#include <vp1394CMUGrabber.h>

Inheritance diagram for vp1394CMUGrabber:

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

Public Member Functions
	vp1394CMUGrabber ()

virtual	~vp1394CMUGrabber ()

void	open (vpImage< unsigned char > &I)

void	open (vpImage< vpRGBa > &I)

void	acquire (vpImage< unsigned char > &I)

void	acquire (vpImage< vpRGBa > &I)

void	close ()

void	displayCameraDescription (int cam_id)

void	displayCameraModel ()

int	getNumberOfConnectedCameras () const

vpColorCodingType	getVideoColorCoding () const

void	selectCamera (int cam_id)

void	setControl (unsigned short gain, unsigned short shutter)

void	setFramerate (unsigned long fps)

void	setVideoMode (unsigned long format, unsigned long mode)

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.

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.

The examples below show how to use this class.

Example 1:

#include <iostream>
#include <visp/vpConfig.h>
#include <visp/vpImage.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vp1394CMUGrabber.h>
int main()
{
#if defined(VISP_HAVE_CMU1394)
  std::cout << "ViSP Image acquisition example" <<std::endl;
  vpImage<unsigned char> I;
  vp1394CMUGrabber g;
  g.open(I);
  g.acquire(I);
  vpDisplayOpenCV d(I);
    vpDisplay::display(I);
  for(;;)
  {
    g.acquire(I);
    vpDisplay::display(I);
    vpDisplay::flush(I);
    if (vpDisplay::getClick(I, false)) // a click to exit
        break;
  }
  g.close();
#endif
  std::cout << "ViSP exiting..." <<std::endl;
  return 0;
}

Example 2:

#include <iostream>
#include <visp/vpConfig.h>
#include <visp/vpImage.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vp1394CMUGrabber.h>
int main()
{
#if defined(VISP_HAVE_CMU1394)
  std::cout << "ViSP Image acquisition example" << std::endl;
  vpImage<unsigned char> I;
  vp1394CMUGrabber g;
  if( g.getNumberOfConnectedCameras() > 1 )
    std::cout << "There are " << g.getNumberOfConnectedCameras() << " connected cameras." << std::endl;
  if( g.getNumberOfConnectedCameras() == 1 )
    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.selectCamera(0);
  g.setControl(0, 2000);
  g.setFramerate(3);    // 15 FPS
  g.setVideoMode(0, 5); // 640x480 - MONO
  g.open(I);
  g.acquire(I);
  // Display camera description
  g.displayCameraDescription(0);
  g.displayCameraModel();
  std::cout << "Height: " << g.getHeight() << " Width: " << g.getWidth() << std::endl;
  vpDisplayOpenCV d(I);
  vpDisplay::display(I);
  for(;;)
  {
    g.acquire(I);
    vpDisplay::display(I);
    vpDisplay::flush(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, and servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 182 of file vp1394CMUGrabber.h.

Member Enumeration Documentation

enum vp1394CMUGrabber::vpColorCodingType

Enumeration of color codings.

Enumerator
YUV444
YUV422
YUV411
RGB8
MONO8
MONO16
UNKNOWN

Definition at line 188 of file vp1394CMUGrabber.h.

Constructor & Destructor Documentation

vp1394CMUGrabber::vp1394CMUGrabber ( )

Basic constructor.

Definition at line 57 of file vp1394CMUGrabber.cpp.

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

vp1394CMUGrabber::~vp1394CMUGrabber ( )

virtual

Destructor.

Definition at line 76 of file vp1394CMUGrabber.cpp.

References close().

Member Function Documentation

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

virtual

Grabs a grayscale image from the selected camera. If the camera color coding differs from vp1394CMUGrabber::MONO8, the acquired image is converted in a gray level image to match the requested format.

Parameters

I	: Acquired gray level image.

Implements vpFrameGrabber.

Examples:: grab1394CMU.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, and servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 323 of file vp1394CMUGrabber.cpp.

References vpImage< Type >::bitmap, close(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpFrameGrabber::init, vpFrameGrabberException::initializationError, MONO16, vpImageConvert::MONO16ToGrey(), MONO8, vpFrameGrabberException::otherError, RGB8, vpImageConvert::RGBToGrey(), vpERROR_TRACE, YUV411, vpImageConvert::YUV411ToGrey(), YUV422, vpImageConvert::YUV422ToGrey(), YUV444, and vpImageConvert::YUV444ToGrey().

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 392 of file vp1394CMUGrabber.cpp.

References vpImage< Type >::bitmap, close(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpImageConvert::GreyToRGBa(), vpFrameGrabber::init, vpFrameGrabberException::initializationError, MONO16, vpImageConvert::MONO16ToRGBa(), MONO8, 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 450 of file vp1394CMUGrabber.cpp.

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

Referenced by acquire(), open(), selectCamera(), and ~vp1394CMUGrabber().

void vp1394CMUGrabber::displayCameraDescription ( int cam_id )

Display information about the camera on the standard output.

Definition at line 553 of file vp1394CMUGrabber.cpp.

void vp1394CMUGrabber::displayCameraModel ( )

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

Definition at line 574 of file vp1394CMUGrabber.cpp.

unsigned int vpFrameGrabber::getHeight ( ) const

inlineinherited

Return the number of rows in the image.

Examples:: AROgre.cpp, AROgreBasic.cpp, HelloWorldOgre.cpp, and HelloWorldOgreAdvanced.cpp.

Definition at line 119 of file vpFrameGrabber.h.

Referenced by vp1394Grabber::acquire(), and vp1394Grabber::open().

int vp1394CMUGrabber::getNumberOfConnectedCameras ( ) const

Get the number of connected cameras.

Definition at line 531 of file vp1394CMUGrabber.cpp.

vpColorCodingType vp1394CMUGrabber::getVideoColorCoding ( ) const

inline

Get the video color coding format.

Definition at line 250 of file vp1394CMUGrabber.h.

References MONO16, MONO8, RGB8, UNKNOWN, YUV411, YUV422, and YUV444.

unsigned int vpFrameGrabber::getWidth ( ) const

inlineinherited

Return the number of columns in the image.

Examples:: AROgre.cpp, AROgreBasic.cpp, HelloWorldOgre.cpp, and HelloWorldOgreAdvanced.cpp.

Definition at line 121 of file vpFrameGrabber.h.

Referenced by vp1394Grabber::acquire(), and vp1394Grabber::open().

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

virtual

Initialization of the grabber using a greyscale image.

Parameters

I	: gray level image.

Implements vpFrameGrabber.

Examples:: grab1394CMU.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, and servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 280 of file vp1394CMUGrabber.cpp.

References close(), vpImage< Type >::init(), vpFrameGrabberException::otherError, and vpERROR_TRACE.

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

virtual

Initialization of the grabber using a color image.

Parameters

I	: color image.

Implements vpFrameGrabber.

Definition at line 300 of file vp1394CMUGrabber.cpp.

References close(), vpImage< Type >::init(), vpFrameGrabberException::otherError, and vpERROR_TRACE.

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 89 of file vp1394CMUGrabber.cpp.

References close(), vpFrameGrabberException::initializationError, and vpERROR_TRACE.

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

Set the gain and the shutter values. This method has to be called before open().

Definition at line 469 of file vp1394CMUGrabber.cpp.

void vp1394CMUGrabber::setFramerate ( unsigned long fps )

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

Parameters

fps	: Value form 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

Examples:: servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, and servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 658 of file vp1394CMUGrabber.cpp.

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 1200	YUV422
2	4	1600 x 1200	RGB8
2	5	1600 x 1200	MONO8
2	6	1280 x 960	MONO16
2	7	1600 x 1200	MONO16

Examples:: servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, and servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 631 of file vp1394CMUGrabber.cpp.

Member Data Documentation

unsigned int vpFrameGrabber::height

protectedinherited

Number of rows in the image.

Definition at line 113 of file vpFrameGrabber.h.

Referenced by vpDiskGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), vp1394TwoGrabber::dequeue(), vp1394Grabber::getHeight(), vp1394TwoGrabber::getHeight(), vpDiskGrabber::open(), vpVideoReader::open(), vpV4l2Grabber::open(), vpOpenCVGrabber::setHeight(), vpV4l2Grabber::setHeight(), vp1394TwoGrabber::setVideoMode(), vp1394CMUGrabber(), vp1394TwoGrabber::vp1394TwoGrabber(), vpOpenCVGrabber::vpOpenCVGrabber(), and vpV4l2Grabber::vpV4l2Grabber().

bool vpFrameGrabber::init

inherited

Set to true if the frame grabber has been initialized.

Definition at line 111 of file vpFrameGrabber.h.

Referenced by vpOpenCVGrabber::acquire(), vp1394Grabber::acquire(), vpV4l2Grabber::acquire(), acquire(), vpOpenCVGrabber::close(), close(), vp1394TwoGrabber::close(), vpDiskGrabber::open(), vpOpenCVGrabber::open(), vp1394Grabber::open(), vpV4l2Grabber::open(), vp1394TwoGrabber::resetBus(), vp1394CMUGrabber(), vp1394Grabber::vp1394Grabber(), vp1394TwoGrabber::vp1394TwoGrabber(), vpDiskGrabber::vpDiskGrabber(), vpOpenCVGrabber::vpOpenCVGrabber(), and vpV4l2Grabber::vpV4l2Grabber().

unsigned int vpFrameGrabber::width

protectedinherited

Number of columns in the image.

Definition at line 114 of file vpFrameGrabber.h.

Referenced by vpDiskGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), vp1394TwoGrabber::dequeue(), vp1394Grabber::getWidth(), vp1394TwoGrabber::getWidth(), vpDiskGrabber::open(), vpVideoReader::open(), vpV4l2Grabber::open(), vp1394TwoGrabber::setVideoMode(), vpOpenCVGrabber::setWidth(), vpV4l2Grabber::setWidth(), vp1394CMUGrabber(), vp1394TwoGrabber::vp1394TwoGrabber(), vpOpenCVGrabber::vpOpenCVGrabber(), and vpV4l2Grabber::vpV4l2Grabber().

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation