Visual Servoing Platform  version 3.2.0 under development (2018-08-16)
vp1394CMUGrabber Class Reference

#include <visp3/sensor/vp1394CMUGrabber.h>

+ Inheritance diagram for vp1394CMUGrabber:

Public Types

enum  vpColorCodingType {
  YUV444, YUV422, YUV411, RGB8,
  MONO8, MONO16, UNKNOWN
}
 

Public Member Functions

 vp1394CMUGrabber ()
 
virtual ~vp1394CMUGrabber ()
 
void acquire (vpImage< unsigned char > &I)
 
void acquire (vpImage< vpRGBa > &I)
 
void close ()
 
void displayCameraDescription (int cam_id)
 
void displayCameraModel ()
 
int getFramerate ()
 
void getGainMinMax (unsigned short &min, unsigned short &max)
 
int getNumberOfConnectedCameras () const
 
void getShutterMinMax (unsigned short &min, unsigned short &max)
 
vpColorCodingType getVideoColorCoding () const
 
void open (vpImage< unsigned char > &I)
 
void open (vpImage< vpRGBa > &I)
 
vp1394CMUGrabberoperator>> (vpImage< unsigned char > &I)
 
vp1394CMUGrabberoperator>> (vpImage< vpRGBa > &I)
 
void selectCamera (int cam_id)
 
void setAutoGain ()
 
void setAutoShutter ()
 
void setControl (unsigned short gain, unsigned short shutter)
 
void setFramerate (unsigned long fps)
 
void setShutter (unsigned short shutter)
 
void setGain (unsigned short gain)
 
void setVideoMode (unsigned long format, unsigned long mode)
 
Inherited functionalities from vpFramegrabber
unsigned int getHeight () const
 
unsigned int getWidth () const
 

Public Attributes

bool init
 

Protected Attributes

unsigned int height
 
unsigned int width
 

Detailed Description

Firewire cameras video capture based on CMU 1394 Digital Camera SDK.

Thus to be enabled, this class needs the optional CMU 1394 3rd party. Installation instruction are provided here https://visp.inria.fr/3rd_cmu1394.

This block is based on the CMU 1394 Digital Camera SDK. The CMU 1394 Digital Camera Driver must be installed (go to http://www.cs.cmu.edu/~iwan/1394/index.html to download it).

  • Parameters:
    • Camera index (0, 1, 2, ... or 10). First camera has index 0.
    • Image format
    • Frame rate. Real frame rate depends on device capacities.
    • Control : shutter speed and gain can be internally set, but it is possible to set manually them. Exposure time register value. Real exposure time depends on device capacities. Gain register value. Real gain depends on device capacities.

This first example available in tutorial-grabber-CMU1394.cpp shows how to grab and display images from a firewire camera under Windows.

#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/sensor/vp1394CMUGrabber.h>
int main()
{
#ifdef VISP_HAVE_CMU1394
try {
g.setVideoMode(0, 1); // 640x480 MONO8
g.setFramerate(4); // 30 fps
g.open(I);
std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
#ifdef VISP_HAVE_GDI
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
while (1) {
g.acquire(I);
if (vpDisplay::getClick(I, false)) // A click to exit
break;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}

This other example shows how to consider more than one firewire camera, and how to grab and display images from the first camera found on the bus.

#include <iostream>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/sensor/vp1394CMUGrabber.h>
int main()
{
#if defined(VISP_HAVE_CMU1394)
std::cout << "ViSP Image acquisition example" << std::endl;
std::cout << "There are " << g.getNumberOfConnectedCameras() << " connected cameras." << std::endl;
std::cout << "There is " << g.getNumberOfConnectedCameras() << " connected camera." << std::endl;
else
std::cout << "There is no connected camera." << std::endl;
// Setting camera parameters manually
g.setGain(0);
g.setShutter(2000);
g.setFramerate(3); // 15 FPS
g.setVideoMode(0, 5); // 640x480 - MONO
g.acquire(I);
// Display camera description
std::cout << "Height: " << g.getHeight() << " Width: " << g.getWidth() << std::endl;
for(;;)
{
g.acquire(I);
if (vpDisplay::getClick(I, false)) // a click to exit
break;
}
g.close();
#endif
std::cout << "ViSP exiting..." <<std::endl;
return 0;
}
Examples:
grab1394CMU.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-grabber-CMU1394.cpp, tutorial-me-ellipse-tracker.cpp, tutorial-me-line-tracker.cpp, and tutorial-pose-from-points-tracking.cpp.

Definition at line 151 of file vp1394CMUGrabber.h.

Member Enumeration Documentation

Enumeration of color codings.

Enumerator
YUV444 
YUV422 
YUV411 
RGB8 
MONO8 
MONO16 
UNKNOWN 

Definition at line 157 of file vp1394CMUGrabber.h.

Constructor & Destructor Documentation

vp1394CMUGrabber::vp1394CMUGrabber ( )

Basic constructor.

Definition at line 53 of file vp1394CMUGrabber.cpp.

References vpFrameGrabber::height, vpFrameGrabber::init, and vpFrameGrabber::width.

vp1394CMUGrabber::~vp1394CMUGrabber ( )
virtual

Destructor.

Definition at line 71 of file vp1394CMUGrabber.cpp.

References close().

Member Function Documentation

void vp1394CMUGrabber::acquire ( vpImage< unsigned char > &  I)
virtual
void vp1394CMUGrabber::acquire ( vpImage< vpRGBa > &  I)
virtual

Grabs a color image from the selected camera. Since the cameras are not able to grab RGBa color coding format, the acquired image is converted in a RGBa to match the requested format. This transformation could be time consuming.

Parameters
I: Acquired color image in RGBa format.

Implements vpFrameGrabber.

Definition at line 272 of file vp1394CMUGrabber.cpp.

References vpImage< Type >::bitmap, close(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpImageConvert::GreyToRGBa(), MONO16, vpImageConvert::MONO16ToRGBa(), MONO8, open(), vpFrameGrabberException::otherError, RGB8, vpImageConvert::RGBToRGBa(), vpERROR_TRACE, YUV411, vpImageConvert::YUV411ToRGBa(), YUV422, vpImageConvert::YUV422ToRGBa(), YUV444, and vpImageConvert::YUV444ToRGBa().

void vp1394CMUGrabber::close ( )
virtual

Stop the acquisition of images and free the camera.

Implements vpFrameGrabber.

Definition at line 324 of file vp1394CMUGrabber.cpp.

References vpFrameGrabber::init, vpFrameGrabberException::otherError, and vpERROR_TRACE.

Referenced by acquire(), selectCamera(), setFramerate(), setVideoMode(), and ~vp1394CMUGrabber().

void vp1394CMUGrabber::displayCameraDescription ( int  cam_id)

Display information about the camera on the standard output.

Definition at line 487 of file vp1394CMUGrabber.cpp.

void vp1394CMUGrabber::displayCameraModel ( )

Display camera model on the standard output. Call it after open the grabber.

Definition at line 502 of file vp1394CMUGrabber.cpp.

int vp1394CMUGrabber::getFramerate ( )

Get the video framerate.

Returns
Value between 0 to 7 corresponding to a specific camera framerate. See the following table for the correspondances between the returned value and the framerate.
Value Frame rate
0 1.875 fps
1 3.75 fps
2 7.5 fps
3 15 fps
4 30 fps
5 60 fps
6 120 fps
7 240 fps
See also
setFramerate()
Examples:
grab1394CMU.cpp.

Definition at line 707 of file vp1394CMUGrabber.cpp.

void vp1394CMUGrabber::getGainMinMax ( unsigned short &  min,
unsigned short &  max 
)

Get the gain min and max values.

See also
setAutoGain(), setGain()
Examples:
grab1394CMU.cpp.

Definition at line 366 of file vp1394CMUGrabber.cpp.

unsigned int vpFrameGrabber::getHeight ( ) const
inlineinherited

Return the number of rows in the image.

Examples:
AROgre.cpp, AROgreBasic.cpp, and testPylonGrabber.cpp.

Definition at line 114 of file vpFrameGrabber.h.

int vp1394CMUGrabber::getNumberOfConnectedCameras ( ) const

Get the number of connected cameras.

Definition at line 354 of file vp1394CMUGrabber.cpp.

void vp1394CMUGrabber::getShutterMinMax ( unsigned short &  min,
unsigned short &  max 
)

Get the shutter min and max values.

See also
setAutoShutter(), setShutter()
Examples:
grab1394CMU.cpp.

Definition at line 427 of file vp1394CMUGrabber.cpp.

vpColorCodingType vp1394CMUGrabber::getVideoColorCoding ( ) const
inline

Get the video color coding format.

Definition at line 214 of file vp1394CMUGrabber.h.

References MONO16, MONO8, vpFrameGrabber::open(), RGB8, UNKNOWN, YUV411, YUV422, and YUV444.

Referenced by selectCamera(), and setVideoMode().

unsigned int vpFrameGrabber::getWidth ( ) const
inlineinherited

Return the number of columns in the image.

Examples:
AROgre.cpp, AROgreBasic.cpp, and testPylonGrabber.cpp.

Definition at line 116 of file vpFrameGrabber.h.

void vp1394CMUGrabber::open ( vpImage< unsigned char > &  I)
virtual
void vp1394CMUGrabber::open ( vpImage< vpRGBa > &  I)
virtual

Initialization of the grabber using a color image.

Parameters
I: color image.

Implements vpFrameGrabber.

Definition at line 197 of file vp1394CMUGrabber.cpp.

References vpFrameGrabber::height, vpImage< Type >::resize(), and vpFrameGrabber::width.

vp1394CMUGrabber & vp1394CMUGrabber::operator>> ( vpImage< unsigned char > &  I)

Operator that allows to capture a grey level image.

Parameters
I: The captured image.
#include <visp3/sensor/vp1394CMUGrabber.h>
int main()
{
g >> I;
}

Definition at line 730 of file vp1394CMUGrabber.cpp.

References acquire().

vp1394CMUGrabber & vp1394CMUGrabber::operator>> ( vpImage< vpRGBa > &  I)

Operator that allows to capture a grey level image.

Parameters
I: The captured image.
#include <visp3/sensor/vp1394CMUGrabber.h>
int main()
{
g >> I;
}

Definition at line 752 of file vp1394CMUGrabber.cpp.

References acquire().

void vp1394CMUGrabber::selectCamera ( int  cam_id)

Select the camera on the bus from its index. The first camera found on the bus has index 0.

Parameters
cam_id: Camera index.

Definition at line 85 of file vp1394CMUGrabber.cpp.

References close(), getVideoColorCoding(), vpFrameGrabber::height, vpFrameGrabber::init, vpFrameGrabberException::initializationError, vpFrameGrabberException::otherError, vpERROR_TRACE, and vpFrameGrabber::width.

void vp1394CMUGrabber::setAutoGain ( )

Enable auto gain.

See also
setGain()
Examples:
tutorial-grabber-CMU1394.cpp.

Definition at line 380 of file vp1394CMUGrabber.cpp.

void vp1394CMUGrabber::setAutoShutter ( )

Enable auto shutter.

See also
setShutter()
Examples:
tutorial-grabber-CMU1394.cpp.

Definition at line 442 of file vp1394CMUGrabber.cpp.

void vp1394CMUGrabber::setControl ( unsigned short  gain,
unsigned short  shutter 
)

Set the gain and the shutter values.

See also
setGain(), setShutter()

Definition at line 345 of file vp1394CMUGrabber.cpp.

References setGain(), and setShutter().

void vp1394CMUGrabber::setFramerate ( unsigned long  fps)

Set camera framerate rate. This method has to be called before open().

Parameters
fps: Value between 0 to 7 used to select a specific camera framerate. See the following table for the correspondances between the input value and the framerate.
Value Frame rate
0 1.875 fps
1 3.75 fps
2 7.5 fps
3 15 fps
4 30 fps
5 60 fps
6 120 fps
7 240 fps
See also
getFramerate()
Examples:
grab1394CMU.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, and tutorial-grabber-CMU1394.cpp.

Definition at line 642 of file vp1394CMUGrabber.cpp.

References close(), vpFrameGrabberException::otherError, vpFrameGrabberException::settingError, and vpERROR_TRACE.

void vp1394CMUGrabber::setGain ( unsigned short  gain)

Disable auto gain and set the gain to the requested value.

See also
setAutoGain()

Definition at line 390 of file vp1394CMUGrabber.cpp.

Referenced by setControl().

void vp1394CMUGrabber::setShutter ( unsigned short  shutter)

Disable auto shutter and set the shutter to the requested value.

See also
setAutoShutter()

Definition at line 452 of file vp1394CMUGrabber.cpp.

Referenced by setControl().

void vp1394CMUGrabber::setVideoMode ( unsigned long  format,
unsigned long  mode 
)

Set the camera format and video mode. This method has to be called before open().

Parameters
format: Camera video format.
mode: Camera video mode.

See the following table for the correspondances between the input format and mode and the resulting video color coding.

Format Mode (H) x (W) Color
0 0 160 x 120 YUV444
0 1 320 x 240 YUV422
0 2 640 x 480 YUV411
0 3 640 x 480 YUV422
0 4 640 x 480 RGB8
0 5 640 x 480 MONO8
0 6 640 x 480 MONO16
1 0 800 x 600 YUV422
1 1 800 x 600 RGB8
1 2 800 x 600 MONO8
1 3 1024 x 768 YUV422
1 4 1024 x 768 RGB8
1 5 1024 x 768 MONO8
1 6 800 x 600 MONO16
1 7 1024 x 768 MONO16
2 0 1280 x 960 YUV422
2 1 1280 x 960 RGB8
2 2 1280 x 960 MONO8
2 3 1600 x 1200YUV422
2 4 1600 x 1200RGB8
2 5 1600 x 1200MONO8
2 6 1280 x 960 MONO16
2 7 1600 x 1200MONO16
Examples:
grab1394CMU.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, and tutorial-grabber-CMU1394.cpp.

Definition at line 557 of file vp1394CMUGrabber.cpp.

References close(), getVideoColorCoding(), vpFrameGrabber::height, vpFrameGrabberException::otherError, vpFrameGrabberException::settingError, vpERROR_TRACE, and vpFrameGrabber::width.

Member Data Documentation