGUID=0). The number of camera to open within the device with the given GUID: In a stereo camera this may be 0 or 1. Normally this is 0. 00138 * \param options Capture options, defined in mrpt::hwdrivers::TCaptureOptions_dc1394. 00139 * \param verbose Displays a lot of information about the camera to be open and its valid video modes. 00140 */ 00141 CImageGrabber_dc1394( 00142 uint64_t cameraGUID = 0, 00143 uint16_t cameraUnit = 0, 00144 const TCaptureOptions_dc1394 &options = TCaptureOptions_dc1394(), 00145 bool verbose = false 00146 ); 00147 00148 /** Destructor 00149 */ 00150 virtual ~CImageGrabber_dc1394( ); 00151 00152 /** Check whether the camera has been open successfully. */ 00153 bool isOpen() const 00154 { 00155 return m_bInitialized; 00156 } 00157 00158 /** Changes the capture properties (brightness, gain, shutter, etc) 00159 * The frame size, framerate, and color_coding fields in options are ignored since they can be only set at construction time. 00160 * \return false on error 00161 */ 00162 bool changeCaptureOptions( const TCaptureOptions_dc1394 &options ); 00163 00164 00165 /** Grab an image from the opened camera (for monocular cameras). 00166 * \param out_observation The object to be filled with sensed data. 00167 * 00168 * \return false on any error, true if all go fine. 00169 */ 00170 bool getObservation( mrpt::slam::CObservationImage &out_observation); 00171 00172 /** Grab an image from the opened camera (for stereo cameras). 00173 * \param out_observation The object to be filled with sensed data. 00174 * 00175 * \return false on any error, true if all go fine. 00176 */ 00177 bool getObservation( mrpt::slam::CObservationStereoImages &out_observation); 00178 00179 /** Used in enumerateCameras */ 00180 struct TCameraInfo 00181 { 00182 uint64_t guid; 00183 int unit; 00184 uint32_t unit_spec_ID; 00185 uint32_t unit_sw_version; 00186 uint32_t unit_sub_sw_version; 00187 uint32_t command_registers_base; 00188 uint32_t unit_directory; 00189 uint32_t unit_dependent_directory; 00190 uint64_t advanced_features_csr; 00191 uint64_t PIO_control_csr; 00192 uint64_t SIO_control_csr; 00193 uint64_t strobe_control_csr; 00194 uint64_t format7_csr[16]; 00195 int iidc_version; 00196 std::string vendor; 00197 std::string model; 00198 uint32_t vendor_id; 00199 uint32_t model_id; 00200 bool bmode_capable; 00201 bool one_shot_capable; 00202 bool multi_shot_capable; 00203 bool can_switch_on_off; 00204 bool has_vmode_error_status; 00205 bool has_feature_error_status; 00206 int max_mem_channel; 00207 }; 00208 00209 typedef std::list<TCameraInfo> TCameraInfoList; 00210 00211 /** Generates a list with the information on all the existing (Firewire) cameras in the system. 00212 * \exception std::runtime_error On any error calling libdc1394. 00213 */ 00214 static void enumerateCameras( TCameraInfoList &out_list ); 00215 00216 00217 }; // End of class 00218 00219 } // End of NS 00220 } // End of NS 00221 00222 00223 #endif
| Page generated by Doxygen 1.7.5 for MRPT 0.9.5 SVN: at Thu Oct 13 21:25:36 UTC 2011 |