mrpt::hwdrivers::CImageGrabber_dc1394 Class Reference

---

Detailed Description

A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library.

See the constructor for the options when opening the camera. Notice that you may have to carefully set the resolution, framerate and color_mode. See the verbose parameter of the constructor, which can display a list of supported modes in your camera.

This class is able to manage any Firewire cameras, including Stereo or multi-cameras in general, so this can be used to open the Bumblebee camera (not tested yet).

A static method (CImageGrabber_dc1394::enumerateCameras) is provided to enumerate all existing cameras and their properties. It can be used to find the GUID of the desired camera, then open it at the constructor.

Note:

This class requires MRPT compiled with "libdc1394-2" (Only works under Linux for now) and "opencv".

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.

See also:

The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor

#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>

List of all members.

Classes
struct	TCameraInfo
	Used in enumerateCameras. More...
Public Types
typedef std::list< TCameraInfo >	TCameraInfoList
Public Member Functions
	CImageGrabber_dc1394 (uint64_t cameraGUID=0, uint16_t cameraUnit=0, const TCaptureOptions_dc1394 &options=TCaptureOptions_dc1394(), bool verbose=false)
	Constructor: open an ieee1394 camera.
virtual	~CImageGrabber_dc1394 ()
	Destructor.
bool	isOpen () const
	Check whether the camera has been open successfully.
bool	changeCaptureOptions (const TCaptureOptions_dc1394 &options)
	Changes the capture properties (brightness, gain, shutter, etc) The frame size, framerate, and color_coding fields in options are ignored since they can be only set at construction time.
bool	getObservation (mrpt::slam::CObservationImage &out_observation)
	Grab an image from the opened camera (for monocular cameras).
bool	getObservation (mrpt::slam::CObservationStereoImages &out_observation)
	Grab an image from the opened camera (for stereo cameras).
Static Public Member Functions
static void	enumerateCameras (TCameraInfoList &out_list)
	Generates a list with the information on all the existing (Firewire) cameras in the system.
Protected Attributes
bool	m_bInitialized
	Set to false if we could not initialize the camera.
void *	m_dc1394_lib_context
	Internal use:
void *	m_dc1394camera
int	m_desired_mode
TCaptureOptions_dc1394	m_options

---

Member Typedef Documentation

typedef std::list<TCameraInfo> mrpt::hwdrivers::CImageGrabber_dc1394::TCameraInfoList

Definition at line 209 of file CImageGrabber_dc1394.h.

---

Constructor & Destructor Documentation

mrpt::hwdrivers::CImageGrabber_dc1394::CImageGrabber_dc1394	(	uint64_t	cameraGUID = 0,
		uint16_t	cameraUnit = 0,
		const TCaptureOptions_dc1394 &	options = TCaptureOptions_dc1394(),
		bool	verbose = false
	)

Constructor: open an ieee1394 camera.

Parameters:

cameraGUID	Set the camera GUID to open, or 0 to open the first found camera.
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.
options	Capture options, defined in mrpt::hwdrivers::TCaptureOptions_dc1394.
verbose	Displays a lot of information about the camera to be open and its valid video modes.

virtual mrpt::hwdrivers::CImageGrabber_dc1394::~CImageGrabber_dc1394

(

)

[virtual]

Destructor.

---

Member Function Documentation

bool mrpt::hwdrivers::CImageGrabber_dc1394::changeCaptureOptions

(

const TCaptureOptions_dc1394 &

options

)

Changes the capture properties (brightness, gain, shutter, etc) The frame size, framerate, and color_coding fields in options are ignored since they can be only set at construction time.

Returns:

false on error

static void mrpt::hwdrivers::CImageGrabber_dc1394::enumerateCameras

(

TCameraInfoList &

out_list

)

[static]

Generates a list with the information on all the existing (Firewire) cameras in the system.

Exceptions:

std::runtime_error

On any error calling libdc1394.

bool mrpt::hwdrivers::CImageGrabber_dc1394::getObservation

(

mrpt::slam::CObservationImage &

out_observation

)

Grab an image from the opened camera (for monocular cameras).

Parameters:

out_observation

The object to be filled with sensed data.

Returns:

false on any error, true if all go fine.

bool mrpt::hwdrivers::CImageGrabber_dc1394::getObservation

(

mrpt::slam::CObservationStereoImages &

out_observation

)

Grab an image from the opened camera (for stereo cameras).

Parameters:

out_observation

The object to be filled with sensed data.

Returns:

false on any error, true if all go fine.

bool mrpt::hwdrivers::CImageGrabber_dc1394::isOpen

(

)

const [inline]

Check whether the camera has been open successfully.

Definition at line 153 of file CImageGrabber_dc1394.h.

---

Member Data Documentation

bool mrpt::hwdrivers::CImageGrabber_dc1394::m_bInitialized [protected]

Set to false if we could not initialize the camera.

Definition at line 124 of file CImageGrabber_dc1394.h.

void* mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394_lib_context [protected]

Internal use:

Definition at line 127 of file CImageGrabber_dc1394.h.

void* mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394camera [protected]

Definition at line 128 of file CImageGrabber_dc1394.h.

int mrpt::hwdrivers::CImageGrabber_dc1394::m_desired_mode [protected]

Definition at line 129 of file CImageGrabber_dc1394.h.

TCaptureOptions_dc1394 mrpt::hwdrivers::CImageGrabber_dc1394::m_options [protected]

Definition at line 132 of file CImageGrabber_dc1394.h.