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<div class="title">CImageGrabber_dc1394.h</div> </div>
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<a href="_c_image_grabber__dc1394_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CCImageGrabber_dc1394</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CCImageGrabber_dc1394</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <mrpt/config.h></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_observation_image_8h.html">mrpt/slam/CObservationImage.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_observation_stereo_images_8h.html">mrpt/slam/CObservationStereoImages.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="hwdrivers_2include_2mrpt_2hwdrivers_2link__pragmas_8h.html">mrpt/hwdrivers/link_pragmas.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">namespace </span>hwdrivers
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042
<a name="l00043"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9">00043</a> <span class="keyword">typedef</span> <span class="keyword">enum</span> {
<a name="l00044"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9ad57f938c1751083ae91c509a90ff48a4">00044</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9ad57f938c1751083ae91c509a90ff48a4">FRAMERATE_1_875</a>= 32,
<a name="l00045"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9a538ecb48b981895a295c6dc3e28d767d">00045</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9a538ecb48b981895a295c6dc3e28d767d">FRAMERATE_3_75</a>,
<a name="l00046"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9a802c62f67639fcfadc9b2af177804d8f">00046</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9a802c62f67639fcfadc9b2af177804d8f">FRAMERATE_7_5</a>,
<a name="l00047"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9ac3f1127e194f21418a0cf3f854149501">00047</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9ac3f1127e194f21418a0cf3f854149501">FRAMERATE_15</a>,
<a name="l00048"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9ae57f1d3a0a684bac755280a7058be9f8">00048</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9ae57f1d3a0a684bac755280a7058be9f8">FRAMERATE_30</a>,
<a name="l00049"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9a3f4d62e2916094bf1573d8de79feda70">00049</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9a3f4d62e2916094bf1573d8de79feda70">FRAMERATE_60</a>,
<a name="l00050"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9a4fc33c198cd3bf4b7a4adb3540010dcd">00050</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9a4fc33c198cd3bf4b7a4adb3540010dcd">FRAMERATE_120</a>,
<a name="l00051"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9a5a8438fcb6fe52ad21137b8658a46a4a">00051</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9a5a8438fcb6fe52ad21137b8658a46a4a">FRAMERATE_240</a>
<a name="l00052"></a>00052 } <a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9">grabber_dc1394_framerate_t</a>;
<a name="l00053"></a>00053
<a name="l00054"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396ec">00054</a> <span class="keyword">typedef</span> <span class="keyword">enum</span> {
<a name="l00055"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396eca0daf7d9ee1ee217fbebd4503e0e76ea9">00055</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396eca0daf7d9ee1ee217fbebd4503e0e76ea9">COLOR_CODING_MONO8</a>= 352,
<a name="l00056"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396ecaa8950f4f4fdae4f7986612572ba44d84">00056</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396ecaa8950f4f4fdae4f7986612572ba44d84">COLOR_CODING_YUV411</a>,
<a name="l00057"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396eca862379c4d647e92a841940ec02f9f02c">00057</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396eca862379c4d647e92a841940ec02f9f02c">COLOR_CODING_YUV422</a>,
<a name="l00058"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396eca496ecb390aaf4c5fb86f7dfe8b297535">00058</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396eca496ecb390aaf4c5fb86f7dfe8b297535">COLOR_CODING_YUV444</a>,
<a name="l00059"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396ecaff75a028a0cf342d9c6c9361d5992799">00059</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396ecaff75a028a0cf342d9c6c9361d5992799">COLOR_CODING_RGB8</a>,
<a name="l00060"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396eca73d770fd2a72b693cd4a416c5992e441">00060</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396eca73d770fd2a72b693cd4a416c5992e441">COLOR_CODING_MONO16</a>
<a name="l00061"></a>00061 } <a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396ec">grabber_dc1394_color_coding_t</a>;
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Options used when creating an dc1394 capture object</span>
<a name="l00065"></a>00065 <span class="comment"> * All but the frame size, framerate, and color_coding can be changed dynamically by CImageGrabber_dc1394::changeCaptureOptions</span>
<a name="l00066"></a>00066 <span class="comment"> * \sa CImageGrabber_dc1394</span>
<a name="l00067"></a>00067 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a>00069 <span class="keyword">struct </span>TCaptureOptions_dc1394
<a name="l00070"></a>00070 {
<a name="l00071"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a6dacea9c1bc60e13d1d8977d0ec9ab11">00071</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a6dacea9c1bc60e13d1d8977d0ec9ab11">TCaptureOptions_dc1394</a>() :
<a name="l00072"></a>00072 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a46fe577571ae9dd135fe1120b6eeab1f">frame_width</a> (640),
<a name="l00073"></a>00073 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a06f5152a4c94cff569535e5e6d2a306a" title="Capture resolution (Default: 640x480)">frame_height</a> (480),
<a name="l00074"></a>00074 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a6855a2d0918b677016d79a35dd13f49e">framerate</a> (<a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9ac3f1127e194f21418a0cf3f854149501">FRAMERATE_15</a>),
<a name="l00075"></a>00075 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#acde36ab04f0226fd3aceb6a5dc40a861">color_coding</a> (<a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396eca862379c4d647e92a841940ec02f9f02c">COLOR_CODING_YUV422</a>),
<a name="l00076"></a>00076 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a1027496df00d52b980aa5ae5d2e366ab">mode7</a> (-1),
<a name="l00077"></a>00077 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a8a7b570ab4229f5445f5190eb409e5b9" title="Shutter, -1=default:Do not change.">shutter</a> (-1),
<a name="l00078"></a>00078 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a21d0f8c8532497972e676709d3f2595c" title="Gain, -1=default:Do not change.">gain</a> (-1),
<a name="l00079"></a>00079 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#afd36e22d7e69cae72651283ecc9da13d" title="Gamma, -1=default:Do not change.">gamma</a> (-1),
<a name="l00080"></a>00080 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a0a2139c606edc1171485c353f63aff73" title="Brightness, -1=default:Do not change.">brightness</a> (-1),
<a name="l00081"></a>00081 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a6529f6bc0c7b21e0b82830a822a24359" title="Exposure, -1=default:Do not change.">exposure</a> (-1),
<a name="l00082"></a>00082 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a1be750deec38ebca3f3f900c58b7c405" title="Sharpness, -1=default:Do not change.">sharpness</a> (-1),
<a name="l00083"></a>00083 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a557a103036a1c35e4dcbecdd9644f607" title="White balance, -1=default:Do not change.">white_balance</a> (-1),
<a name="l00084"></a>00084 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a0e7387a05fdc5e4de60f046f0817d24a" title="For stereo cameras (eg PR Bumblebee)">deinterlace_stereo</a>(false)
<a name="l00085"></a>00085 {}
<a name="l00086"></a>00086
<a name="l00087"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a46fe577571ae9dd135fe1120b6eeab1f">00087</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a46fe577571ae9dd135fe1120b6eeab1f">frame_width</a>,<a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a06f5152a4c94cff569535e5e6d2a306a" title="Capture resolution (Default: 640x480)">frame_height</a>; <span class="comment">//!< Capture resolution (Default: 640x480)</span>
<a name="l00088"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a6855a2d0918b677016d79a35dd13f49e">00088</a> <span class="comment"></span> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a839282acf7e3f4fa265862a886f50ee9">grabber_dc1394_framerate_t</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a6855a2d0918b677016d79a35dd13f49e">framerate</a>;
<a name="l00089"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#acde36ab04f0226fd3aceb6a5dc40a861">00089</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#af504c946cd40eb9ae8464294429396ec">grabber_dc1394_color_coding_t</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#acde36ab04f0226fd3aceb6a5dc40a861">color_coding</a>;
<a name="l00090"></a>00090
<a name="l00091"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a1027496df00d52b980aa5ae5d2e366ab">00091</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a1027496df00d52b980aa5ae5d2e366ab">mode7</a>; <span class="comment">//!< -1: Normal mode, i>=0: use MODE7_i, then frame_width/height and color_coding are ignored.</span>
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a8a7b570ab4229f5445f5190eb409e5b9">00093</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a8a7b570ab4229f5445f5190eb409e5b9" title="Shutter, -1=default:Do not change.">shutter</a>; <span class="comment">//!< Shutter, -1=default:Do not change</span>
<a name="l00094"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a21d0f8c8532497972e676709d3f2595c">00094</a> <span class="comment"></span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a21d0f8c8532497972e676709d3f2595c" title="Gain, -1=default:Do not change.">gain</a>; <span class="comment">//!< Gain, -1=default:Do not change</span>
<a name="l00095"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#afd36e22d7e69cae72651283ecc9da13d">00095</a> <span class="comment"></span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#afd36e22d7e69cae72651283ecc9da13d" title="Gamma, -1=default:Do not change.">gamma</a>; <span class="comment">//!< Gamma, -1=default:Do not change</span>
<a name="l00096"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a0a2139c606edc1171485c353f63aff73">00096</a> <span class="comment"></span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a0a2139c606edc1171485c353f63aff73" title="Brightness, -1=default:Do not change.">brightness</a>; <span class="comment">//!< Brightness, -1=default:Do not change</span>
<a name="l00097"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a6529f6bc0c7b21e0b82830a822a24359">00097</a> <span class="comment"></span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a6529f6bc0c7b21e0b82830a822a24359" title="Exposure, -1=default:Do not change.">exposure</a>; <span class="comment">//!< Exposure, -1=default:Do not change</span>
<a name="l00098"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a1be750deec38ebca3f3f900c58b7c405">00098</a> <span class="comment"></span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a1be750deec38ebca3f3f900c58b7c405" title="Sharpness, -1=default:Do not change.">sharpness</a>; <span class="comment">//!< Sharpness, -1=default:Do not change</span>
<a name="l00099"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a557a103036a1c35e4dcbecdd9644f607">00099</a> <span class="comment"></span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a557a103036a1c35e4dcbecdd9644f607" title="White balance, -1=default:Do not change.">white_balance</a>; <span class="comment">//!< White balance, -1=default:Do not change</span>
<a name="l00100"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a0e7387a05fdc5e4de60f046f0817d24a">00100</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__dc1394.html#a0e7387a05fdc5e4de60f046f0817d24a" title="For stereo cameras (eg PR Bumblebee)">deinterlace_stereo</a>; <span class="comment">//!< For stereo cameras (eg PR Bumblebee)</span>
<a name="l00101"></a>00101 <span class="comment"></span> };
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library.</span>
<a name="l00104"></a>00104 <span class="comment"> * See the constructor for the options when opening the camera. Notice that you may have</span>
<a name="l00105"></a>00105 <span class="comment"> * to carefully set the resolution, framerate and color_mode. See the verbose parameter of</span>
<a name="l00106"></a>00106 <span class="comment"> * the constructor, which can display a list of supported modes in your camera.</span>
<a name="l00107"></a>00107 <span class="comment"> *</span>
<a name="l00108"></a>00108 <span class="comment"> * This class is able to manage any Firewire cameras, including Stereo or multi-cameras in general,</span>
<a name="l00109"></a>00109 <span class="comment"> * so this can be used to open the Bumblebee camera (not tested yet).</span>
<a name="l00110"></a>00110 <span class="comment"> *</span>
<a name="l00111"></a>00111 <span class="comment"> * A static method (CImageGrabber_dc1394::enumerateCameras) is provided to enumerate all existing cameras and their properties. It can be used</span>
<a name="l00112"></a>00112 <span class="comment"> * to find the GUID of the desired camera, then open it at the constructor.</span>
<a name="l00113"></a>00113 <span class="comment"> *</span>
<a name="l00114"></a>00114 <span class="comment"> * \note This class requires MRPT compiled with "libdc1394-2" (Only works under Linux for now) and "opencv".</span>
<a name="l00115"></a>00115 <span class="comment"> * \note 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.</span>
<a name="l00116"></a>00116 <span class="comment"> * \sa The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor</span>
<a name="l00117"></a>00117 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a>00119 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html" title="A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library...">CImageGrabber_dc1394</a>
<a name="l00120"></a>00120 {
<a name="l00121"></a>00121 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment"> /** Set to false if we could not initialize the camera.</span>
<a name="l00123"></a>00123 <span class="comment"> */</span>
<a name="l00124"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#addca0dceaab8dfb48cfd18336d634d1e">00124</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#addca0dceaab8dfb48cfd18336d634d1e" title="Set to false if we could not initialize the camera.">m_bInitialized</a>;
<a name="l00125"></a>00125 <span class="comment"></span>
<a name="l00126"></a>00126 <span class="comment"> /** Internal use: */</span>
<a name="l00127"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a76ec7e62c97d88f82ea65420cf6a9ca0">00127</a> <span class="keywordtype">void</span> <span class="comment">/* dc1394_t * */</span> *<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a76ec7e62c97d88f82ea65420cf6a9ca0" title="Internal use:">m_dc1394_lib_context</a>;
<a name="l00128"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a1cda0f0c14e5ceddc1901fb9b60186c9">00128</a> <span class="keywordtype">void</span> <span class="comment">/* dc1394camera_t* */</span> *<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a1cda0f0c14e5ceddc1901fb9b60186c9">m_dc1394camera</a>;
<a name="l00129"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a59b381e99ea299172a7016c2aeff8bc2">00129</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#a59b381e99ea299172a7016c2aeff8bc2">m_desired_mode</a>;
<a name="l00130"></a>00130
<a name="l00131"></a>00131
<a name="l00132"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#ad1ca20f2f13da3803d636c2ae9e381d8">00132</a> <a class="code" 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.">TCaptureOptions_dc1394</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#ad1ca20f2f13da3803d636c2ae9e381d8">m_options</a>;
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment"> /** Constructor: open an ieee1394 camera.</span>
<a name="l00136"></a>00136 <span class="comment"> * \param cameraGUID Set the camera GUID to open, or 0 to open the first found camera.</span>
<a name="l00137"></a>00137 <span class="comment"> * \param 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.</span>
<a name="l00138"></a>00138 <span class="comment"> * \param options Capture options, defined in mrpt::hwdrivers::TCaptureOptions_dc1394.</span>
<a name="l00139"></a>00139 <span class="comment"> * \param verbose Displays a lot of information about the camera to be open and its valid video modes.</span>
<a name="l00140"></a>00140 <span class="comment"> */</span>
<a name="l00141"></a>00141 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html" title="A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library...">CImageGrabber_dc1394</a>(
<a name="l00142"></a>00142 uint64_t cameraGUID = 0,
<a name="l00143"></a>00143 uint16_t cameraUnit = 0,
<a name="l00144"></a>00144 <span class="keyword">const</span> <a class="code" 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.">TCaptureOptions_dc1394</a> &options = <a class="code" 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.">TCaptureOptions_dc1394</a>(),
<a name="l00145"></a>00145 <span class="keywordtype">bool</span> verbose = <span class="keyword">false</span>
<a name="l00146"></a>00146 );
<a name="l00147"></a>00147 <span class="comment"></span>
<a name="l00148"></a>00148 <span class="comment"> /** Destructor</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a>00150 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html" title="A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library...">CImageGrabber_dc1394</a>( );
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** Check whether the camera has been open successfully. */</span>
<a name="l00153"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#aec3708ba16570f558596264ecb1e92b6">00153</a> <span class="keywordtype">bool</span> isOpen()<span class="keyword"> const</span>
<a name="l00154"></a>00154 <span class="keyword"> </span>{
<a name="l00155"></a>00155 <span class="keywordflow">return</span> m_bInitialized;
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157 <span class="comment"></span>
<a name="l00158"></a>00158 <span class="comment"> /** Changes the capture properties (brightness, gain, shutter, etc)</span>
<a name="l00159"></a>00159 <span class="comment"> * The frame size, framerate, and color_coding fields in options are ignored since they can be only set at construction time.</span>
<a name="l00160"></a>00160 <span class="comment"> * \return false on error</span>
<a name="l00161"></a>00161 <span class="comment"> */</span>
<a name="l00162"></a>00162 <span class="keywordtype">bool</span> changeCaptureOptions( <span class="keyword">const</span> <a class="code" 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.">TCaptureOptions_dc1394</a> &options );
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment"> /** Grab an image from the opened camera (for monocular cameras).</span>
<a name="l00166"></a>00166 <span class="comment"> * \param out_observation The object to be filled with sensed data.</span>
<a name="l00167"></a>00167 <span class="comment"> *</span>
<a name="l00168"></a>00168 <span class="comment"> * \return false on any error, true if all go fine.</span>
<a name="l00169"></a>00169 <span class="comment"> */</span>
<a name="l00170"></a>00170 <span class="keywordtype">bool</span> getObservation( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_image.html" title="Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.">mrpt::slam::CObservationImage</a> &out_observation);
<a name="l00171"></a>00171 <span class="comment"></span>
<a name="l00172"></a>00172 <span class="comment"> /** Grab an image from the opened camera (for stereo cameras).</span>
<a name="l00173"></a>00173 <span class="comment"> * \param out_observation The object to be filled with sensed data.</span>
<a name="l00174"></a>00174 <span class="comment"> *</span>
<a name="l00175"></a>00175 <span class="comment"> * \return false on any error, true if all go fine.</span>
<a name="l00176"></a>00176 <span class="comment"> */</span>
<a name="l00177"></a>00177 <span class="keywordtype">bool</span> getObservation( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html" title="Observation class for either a pair of left+right or left+disparity images from a stereo camera...">mrpt::slam::CObservationStereoImages</a> &out_observation);
<a name="l00178"></a>00178 <span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment"> /** Used in enumerateCameras */</span>
<a name="l00180"></a>00180 <span class="keyword">struct </span>TCameraInfo
<a name="l00181"></a>00181 {
<a name="l00182"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#afd1d98f3c6785cf7d98964973e14c6cb">00182</a> uint64_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#afd1d98f3c6785cf7d98964973e14c6cb">guid</a>;
<a name="l00183"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a958b7741d1afbe33543321b7c3ac177f">00183</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a958b7741d1afbe33543321b7c3ac177f">unit</a>;
<a name="l00184"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a1d0e97bec66812e44f686f230b2bb7af">00184</a> uint32_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a1d0e97bec66812e44f686f230b2bb7af">unit_spec_ID</a>;
<a name="l00185"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a2c8d8f62206b8cb7df29683ee24ca72c">00185</a> uint32_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a2c8d8f62206b8cb7df29683ee24ca72c">unit_sw_version</a>;
<a name="l00186"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a3eb68b3c03bbe48424365f471037d5c5">00186</a> uint32_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a3eb68b3c03bbe48424365f471037d5c5">unit_sub_sw_version</a>;
<a name="l00187"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#aefa7df1a42a69cd851ea6a8ac698595f">00187</a> uint32_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#aefa7df1a42a69cd851ea6a8ac698595f">command_registers_base</a>;
<a name="l00188"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#af2b7b4a0e471116c5238d055d4ac6040">00188</a> uint32_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#af2b7b4a0e471116c5238d055d4ac6040">unit_directory</a>;
<a name="l00189"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a3f63fe9404e04ff57c9b683871e50646">00189</a> uint32_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a3f63fe9404e04ff57c9b683871e50646">unit_dependent_directory</a>;
<a name="l00190"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#abc8fee131f7c6f889459a573421c1374">00190</a> uint64_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#abc8fee131f7c6f889459a573421c1374">advanced_features_csr</a>;
<a name="l00191"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a5e9fffc41ff750571860685df584d2de">00191</a> uint64_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a5e9fffc41ff750571860685df584d2de">PIO_control_csr</a>;
<a name="l00192"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#ac276bc2aeb6af8ccd1293692142ea6f9">00192</a> uint64_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#ac276bc2aeb6af8ccd1293692142ea6f9">SIO_control_csr</a>;
<a name="l00193"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a3650478138b15cad06c9045461f09f96">00193</a> uint64_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a3650478138b15cad06c9045461f09f96">strobe_control_csr</a>;
<a name="l00194"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#ad8c1d8d6dac30d95861a09c46804f333">00194</a> uint64_t format7_csr[16];
<a name="l00195"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a8fba27f5596fc3ebb720e038a429f537">00195</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a8fba27f5596fc3ebb720e038a429f537">iidc_version</a>;
<a name="l00196"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a3ba89611256109fdfd24cda3613257b7">00196</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a3ba89611256109fdfd24cda3613257b7">vendor</a>;
<a name="l00197"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a818bb3dc03e4264e26373b4394912fd2">00197</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a818bb3dc03e4264e26373b4394912fd2">model</a>;
<a name="l00198"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a53481def5c83050b8191e875bdb27a70">00198</a> uint32_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a53481def5c83050b8191e875bdb27a70">vendor_id</a>;
<a name="l00199"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#ac19b4d0e8050826d67053e0db292c75b">00199</a> uint32_t <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#ac19b4d0e8050826d67053e0db292c75b">model_id</a>;
<a name="l00200"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#adcb735f1a7fa189d234a6ede9c1f4721">00200</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#adcb735f1a7fa189d234a6ede9c1f4721">bmode_capable</a>;
<a name="l00201"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a72ee906c36bb156b749d262474ad9c67">00201</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a72ee906c36bb156b749d262474ad9c67">one_shot_capable</a>;
<a name="l00202"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a611f0be4667c52be18a7530af3a62528">00202</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a611f0be4667c52be18a7530af3a62528">multi_shot_capable</a>;
<a name="l00203"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#ae398c44b087ba01bce102383a145e743">00203</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#ae398c44b087ba01bce102383a145e743">can_switch_on_off</a>;
<a name="l00204"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a6cf53e0bfc69564e87123b24c40384d5">00204</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a6cf53e0bfc69564e87123b24c40384d5">has_vmode_error_status</a>;
<a name="l00205"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a1f06fca3613c900b75e8d2f36bef64bb">00205</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a1f06fca3613c900b75e8d2f36bef64bb">has_feature_error_status</a>;
<a name="l00206"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a4c519373d4273f74eca8d48d3c61da6d">00206</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394_1_1_t_camera_info.html#a4c519373d4273f74eca8d48d3c61da6d">max_mem_channel</a>;
<a name="l00207"></a>00207 };
<a name="l00208"></a>00208
<a name="l00209"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#afcc01d97eaa7b29b6a0aaea804432f0a">00209</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1list.html" title="STL class.">::list<TCameraInfo></a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html#afcc01d97eaa7b29b6a0aaea804432f0a">TCameraInfoList</a>;
<a name="l00210"></a>00210 <span class="comment"></span>
<a name="l00211"></a>00211 <span class="comment"> /** Generates a list with the information on all the existing (Firewire) cameras in the system.</span>
<a name="l00212"></a>00212 <span class="comment"> * \exception std::runtime_error On any error calling libdc1394.</span>
<a name="l00213"></a>00213 <span class="comment"> */</span>
<a name="l00214"></a>00214 <span class="keyword">static</span> <span class="keywordtype">void</span> enumerateCameras( <a class="code" href="classstd_1_1list.html" title="STL class.">TCameraInfoList</a> &out_list );
<a name="l00215"></a>00215
<a name="l00216"></a>00216
<a name="l00217"></a>00217 }; <span class="comment">// End of class</span>
<a name="l00218"></a>00218
<a name="l00219"></a>00219 } <span class="comment">// End of NS</span>
<a name="l00220"></a>00220 } <span class="comment">// End of NS</span>
<a name="l00221"></a>00221
<a name="l00222"></a>00222
<a name="l00223"></a>00223 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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