Class CImageGrabber_dc1394

Nested Relationships

Nested Types

Class Documentation

class CImageGrabber_dc1394

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.

See also

The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor

Note

This class requires MRPT compiled with “libdc1394-2” (Only works under Linux for now) and “opencv”.

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.

Note

[New in MRPT 1.3.0] Length of ring buffer is now configurable via TCaptureOptions_dc1394::ring_buffer_size

Public Types

using TCameraInfoList = std::list<TCameraInfo>

Public 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.

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.

virtual ~CImageGrabber_dc1394()

Destructor

inline 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).

Note

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

Public Static Functions

static void enumerateCameras(TCameraInfoList &out_list)

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

Throws:

std::runtime_error – On any error calling libdc1394.

Protected Attributes

bool m_bInitialized = {false}

Set to false if we could not initialize the camera.

void *m_dc1394_lib_context = {nullptr}

Internal use:

void *m_dc1394camera = {nullptr}
int m_desired_mode
TCaptureOptions_dc1394 m_options
struct TCameraInfo

Used in enumerateCameras

Public Members

uint64_t guid
int unit
uint32_t unit_spec_ID
uint32_t unit_sw_version
uint32_t unit_sub_sw_version
uint32_t command_registers_base
uint32_t unit_directory
uint32_t unit_dependent_directory
uint64_t advanced_features_csr
uint64_t PIO_control_csr
uint64_t SIO_control_csr
uint64_t strobe_control_csr
uint64_t format7_csr[16]
int iidc_version
std::string vendor
std::string model
uint32_t vendor_id
uint32_t model_id
bool bmode_capable
bool one_shot_capable
bool multi_shot_capable
bool can_switch_on_off
bool has_vmode_error_status
bool has_feature_error_status
int max_mem_channel