class mrpt::hwdrivers::CImageGrabber_dc1394

Overview

A class for grabbing 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.

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

#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>

class CImageGrabber_dc1394
{
public:
    // typedefs

    typedef std::list<TCameraInfo> TCameraInfoList;

    // structs

    struct TCameraInfo;

    // construction

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

    // methods

    bool isOpen() const;
    bool changeCaptureOptions(const TCaptureOptions_dc1394& options);
    bool getObservation(mrpt::obs::CObservationImage& out_observation);
    bool getObservation(mrpt::obs::CObservationStereoImages& out_observation);
    bool setSoftwareTriggerLevel(bool level);
    static void enumerateCameras(TCameraInfoList& out_list);
};

Construction

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.

Methods

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.

Returns:

false on error

bool getObservation(mrpt::obs::CObservationImage& out_observation)

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

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.

Parameters:

out_observation

The object to be filled with sensed data.

Returns:

false on any error, true if all go fine.

bool 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.

bool 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

static void enumerateCameras(TCameraInfoList& out_list)

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

Parameters:

std::runtime_error

On any error calling libdc1394.