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.

[New in MRPT 1.3.0] Length of ring buffer is now configurable via TCaptureOptions_dc1394::ring_buffer_size

See also

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

Definition at line 124 of file CImageGrabber_dc1394.h.

#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>

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. More...
virtual	~CImageGrabber_dc1394 ()
	Destructor. More...
bool	isOpen () const
	Check whether the camera has been open successfully. More...
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. More...
bool	getObservation (mrpt::obs::CObservationImage &out_observation)
	Grab an image from the opened camera (for monocular cameras). More...
bool	getObservation (mrpt::obs::CObservationStereoImages &out_observation)
	Grab an image from the opened camera (for stereo cameras). More...
bool	setSoftwareTriggerLevel (bool level)
	Changes the boolean level associated to Software Trigger (ON/OFF) Can be used to control camera triggering trough software. More...

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. More...

Protected Attributes
bool	m_bInitialized
	Set to false if we could not initialize the camera. More...
void *	m_dc1394_lib_context
	Internal use: More...
void *	m_dc1394camera
int	m_desired_mode
TCaptureOptions_dc1394	m_options

Member Typedef Documentation

TCameraInfoList

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

Definition at line 219 of file CImageGrabber_dc1394.h.

Constructor & Destructor Documentation

CImageGrabber_dc1394()

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.

Definition at line 34 of file CImageGrabber_dc1394.cpp.

References ASSERT_, changeCaptureOptions(), mrpt::hwdrivers::TCaptureOptions_dc1394::color_coding, mrpt::format(), mrpt::hwdrivers::TCaptureOptions_dc1394::frame_height, mrpt::hwdrivers::TCaptureOptions_dc1394::frame_width, mrpt::hwdrivers::TCaptureOptions_dc1394::framerate, mrpt::hwdrivers::FRAMERATE_120, mrpt::hwdrivers::FRAMERATE_15, mrpt::hwdrivers::FRAMERATE_1_875, mrpt::hwdrivers::FRAMERATE_240, mrpt::hwdrivers::FRAMERATE_30, mrpt::hwdrivers::FRAMERATE_3_75, mrpt::hwdrivers::FRAMERATE_60, mrpt::hwdrivers::FRAMERATE_7_5, jpeg_error_mgr::i, m_bInitialized, m_dc1394_lib_context, m_dc1394camera, m_desired_mode, m_options, mrpt::hwdrivers::TCaptureOptions_dc1394::mode7, MRPT_END, MRPT_START, mrpt::hwdrivers::TCaptureOptions_dc1394::ring_buffer_size, THE_CAMERA, THE_CONTEXT, THROW_EXCEPTION, and mrpt::hwdrivers::TCaptureOptions_dc1394::trigger_power.

~CImageGrabber_dc1394()

CImageGrabber_dc1394::~CImageGrabber_dc1394 ( )

virtual

Destructor.

Definition at line 338 of file CImageGrabber_dc1394.cpp.

References m_bInitialized, THE_CAMERA, and THE_CONTEXT.

Member Function Documentation

changeCaptureOptions()

bool 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

Definition at line 534 of file CImageGrabber_dc1394.cpp.

References m_bInitialized, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by CImageGrabber_dc1394().

enumerateCameras()

void 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.

Definition at line 607 of file CImageGrabber_dc1394.cpp.

References mrpt::format(), jpeg_error_mgr::i, info, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_STACKED_EXCEPTION.

getObservation() [1/2]

bool CImageGrabber_dc1394::getObservation

(

mrpt::obs::CObservationImage &

out_observation

)

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

Parameters

out_observation

The object to be filled with sensed data.

Note

This may be blocking when using software trigger and no frame is available yet. Ensure trigger before getObservation() or take into account that this call may block.

Returns

false on any error, true if all go fine.

Definition at line 367 of file CImageGrabber_dc1394.cpp.

References mrpt::hwdrivers::TCaptureOptions_dc1394::deinterlace_stereo, mrpt::obs::CObservationImage::image, mrpt::utils::CImage::loadFromMemoryBuffer(), m_bInitialized, m_options, MRPT_END, MRPT_START, mrpt::system::now(), THE_CAMERA, THROW_EXCEPTION, and mrpt::obs::CObservation::timestamp.

Referenced by mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394::getStereoObservation().

getObservation() [2/2]

bool CImageGrabber_dc1394::getObservation

(

mrpt::obs::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.

Definition at line 464 of file CImageGrabber_dc1394.cpp.

References mrpt::hwdrivers::TCaptureOptions_dc1394::deinterlace_stereo, mrpt::obs::CObservationStereoImages::imageLeft, mrpt::obs::CObservationStereoImages::imageRight, mrpt::utils::CImage::loadFromMemoryBuffer(), m_bInitialized, m_options, MRPT_END, MRPT_START, mrpt::system::now(), THE_CAMERA, THROW_EXCEPTION, and mrpt::obs::CObservation::timestamp.

isOpen()

bool mrpt::hwdrivers::CImageGrabber_dc1394::isOpen ( ) const

inline

Check whether the camera has been open successfully.

Definition at line 157 of file CImageGrabber_dc1394.h.

Referenced by mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394::CStereoGrabber_Bumblebee_libdc1394(), and mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394::getStereoObservation().

setSoftwareTriggerLevel()

bool CImageGrabber_dc1394::setSoftwareTriggerLevel

(

bool

level

)

Changes the boolean level associated to Software Trigger (ON/OFF) Can be used to control camera triggering trough software.

Returns

false on error

Definition at line 584 of file CImageGrabber_dc1394.cpp.

References m_bInitialized, MRPT_END, MRPT_START, THE_CAMERA, and THROW_EXCEPTION.

Member Data Documentation

m_bInitialized

bool mrpt::hwdrivers::CImageGrabber_dc1394::m_bInitialized

protected

Set to false if we could not initialize the camera.

Definition at line 129 of file CImageGrabber_dc1394.h.

Referenced by changeCaptureOptions(), CImageGrabber_dc1394(), getObservation(), setSoftwareTriggerLevel(), and ~CImageGrabber_dc1394().

m_dc1394_lib_context

void* mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394_lib_context

protected

Internal use:

Definition at line 132 of file CImageGrabber_dc1394.h.

Referenced by CImageGrabber_dc1394().

m_dc1394camera

void* mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394camera

protected

Definition at line 133 of file CImageGrabber_dc1394.h.

Referenced by CImageGrabber_dc1394().

m_desired_mode

int mrpt::hwdrivers::CImageGrabber_dc1394::m_desired_mode

protected

Definition at line 134 of file CImageGrabber_dc1394.h.

Referenced by CImageGrabber_dc1394().

m_options

TCaptureOptions_dc1394 mrpt::hwdrivers::CImageGrabber_dc1394::m_options

protected

Definition at line 136 of file CImageGrabber_dc1394.h.

Referenced by CImageGrabber_dc1394(), and getObservation().