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mrpt::vision::CImageGrabber_dc1394 Class Reference

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

#include <mrpt/vision/CImageGrabber_dc1394.h>

List of all members.

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 succesfully.
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.

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


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).

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.

Definition at line 109 of file CImageGrabber_dc1394.h.


Constructor & Destructor Documentation

mrpt::vision::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::vision::TCaptureOptions_dc1394.
verbose Displays a lot of information about the camera to be open and its valid video modes.

virtual mrpt::vision::CImageGrabber_dc1394::~CImageGrabber_dc1394 (  )  [virtual]

Destructor.


Member Function Documentation

bool mrpt::vision::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

bool mrpt::vision::CImageGrabber_dc1394::getObservation ( mrpt::slam::CObservationImage out_observation  ) 

Grab an image from the opened camera.

Parameters:
out_observation The object to be filled with sensed data.
Returns:
false on any error, true if all go fine.

bool mrpt::vision::CImageGrabber_dc1394::isOpen (  )  const [inline]

Check whether the camera has been open succesfully.

Definition at line 143 of file CImageGrabber_dc1394.h.


Member Data Documentation

Set to false if we could not initialize the camera.

Definition at line 114 of file CImageGrabber_dc1394.h.

Internal use:.

Definition at line 117 of file CImageGrabber_dc1394.h.

Definition at line 118 of file CImageGrabber_dc1394.h.

Definition at line 119 of file CImageGrabber_dc1394.h.

Definition at line 122 of file CImageGrabber_dc1394.h.




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