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 125 of file CImageGrabber_dc1394.h.

#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>

Classes
struct	TCameraInfo
	Used in enumerateCameras. More...

Public Types
using	TCameraInfoList = std::list< TCameraInfo >

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 {false}
	Set to false if we could not initialize the camera. More...

void *	m_dc1394_lib_context {nullptr}
	Internal use: More...

void *	m_dc1394camera {nullptr}

int	m_desired_mode

TCaptureOptions_dc1394	m_options

Member Typedef Documentation

◆ TCameraInfoList

using mrpt::hwdrivers::CImageGrabber_dc1394::TCameraInfoList = std::list<TCameraInfo>

Definition at line 221 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 33 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, 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, mrpt::hwdrivers::TCaptureOptions_dc1394::trigger_power, and verbose.

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◆ ~CImageGrabber_dc1394()

CImageGrabber_dc1394::~CImageGrabber_dc1394 ( )

virtual

Destructor.

Definition at line 460 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 689 of file CImageGrabber_dc1394.cpp.

References m_bInitialized, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by CImageGrabber_dc1394().

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◆ 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 775 of file CImageGrabber_dc1394.cpp.

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◆ 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 490 of file CImageGrabber_dc1394.cpp.

References mrpt::hwdrivers::TCaptureOptions_dc1394::deinterlace_stereo, mrpt::obs::CObservationImage::image, mrpt::img::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().

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◆ 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 606 of file CImageGrabber_dc1394.cpp.

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

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◆ isOpen()

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

inline

Check whether the camera has been open successfully.

Definition at line 161 of file CImageGrabber_dc1394.h.

References m_bInitialized.

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

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◆ 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 750 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 {false}

protected

Set to false if we could not initialize the camera.

Definition at line 130 of file CImageGrabber_dc1394.h.

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

◆ m_dc1394_lib_context

void* mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394_lib_context {nullptr}

protected

Internal use:

Definition at line 133 of file CImageGrabber_dc1394.h.

Referenced by CImageGrabber_dc1394().

◆ m_dc1394camera

void* mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394camera {nullptr}

protected

Definition at line 134 of file CImageGrabber_dc1394.h.

Referenced by CImageGrabber_dc1394().

◆ m_desired_mode

int mrpt::hwdrivers::CImageGrabber_dc1394::m_desired_mode

protected

Definition at line 135 of file CImageGrabber_dc1394.h.

Referenced by CImageGrabber_dc1394().

◆ m_options

TCaptureOptions_dc1394 mrpt::hwdrivers::CImageGrabber_dc1394::m_options

protected

Definition at line 137 of file CImageGrabber_dc1394.h.

Referenced by CImageGrabber_dc1394(), and getObservation().

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Member Typedef Documentation

◆ TCameraInfoList

Constructor & Destructor Documentation

◆ CImageGrabber_dc1394()

◆ ~CImageGrabber_dc1394()

Member Function Documentation

◆ changeCaptureOptions()

◆ enumerateCameras()

◆ getObservation() [1/2]

◆ getObservation() [2/2]

◆ isOpen()

◆ setSoftwareTriggerLevel()

Member Data Documentation

◆ m_bInitialized

◆ m_dc1394_lib_context

◆ m_dc1394camera

◆ m_desired_mode

◆ m_options