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<a href="#nested-classes">Classes</a> |
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<div class="headertitle">
<h1>mrpt::hwdrivers::CImageGrabber_dc1394 Class Reference</h1> </div>
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<div class="contents">
<!-- doxytag: class="mrpt::hwdrivers::CImageGrabber_dc1394" --><hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library. </p>
<p>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.</p>
<p>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).</p>
<p>A static method (<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a3a4435392f560921ce8a5c4391f1bb12" title="Generates a list with the information on all the existing (Firewire) cameras in the system...">CImageGrabber_dc1394::enumerateCameras</a>) 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.</p>
<dl class="note"><dt><b>Note:</b></dt><dd>This class requires MRPT compiled with "libdc1394-2" (Only works under Linux for now) and "opencv". </dd>
<dd>
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. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>The most generic camera grabber in MRPT: <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_camera_sensor.html" title="The central class for camera grabbers in MRPT, implementing the "generic sensor" interface...">mrpt::hwdrivers::CCameraSensor</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_image_grabber__dc1394_8h_source.html#l00117">117</a> of file <a class="el" href="_c_image_grabber__dc1394_8h_source.html">CImageGrabber_dc1394.h</a>.</p>
<p><code>#include <<a class="el" href="_c_image_grabber__dc1394_8h_source.html">mrpt/hwdrivers/CImageGrabber_dc1394.h</a>></code></p>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html">TCameraInfo</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in enumerateCameras. <a href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#_details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::list< <a class="el" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html">TCameraInfo</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#afcc01d97eaa7b29b6a0aaea804432f0a">TCameraInfoList</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a60b8a956741e66b369a295089feedd31">CImageGrabber_dc1394</a> (uint64_t cameraGUID=0, uint16_t cameraUnit=0, const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html">TCaptureOptions_dc1394</a> &options=<a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html">TCaptureOptions_dc1394</a>(), bool verbose=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor: open an ieee1394 camera. <a href="#a60b8a956741e66b369a295089feedd31"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a151bcd0082465725b9ef86b098f56dd3">~CImageGrabber_dc1394</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a151bcd0082465725b9ef86b098f56dd3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#aec3708ba16570f558596264ecb1e92b6">isOpen</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check whether the camera has been open successfully. <a href="#aec3708ba16570f558596264ecb1e92b6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a92364309961f3bf050ea302eb7b0fcc3">changeCaptureOptions</a> (const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html">TCaptureOptions_dc1394</a> &options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#a92364309961f3bf050ea302eb7b0fcc3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a8e353b0ed5d36ef606cc584f36f7134a">getObservation</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html">mrpt::slam::CObservationImage</a> &out_observation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Grab an image from the opened camera (for monocular cameras). <a href="#a8e353b0ed5d36ef606cc584f36f7134a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#aae1c579e2315fb39d52c8b66974ac3e7">getObservation</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">mrpt::slam::CObservationStereoImages</a> &out_observation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Grab an image from the opened camera (for stereo cameras). <a href="#aae1c579e2315fb39d52c8b66974ac3e7"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a3a4435392f560921ce8a5c4391f1bb12">enumerateCameras</a> (<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#afcc01d97eaa7b29b6a0aaea804432f0a">TCameraInfoList</a> &out_list)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates a list with the information on all the existing (Firewire) cameras in the system. <a href="#a3a4435392f560921ce8a5c4391f1bb12"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#addca0dceaab8dfb48cfd18336d634d1e">m_bInitialized</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set to false if we could not initialize the camera. <a href="#addca0dceaab8dfb48cfd18336d634d1e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a76ec7e62c97d88f82ea65420cf6a9ca0">m_dc1394_lib_context</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Internal use: <a href="#a76ec7e62c97d88f82ea65420cf6a9ca0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a1cda0f0c14e5ceddc1901fb9b60186c9">m_dc1394camera</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a59b381e99ea299172a7016c2aeff8bc2">m_desired_mode</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html">TCaptureOptions_dc1394</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#ad1ca20f2f13da3803d636c2ae9e381d8">m_options</a></td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="afcc01d97eaa7b29b6a0aaea804432f0a"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::TCameraInfoList" ref="afcc01d97eaa7b29b6a0aaea804432f0a" args="" -->
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<td class="memname">typedef std::list<<a class="el" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html">TCameraInfo</a>> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#afcc01d97eaa7b29b6a0aaea804432f0a">mrpt::hwdrivers::CImageGrabber_dc1394::TCameraInfoList</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_image_grabber__dc1394_8h_source.html#l00207">207</a> of file <a class="el" href="_c_image_grabber__dc1394_8h_source.html">CImageGrabber_dc1394.h</a>.</p>
</div>
</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a60b8a956741e66b369a295089feedd31"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::CImageGrabber_dc1394" ref="a60b8a956741e66b369a295089feedd31" args="(uint64_t cameraGUID=0, uint16_t cameraUnit=0, const TCaptureOptions_dc1394 &options=TCaptureOptions_dc1394(), bool verbose=false)" -->
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<td class="memname">mrpt::hwdrivers::CImageGrabber_dc1394::CImageGrabber_dc1394 </td>
<td>(</td>
<td class="paramtype">uint64_t </td>
<td class="paramname"> <em>cameraGUID</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t </td>
<td class="paramname"> <em>cameraUnit</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html">TCaptureOptions_dc1394</a> & </td>
<td class="paramname"> <em>options</em> = <code><a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html">TCaptureOptions_dc1394</a>()</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>verbose</em> = <code>false</code> </td>
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<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<div class="memdoc">
<p>Constructor: open an ieee1394 camera. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">cameraGUID</td><td>Set the camera GUID to open, or 0 to open the first found camera. </td></tr>
<tr><td class="paramname">cameraUnit</td><td>(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. </td></tr>
<tr><td class="paramname">options</td><td>Capture options, defined in <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html" title="Options used when creating an dc1394 capture object All but the frame size, framerate, and color_coding can be changed dynamically by CImageGrabber_dc1394::changeCaptureOptions.">mrpt::hwdrivers::TCaptureOptions_dc1394</a>. </td></tr>
<tr><td class="paramname">verbose</td><td>Displays a lot of information about the camera to be open and its valid video modes. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a151bcd0082465725b9ef86b098f56dd3"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::~CImageGrabber_dc1394" ref="a151bcd0082465725b9ef86b098f56dd3" args="()" -->
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<td class="memname">virtual mrpt::hwdrivers::CImageGrabber_dc1394::~CImageGrabber_dc1394 </td>
<td>(</td>
<td class="paramname"> )</td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a92364309961f3bf050ea302eb7b0fcc3"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::changeCaptureOptions" ref="a92364309961f3bf050ea302eb7b0fcc3" args="(const TCaptureOptions_dc1394 &options)" -->
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<td class="memname">bool mrpt::hwdrivers::CImageGrabber_dc1394::changeCaptureOptions </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html">TCaptureOptions_dc1394</a> & </td>
<td class="paramname"> <em>options</em> )</td>
<td></td>
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<p>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. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on error </dd></dl>
</div>
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<a class="anchor" id="a3a4435392f560921ce8a5c4391f1bb12"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::enumerateCameras" ref="a3a4435392f560921ce8a5c4391f1bb12" args="(TCameraInfoList &out_list)" -->
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<td class="memname">static void mrpt::hwdrivers::CImageGrabber_dc1394::enumerateCameras </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#afcc01d97eaa7b29b6a0aaea804432f0a">TCameraInfoList</a> & </td>
<td class="paramname"> <em>out_list</em> )</td>
<td><code> [static]</code></td>
</tr>
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<p>Generates a list with the information on all the existing (Firewire) cameras in the system. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">std::runtime_error</td><td>On any error calling libdc1394. </td></tr>
</table>
</dd>
</dl>
</div>
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<a class="anchor" id="aae1c579e2315fb39d52c8b66974ac3e7"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::getObservation" ref="aae1c579e2315fb39d52c8b66974ac3e7" args="(mrpt::slam::CObservationStereoImages &out_observation)" -->
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<td class="memname">bool mrpt::hwdrivers::CImageGrabber_dc1394::getObservation </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">mrpt::slam::CObservationStereoImages</a> & </td>
<td class="paramname"> <em>out_observation</em> )</td>
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<p>Grab an image from the opened camera (for stereo cameras). </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_observation</td><td>The object to be filled with sensed data.</td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on any error, true if all go fine. </dd></dl>
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<a class="anchor" id="a8e353b0ed5d36ef606cc584f36f7134a"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::getObservation" ref="a8e353b0ed5d36ef606cc584f36f7134a" args="(mrpt::slam::CObservationImage &out_observation)" -->
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<td class="memname">bool mrpt::hwdrivers::CImageGrabber_dc1394::getObservation </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html">mrpt::slam::CObservationImage</a> & </td>
<td class="paramname"> <em>out_observation</em> )</td>
<td></td>
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<p>Grab an image from the opened camera (for monocular cameras). </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_observation</td><td>The object to be filled with sensed data.</td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on any error, true if all go fine. </dd></dl>
</div>
</div>
<a class="anchor" id="aec3708ba16570f558596264ecb1e92b6"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::isOpen" ref="aec3708ba16570f558596264ecb1e92b6" args="() const " -->
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<td class="memname">bool mrpt::hwdrivers::CImageGrabber_dc1394::isOpen </td>
<td>(</td>
<td class="paramname"> )</td>
<td> const<code> [inline]</code></td>
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<p>Check whether the camera has been open successfully. </p>
<p>Definition at line <a class="el" href="_c_image_grabber__dc1394_8h_source.html#l00151">151</a> of file <a class="el" href="_c_image_grabber__dc1394_8h_source.html">CImageGrabber_dc1394.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="addca0dceaab8dfb48cfd18336d634d1e"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::m_bInitialized" ref="addca0dceaab8dfb48cfd18336d634d1e" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#addca0dceaab8dfb48cfd18336d634d1e">mrpt::hwdrivers::CImageGrabber_dc1394::m_bInitialized</a><code> [protected]</code></td>
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<p>Set to false if we could not initialize the camera. </p>
<p>Definition at line <a class="el" href="_c_image_grabber__dc1394_8h_source.html#l00122">122</a> of file <a class="el" href="_c_image_grabber__dc1394_8h_source.html">CImageGrabber_dc1394.h</a>.</p>
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<a class="anchor" id="a76ec7e62c97d88f82ea65420cf6a9ca0"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394_lib_context" ref="a76ec7e62c97d88f82ea65420cf6a9ca0" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a76ec7e62c97d88f82ea65420cf6a9ca0">mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394_lib_context</a><code> [protected]</code></td>
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<p>Internal use: </p>
<p>Definition at line <a class="el" href="_c_image_grabber__dc1394_8h_source.html#l00125">125</a> of file <a class="el" href="_c_image_grabber__dc1394_8h_source.html">CImageGrabber_dc1394.h</a>.</p>
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<a class="anchor" id="a1cda0f0c14e5ceddc1901fb9b60186c9"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394camera" ref="a1cda0f0c14e5ceddc1901fb9b60186c9" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a1cda0f0c14e5ceddc1901fb9b60186c9">mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394camera</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_image_grabber__dc1394_8h_source.html#l00126">126</a> of file <a class="el" href="_c_image_grabber__dc1394_8h_source.html">CImageGrabber_dc1394.h</a>.</p>
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<a class="anchor" id="a59b381e99ea299172a7016c2aeff8bc2"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::m_desired_mode" ref="a59b381e99ea299172a7016c2aeff8bc2" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a59b381e99ea299172a7016c2aeff8bc2">mrpt::hwdrivers::CImageGrabber_dc1394::m_desired_mode</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_image_grabber__dc1394_8h_source.html#l00127">127</a> of file <a class="el" href="_c_image_grabber__dc1394_8h_source.html">CImageGrabber_dc1394.h</a>.</p>
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<a class="anchor" id="ad1ca20f2f13da3803d636c2ae9e381d8"></a><!-- doxytag: member="mrpt::hwdrivers::CImageGrabber_dc1394::m_options" ref="ad1ca20f2f13da3803d636c2ae9e381d8" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html">TCaptureOptions_dc1394</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#ad1ca20f2f13da3803d636c2ae9e381d8">mrpt::hwdrivers::CImageGrabber_dc1394::m_options</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_image_grabber__dc1394_8h_source.html#l00130">130</a> of file <a class="el" href="_c_image_grabber__dc1394_8h_source.html">CImageGrabber_dc1394.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.2</a> for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
