Class CCameraSensor

Defined in File CCameraSensor.h

Inheritance Relationships

Base Types

public mrpt::system::COutputLogger
public mrpt::hwdrivers::CGenericSensor (Class CGenericSensor)

Class Documentation

class CCameraSensor : public mrpt::system::COutputLogger, public mrpt::hwdrivers::CGenericSensor 

The central class for camera grabbers in MRPT, implementing the “generic

sensor” interface. This class provides the user with a uniform interface to a variety of other classes which manage only one specific camera “driver” (opencv, ffmpeg, PGR FlyCapture,…)

Following the “generic sensor” interface, all the parameters must be passed int the form of a configuration file, which may be also formed on the fly (without being a real config file) as in this example:

CCameraSensor myCam;
const string str =
   "[CONFIG]\n"
   "grabber_type=opencv\n";

CConfigFileMemory cfg(str);
myCam.loadConfig(cfg,"CONFIG");
myCam.initialize();
CObservation::Ptr obs = myCam.getNextFrame();

Images can be retrieved through the normal “doProcess()” interface, or the specific method “getNextFrame()”.

Some notes:

”grabber_type” determines the class to use internally for image capturing (see below).
For the meaning of cv_camera_type and other parameters, refer to mrpt::hwdrivers::CImageGrabber_OpenCV
For the parameters of dc1394 parameters, refer to generic IEEE1394 documentation, and to mrpt::hwdrivers::TCaptureOptions_dc1394.

Images can be saved in the “external storage” mode. Detached threads are created for this task. See setPathForExternalImages() and setExternalImageFormat(). These methods are called automatically from the app rawlog-grabber.

These is the list of all accepted parameters:

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   # Select one of the grabber implementations -----------------------
   grabber_type       = opencv | dc1394 | bumblebee_dc1394 | ffmpeg | rawlog
| svs | kinect | flycap | flycap_stereo | image_dir | myntd

   #  Options for any grabber_type ------------------------------------
   preview_decimation = 0     // N<=0 (or not present): No preview; N>0,
display 1 out of N captured frames.
   preview_reduction  = 0     // 0 or 1 (or not present): The preview shows
the actual image. For 2,3,..., reduces the size of the image by that factor,
only for the preview window.
   capture_grayscale  = 0     // 1:capture in grayscale, whenever the driver
allows it. Default=0
   #  For externaly stored images, the format of image files (default=jpg)
   #external_images_format  = jpg

   #  For externaly stored images: whether to spawn independent threads to
save the image files.
   #external_images_own_thread  = 1   // 0 or 1

   # If external_images_own_thread=1, this changes the number of threads to
launch
   #  to save image files. The default is determined from
mrpt::system::getNumberOfProcessors()
   #  and should be OK unless you want to save processor time for other
things.
   #external_images_own_thread_count = 2    // >=1

   # (Only when external_images_format=jpg): Optional parameter to set the
JPEG compression quality:
   #external_images_jpeg_quality = 95    // [1-100]. Default: 95

   # Pose of the sensor on the robot:
   pose_x=0     ; (meters)
   pose_y=0
   pose_z=0
   pose_yaw=0   ; (Angles in degrees)
   pose_pitch=0
   pose_roll=0

   # Options for grabber_type= opencv  ------------------------------------
   cv_camera_index  = 0       // [opencv] Number of camera to open
   cv_camera_type   = CAMERA_CV_AUTODETECT
   cv_frame_width   = 640     // [opencv] Capture width (not present or set
to 0 for default)
   cv_frame_height  = 480     // [opencv] Capture height (not present or set
to 0 for default)
   cv_fps           = 15      // [opencv] IEEE1394 cams only: Capture FPS
(not present or 0 for default)
   cv_gain          = 0       // [opencv] Camera gain, if available (nor
present or set to 0 for default).

   # Options for grabber_type= dc1394 -------------------------------------
   dc1394_camera_guid   = 0 | 0x11223344    // 0 (or not present): the first
camera; A hexadecimal number: The GUID of the camera to open
   dc1394_camera_unit   = 0                 // 0 (or not present): the first
camera; 0,1,2,...: The unit number (within the given GUID) of the camera to
open (Stereo cameras: 0 or 1)
   dc1394_frame_width   = 640
   dc1394_frame_height  = 480
   dc1394_framerate     = 15                    // eg: 7.5, 15, 30, 60,
etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
   dc1394_mode7         = -1                    // -1: Ignore, i>=0, set to
MODE7_i
   dc1394_color_coding  = COLOR_CODING_YUV422   // For possibilities see
mrpt::hwdrivers::TCaptureOptions_dc1394
   # Options for setting feature values: dc1394_<feature> = <n>
   # with <feature> = brightness | exposure | sharpness | white_balance |
gamma | shutter | gain
   #      <n> a value, or -1 (or not present) for not to change this feature
value in the camera, possible values are shown in execution
   dc1394_shutter       = -1
   # Options for setting feature modes: dc1394_<feature>_mode = <n>
   # with <feature> = brightness | exposure | sharpness | white_balance |
gamma | shutter | gain
   #      <n> = -1 (or not present) [not to change] | 0 [manual] | 1 [auto]
| 2 [one_push_auto]
   dc1394_shutter_mode  = -1
   # Options for setting trigger options:
   dc1394_trigger_power = -1    // -1 (or not present) for not to change
| 0 [OFF] | 1 [ON]
   dc1394_trigger_mode  = -1    // -1 (or not present) for not to change |
0..7 corresponding to possible modes 0,1,2,3,4,5,14,15
   dc1394_trigger_source= -1    // -1 (or not present) for not to change |
0..4 corresponding to possible sources 0,1,2,3,SOFTWARE
   dc1394_trigger_polarity = -1 // -1 (or not present) for not to change | 0
[ACTIVE_LOW] | 1 [ACTIVE_HIGH]
   dc1394_ring_buffer_size = 15  // Length of frames ring buffer (internal
to libdc1394)

   # Options for grabber_type= bumblebee_dc1394
----------------------------------
   bumblebee_dc1394_camera_guid   = 0 | 0x11223344  // 0 (or not present):
the first camera; A hexadecimal number: The GUID of the camera to open
   bumblebee_dc1394_camera_unit   = 0               // 0 (or not present):
the first camera; 0,1,2,...: The unit number (within the given GUID) of the
camera to open (Stereo cameras: 0 or 1)
   bumblebee_dc1394_framerate     = 15              // eg: 7.5, 15, 30,
60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394

   # Options for grabber_type= ffmpeg -------------------------------------
   ffmpeg_url             = rtsp://127.0.0.1      // [ffmpeg] The video file
or IP camera to open

   # Options for grabber_type= rawlog -------------------------------------
   rawlog_file            = mylog.rawlog          // [rawlog] This can be
used to simulate the capture of images already grabbed in the past in the
form of a MRPT rawlog.
   rawlog_camera_sensor_label  = CAMERA1          // [rawlog] If this field
is not present, all images found in the rawlog will be retrieved. Otherwise,
only those observations with a matching sensor label.

   # Options for grabber_type= svs -------------------------------------
   svs_camera_index = 0
   svs_frame_width = 800
   svs_frame_height = 600
   svs_framerate = 25.0
   svs_NDisp = ...
   svs_Corrsize = ...
   svs_LR = ...
   svs_Thresh = ...
   svs_Unique = ...
   svs_Horopter = ...
   svs_SpeckleSize = ...
   svs_procesOnChip = false
   svs_calDisparity = true

   # Options for grabber_type= XBox kinect
-------------------------------------
   kinect_grab_intensity  = true            // whether to save the intensity
(RGB) channel
   kinect_grab_3d         = true            // whether to save the 3D points
   kinect_grab_range      = true            // whether to save the depth
image
   #kinect_video_rgb       = true            // Optional. If set to "false",
the IR intensity channel will be grabbed instead of the color RGB channel.

   # Options for grabber_type= flycap (Point Grey Research's FlyCapture 2
for Monocular and Stereo cameras, e.g. Bumblebee2) --------
   flycap_camera_index           = 0
   #... (all the parameters enumerated in
mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "flycap_")

   # Options for grabber_type= flycap_stereo (Point Grey Research's
FlyCapture 2, two cameras setup as a stereo pair) ------
   # fcs_start_synch_capture   = false  // *Important*: Only set to true if
using Firewire cameras: the "startSyncCapture()" command is unsupported in
USB3 and GigaE cameras.

   fcs_LEFT_camera_index           = 0
   #... (all the parameters enumerated in
mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "fcs_LEFT_")
   fcs_RIGHT_camera_index          = 0
   #... (all the parameters enumerated in
mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "fcs_RIGHT_")

   # Options for grabber_type= image_dir
   image_dir_url                    =               // [string] URL of the
directory
   left_filename_format             = imL_%05d.jpg  // [string] Format
including prefix, number of trailing zeros, digits and image format
(extension)
   right_filename_format            = imR_%05d.jpg  // [string] Format
including prefix, number of trailing zeros, digits and image format
(extension). Leave blank if only images from one camera will be used.
   start_index                      = 0             // [int]
Starting index for images
   end_index                        = 100           // [int]    End index
for the images

   # Options for grabber_type= myntd  ------------------------------------
   myntd_xxx  =