#include <mrpt/vision/CImageGrabber_dc1394.h>
Public Member 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. | |
virtual | ~CImageGrabber_dc1394 () |
Destructor. | |
bool | isOpen () const |
Check whether the camera has been open succesfully. | |
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. | |
bool | getObservation (mrpt::slam::CObservationImage &out_observation) |
Grab an image from the opened camera. | |
Protected Attributes | |
bool | m_bInitialized |
Set to false if we could not initialize the camera. | |
void * | m_dc1394_lib_context |
Internal use:. | |
void * | m_dc1394camera |
int | m_desired_mode |
TCaptureOptions_dc1394 | m_options |
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).
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.
Definition at line 110 of file CImageGrabber_dc1394.h.
mrpt::vision::CImageGrabber_dc1394::CImageGrabber_dc1394 | ( | uint64_t | cameraGUID = 0 , |
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uint16_t | cameraUnit = 0 , |
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const TCaptureOptions_dc1394 & | options = TCaptureOptions_dc1394() , |
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bool | verbose = false | |||
) |
Constructor: open an ieee1394 camera.
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::vision::TCaptureOptions_dc1394. | |
verbose | Displays a lot of information about the camera to be open and its valid video modes. |
virtual mrpt::vision::CImageGrabber_dc1394::~CImageGrabber_dc1394 | ( | ) | [virtual] |
Destructor.
bool mrpt::vision::CImageGrabber_dc1394::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.
bool mrpt::vision::CImageGrabber_dc1394::getObservation | ( | mrpt::slam::CObservationImage & | out_observation | ) |
Grab an image from the opened camera.
out_observation | The object to be filled with sensed data. |
bool mrpt::vision::CImageGrabber_dc1394::isOpen | ( | ) | const [inline] |
Check whether the camera has been open succesfully.
Definition at line 144 of file CImageGrabber_dc1394.h.
bool mrpt::vision::CImageGrabber_dc1394::m_bInitialized [protected] |
Set to false if we could not initialize the camera.
Definition at line 115 of file CImageGrabber_dc1394.h.
void* mrpt::vision::CImageGrabber_dc1394::m_dc1394_lib_context [protected] |
void* mrpt::vision::CImageGrabber_dc1394::m_dc1394camera [protected] |
Definition at line 119 of file CImageGrabber_dc1394.h.
int mrpt::vision::CImageGrabber_dc1394::m_desired_mode [protected] |
Definition at line 120 of file CImageGrabber_dc1394.h.
Definition at line 123 of file CImageGrabber_dc1394.h.
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