vp1394CMUGrabber Class Reference

#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	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)
vp1394CMUGrabber &	operator>> (vpImage< unsigned char > &I)
vp1394CMUGrabber &	operator>> (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 {
    vpImage<unsigned char> I;

    vp1394CMUGrabber g;
    g.setVideoMode(0, 1); // 640x480 MONO8
    g.setAutoShutter();
    g.setAutoGain();
    g.setFramerate(4); // 30 fps
    g.open(I);

    std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;

#ifdef VISP_HAVE_GDI
    vpDisplayGDI d(I);
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif

    while (1) {
      g.acquire(I);
      vpDisplay::display(I);
      vpDisplay::flush(I);
      if (vpDisplay::getClick(I, false)) // A click to exit
        break;
    }
  } catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
#else
  std::cout << "Install CMU1394 SDK, configure and build ViSP again to use this example" << 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;

  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.setGain(0);
  g.setShutter(2000);
  g.setFramerate(3);    // 15 FPS
  g.setVideoMode(0, 5); // 640x480 - MONO

  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, servoPioneerPoint2DDepthWithoutVpServo.cpp, tutorial-apriltag-detector-live.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-grabber-CMU1394.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-me-ellipse-tracker.cpp, tutorial-me-line-tracker.cpp, and tutorial-pose-from-points-live.cpp.

Definition at line 151 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 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

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, servoPioneerPoint2DDepthWithoutVpServo.cpp, and tutorial-grabber-CMU1394.cpp.

Definition at line 210 of file vp1394CMUGrabber.cpp.

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

Referenced by operator>>().

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

Initialization of the grabber using a greyscale image.

Parameters

I	: gray level image.

Implements vpFrameGrabber.

Examples:

servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, tutorial-apriltag-detector-live.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-grabber-CMU1394.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-pose-from-points-live.cpp.

Definition at line 187 of file vp1394CMUGrabber.cpp.

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

Referenced by acquire().

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()
{
  vpImage<unsigned char> I;
  vp1394CMUGrabber g;
  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()
{
  vpImage<vpRGBa> I;
  vp1394CMUGrabber g;
  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 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:

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

unsigned int vpFrameGrabber::height

protectedinherited

Number of rows in the image.

Definition at line 107 of file vpFrameGrabber.h.

Referenced by vpPylonGrabberGigE::acquire(), vpPylonGrabberUsb::acquire(), vpDiskGrabber::acquire(), vpFlyCaptureGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), vpV4l2Grabber::close(), vp1394TwoGrabber::dequeue(), vpVideoReader::getFrame(), vp1394TwoGrabber::getHeight(), vpDiskGrabber::open(), vpV4l2Grabber::open(), open(), selectCamera(), vpVideoReader::setFileName(), vp1394TwoGrabber::setFormat7ROI(), setVideoMode(), vp1394TwoGrabber::setVideoMode(), vp1394CMUGrabber(), and vp1394TwoGrabber::vp1394TwoGrabber().

bool vpFrameGrabber::init

inherited

Set to true if the frame grabber has been initialized.

Definition at line 104 of file vpFrameGrabber.h.

Referenced by vpV4l2Grabber::acquire(), close(), vp1394TwoGrabber::close(), vpPylonGrabberGigE::connect(), vpPylonGrabberUsb::connect(), vpFlyCaptureGrabber::connect(), vpPylonGrabberGigE::disconnect(), vpPylonGrabberUsb::disconnect(), vpFlyCaptureGrabber::disconnect(), vpDiskGrabber::open(), vpV4l2Grabber::open(), vp1394TwoGrabber::resetBus(), selectCamera(), vp1394TwoGrabber::setFormat7ROI(), vpPylonGrabberUsb::startCapture(), vpPylonGrabberGigE::startCapture(), vpFlyCaptureGrabber::startCapture(), vpPylonGrabberGigE::stopCapture(), vpPylonGrabberUsb::stopCapture(), vpFlyCaptureGrabber::stopCapture(), vp1394CMUGrabber(), vp1394TwoGrabber::vp1394TwoGrabber(), vpDiskGrabber::vpDiskGrabber(), and vpV4l2Grabber::vpV4l2Grabber().

unsigned int vpFrameGrabber::width

protectedinherited

Number of columns in the image.

Definition at line 108 of file vpFrameGrabber.h.

Referenced by vpPylonGrabberGigE::acquire(), vpPylonGrabberUsb::acquire(), vpDiskGrabber::acquire(), vpFlyCaptureGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), vpV4l2Grabber::close(), vp1394TwoGrabber::dequeue(), vpVideoReader::getFrame(), vp1394TwoGrabber::getWidth(), vpDiskGrabber::open(), vpV4l2Grabber::open(), open(), selectCamera(), vpVideoReader::setFileName(), vp1394TwoGrabber::setFormat7ROI(), setVideoMode(), vp1394TwoGrabber::setVideoMode(), vp1394CMUGrabber(), and vp1394TwoGrabber::vp1394TwoGrabber().