The central class for camera grabbers in MRPT, implementing the "generic sensor" interface. More...
#include <mrpt/hwdrivers/CCameraSensor.h>
Public Member Functions | |
CCameraSensor () | |
Constructor The camera is not open until "initialize" is called. | |
virtual | ~CCameraSensor () |
Destructor. | |
void | doProcess () |
This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e. | |
mrpt::slam::CObservationPtr | getNextFrame () |
Retrieves the next frame from the video source, raising an exception on any error. | |
void | loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CCameraSensor for the possible parameters. | |
virtual void | initialize () |
Tries to open the camera, after setting all the parameters with a call to loadConfig. | |
void | close () |
Close the camera (if open). | |
void | setPathForExternalImages (const std::string &directory) |
Set the path where to save off-rawlog images: empty (default) means save images embedded in the rawlog. | |
void | setExternalImageFormat (const std::string &ext) |
Set the extension ("jpg","gif","png",. | |
Protected Attributes | |
poses::CPose3D | m_sensorPose |
std::string | m_sensorLabel |
std::string | m_grabber_type |
Can be "opencv",... | |
bool | m_capture_grayscale |
int | m_cv_camera_index |
std::string | m_cv_camera_type |
mrpt::vision::TCaptureCVOptions | m_cv_options |
uint64_t | m_dc1394_camera_guid |
int | m_dc1394_camera_unit |
mrpt::vision::TCaptureOptions_dc1394 | m_dc1394_options |
int | m_preview_decimation |
int | m_bumblebee_camera_index |
mrpt::vision::TCaptureOptions_bumblebee | m_bumblebee_options |
int | m_bumblebee_monocam |
std::string | m_ffmpeg_url |
std::string | m_rawlog_file |
std::string | m_rawlog_camera_sensor_label |
std::string | m_path_for_external_images |
The path where to save off-rawlog images: empty means save images embedded in the rawlog. | |
std::string | m_external_images_format |
The extension ("jpg","gif","png",...) that determines the format of images saved externally. | |
Private Attributes | |
mrpt::vision::CImageGrabber_OpenCV * | m_cap_cv |
The OpenCV capture object. | |
mrpt::vision::CImageGrabber_dc1394 * | m_cap_dc1394 |
The dc1394 capture object. | |
mrpt::vision::CStereoGrabber_Bumblebee * | m_cap_bumblebee |
The bumblebee capture object. | |
CFFMPEG_InputStream * | m_cap_ffmpeg |
The FFMPEG capture object. | |
mrpt::utils::CFileGZInputStream * | m_cap_rawlog |
The input file for rawlogs. | |
int | m_preview_counter |
mrpt::gui::CDisplayWindow * | m_preview_win |
The central class for camera grabbers in MRPT, implementing the "generic sensor" interface.
This class provides the user with a uniform interface to a variety of other classes which manage only one specific camera "driver" (opencv, ffmpeg, bumblebee,...)
Following the "generic sensor" interface, all the parameters must be passed int the form of a configuration file, which may be also formed on the fly (without being a real config file) as in this example:
CCameraSensor myCam; string str = "[CONFIG]\n grabber_type=opencv \n"; CConfigFileMemory cfg(str); myCam.loadConfig(cfg,"CONFIG");
Images can be retrieves through the normal "doProcess()" interface, or the specific method "getNextFrame()".
These is the list of all the accepted parameters:
PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS: ------------------------------------------------------- [supplied_section_name] // Select one of the grabber implementations: grabber_type = opencv | dc1394 | bumblebee | ffmpeg | rawlog preview_decimation = 0 // N<=0 : No preview; N>0, display 1 out of N captured frames. capture_grayscale = 0 // 1:capture in grayscale, whenever the driver allows it. // Options for grabber_type= opencv cv_camera_index = 0 // [opencv] Number of camera to open cv_camera_type = CAMERA_CV_AUTODETECT cv_frame_width = 640 // [opencv] Capture width (not present or set to 0 for default) cv_frame_height = 480 // [opencv] Capture height (not present or set to 0 for default) cv_fps = 15 // [opencv] IEEE1394 cams only: Capture FPS (not present or 0 for default) cv_gain = 0 // [opencv] Camera gain, if available (nor present or set to 0 for default). // Options for grabber_type= dc1394 dc1394_camera_guid = 0 | 0x11223344 // 0 (or not present): the first camera; A hexadecimal number: The GUID of the camera to open dc1394_camera_unit = 0 // 0 (or not present): the first camera; 0,1,2,...: The unit number (within the given GUID) of the camera to open (Stereo cameras: 0 or 1) dc1394_frame_width = 640 dc1394_frame_height = 480 dc1394_framerate = 15 // eg: 7.5, 15, 30, 60, etc... For posibilities see mrpt::vision::TCaptureOptions_dc1394 dc1394_mode7 = -1 // -1: Ignore, i>=0, set to MODE7_i dc1394_color_coding = COLOR_CODING_YUV422 // For posibilities see mrpt::vision::TCaptureOptions_dc1394 dc1394_shutter = -1 // A value, or -1 (or not present) for not to change this parameter in the camera dc1394_gain = -1 // A value, or -1 (or not present) for not to change this parameter in the camera dc1394_gamma = -1 // A value, or -1 (or not present) for not to change this parameter in the camera dc1394_brightness = -1 // A value, or -1 (or not present) for not to change this parameter in the camera dc1394_exposure = -1 // A value, or -1 (or not present) for not to change this parameter in the camera dc1394_sharpness = -1 // A value, or -1 (or not present) for not to change this parameter in the camera dc1394_white_balance = -1 // A value, or -1 (or not present) for not to change this parameter in the camera // Options for grabber_type= bumblebee bumblebee_camera_index = 0 // [bumblebee] Number of camera within the firewire bus to open (typically = 0) bumblebee_frame_width = 640 // [bumblebee] Capture width (not present or set to 0 for default) bumblebee_frame_height = 480 // [bumblebee] Capture height (not present or set to 0 for default) bumblebee_fps = 15 // [bumblebee] Capture FPS (not present or 0 for default) bumblebee_mono = 0|1 // [bumblebee] OPTIONAL: If this parameter is present, monocular (0:left, 1:right) images will be grabbed instead of stereo pairs. bumblebee_get_rectified = 0|1 // [bumblebee] Determines if the camera should grab rectified or raw images (1 is the default) // Options for grabber_type= ffmpeg ffmpeg_url = rtsp://127.0.0.1 // [ffmpeg] The video file or IP camera to open // Options for grabber_type= rawlog rawlog_file = mylog.rawlog // [rawlog] This can be used to simulate the capture of images already grabbed in the past in the form of a MRPT rawlog. rawlog_camera_sensor_label = CAMERA1 // [rawlog] If this field is not present, all images found in the rawlog will be retrieved. Otherwise, only those observations with a matching sensor label. // Pose of the sensor on the robot: pose_x=0 ; (meters) pose_y=0 pose_z=0 pose_yaw=0 ; (Angles in degrees) pose_pitch=0 pose_roll=0
Images can be saved in the "external storage" mode. See setPathForExternalImages and setExternalImageFormat. These methods are called automatically from rawlog-grabber.
Definition at line 133 of file CCameraSensor.h.
mrpt::hwdrivers::CCameraSensor::CCameraSensor | ( | ) |
Constructor The camera is not open until "initialize" is called.
virtual mrpt::hwdrivers::CCameraSensor::~CCameraSensor | ( | ) | [virtual] |
Destructor.
void mrpt::hwdrivers::CCameraSensor::close | ( | ) |
Close the camera (if open).
This method is called automatically on destruction.
void mrpt::hwdrivers::CCameraSensor::doProcess | ( | ) | [virtual] |
This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e.
you can call this from one thread, then to other methods from other threads.rip
Implements mrpt::hwdrivers::CGenericSensor.
mrpt::slam::CObservationPtr mrpt::hwdrivers::CCameraSensor::getNextFrame | ( | ) |
Retrieves the next frame from the video source, raising an exception on any error.
virtual void mrpt::hwdrivers::CCameraSensor::initialize | ( | ) | [virtual] |
Tries to open the camera, after setting all the parameters with a call to loadConfig.
This | method must throw an exception with a descriptive message if some critical error is found. |
Reimplemented from mrpt::hwdrivers::CGenericSensor.
void mrpt::hwdrivers::CCameraSensor::loadConfig | ( | const mrpt::utils::CConfigFileBase & | configSource, | |
const std::string & | iniSection | |||
) | [virtual] |
Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CCameraSensor for the possible parameters.
Implements mrpt::hwdrivers::CGenericSensor.
void mrpt::hwdrivers::CCameraSensor::setExternalImageFormat | ( | const std::string & | ext | ) | [inline] |
Set the extension ("jpg","gif","png",.
..) that determines the format of images saved externally The default is "jpg".
Definition at line 185 of file CCameraSensor.h.
void mrpt::hwdrivers::CCameraSensor::setPathForExternalImages | ( | const std::string & | directory | ) |
Set the path where to save off-rawlog images: empty (default) means save images embedded in the rawlog.
std::exception | If the directory cannot be created |
int mrpt::hwdrivers::CCameraSensor::m_bumblebee_camera_index [protected] |
Definition at line 205 of file CCameraSensor.h.
int mrpt::hwdrivers::CCameraSensor::m_bumblebee_monocam [protected] |
Definition at line 207 of file CCameraSensor.h.
mrpt::vision::TCaptureOptions_bumblebee mrpt::hwdrivers::CCameraSensor::m_bumblebee_options [protected] |
Definition at line 206 of file CCameraSensor.h.
The bumblebee capture object.
Definition at line 225 of file CCameraSensor.h.
The OpenCV capture object.
Definition at line 219 of file CCameraSensor.h.
The dc1394 capture object.
Definition at line 222 of file CCameraSensor.h.
The FFMPEG capture object.
Definition at line 228 of file CCameraSensor.h.
The input file for rawlogs.
Definition at line 231 of file CCameraSensor.h.
bool mrpt::hwdrivers::CCameraSensor::m_capture_grayscale [protected] |
Definition at line 195 of file CCameraSensor.h.
int mrpt::hwdrivers::CCameraSensor::m_cv_camera_index [protected] |
Definition at line 196 of file CCameraSensor.h.
std::string mrpt::hwdrivers::CCameraSensor::m_cv_camera_type [protected] |
Definition at line 197 of file CCameraSensor.h.
Definition at line 198 of file CCameraSensor.h.
uint64_t mrpt::hwdrivers::CCameraSensor::m_dc1394_camera_guid [protected] |
Definition at line 200 of file CCameraSensor.h.
int mrpt::hwdrivers::CCameraSensor::m_dc1394_camera_unit [protected] |
Definition at line 201 of file CCameraSensor.h.
Definition at line 202 of file CCameraSensor.h.
std::string mrpt::hwdrivers::CCameraSensor::m_external_images_format [protected] |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 215 of file CCameraSensor.h.
std::string mrpt::hwdrivers::CCameraSensor::m_ffmpeg_url [protected] |
Definition at line 209 of file CCameraSensor.h.
std::string mrpt::hwdrivers::CCameraSensor::m_grabber_type [protected] |
Can be "opencv",...
Definition at line 194 of file CCameraSensor.h.
std::string mrpt::hwdrivers::CCameraSensor::m_path_for_external_images [protected] |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 214 of file CCameraSensor.h.
int mrpt::hwdrivers::CCameraSensor::m_preview_counter [private] |
Definition at line 233 of file CCameraSensor.h.
int mrpt::hwdrivers::CCameraSensor::m_preview_decimation [protected] |
Definition at line 203 of file CCameraSensor.h.
Definition at line 234 of file CCameraSensor.h.
std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_camera_sensor_label [protected] |
Definition at line 212 of file CCameraSensor.h.
std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_file [protected] |
Definition at line 211 of file CCameraSensor.h.
std::string mrpt::hwdrivers::CCameraSensor::m_sensorLabel [protected] |
Definition at line 192 of file CCameraSensor.h.
Definition at line 191 of file CCameraSensor.h.
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