vpFlyCaptureGrabber.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description: Class which enables to project an image in the 3D space 
 * and get the view of a virtual camera.
 * 
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef __vpFlyCaptureGrabber_h_
#define __vpFlyCaptureGrabber_h_

#include <ostream>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpFrameGrabber.h>

#ifdef VISP_HAVE_FLYCAPTURE

#include <FlyCapture2.h>

class VISP_EXPORT vpFlyCaptureGrabber : public vpFrameGrabber
{
public:
  vpFlyCaptureGrabber();
  virtual ~vpFlyCaptureGrabber();

  void acquire(vpImage<unsigned char> &I);
  void acquire(vpImage<unsigned char> &I, FlyCapture2::TimeStamp &timestamp);
  void acquire(vpImage<vpRGBa> &I);
  void acquire(vpImage<vpRGBa> &I, FlyCapture2::TimeStamp &timestamp);

  void close();
  void connect();
  void disconnect();

  float getBrightness();
  std::ostream &getCameraInfo(std::ostream &os); // Cannot be const since FlyCapture2::Camera::GetCameraInfo() isn't
  FlyCapture2::Camera *getCameraHandler();
  unsigned int getCameraIndex() const {
   return m_index;
  };
  bool getCameraPower();
  static unsigned int getCameraSerial(unsigned int index);
  float getExposure();
  float getFrameRate();
  float getGain();
  static unsigned int getNumCameras();
  unsigned int getSharpness();
  float getShutter();

  bool isCameraPowerAvailable();
  bool isConnected() const {
    return m_connected;
  }
  bool isCaptureStarted() const {
    return m_capture;
  }
  bool isFormat7Supported(FlyCapture2::Mode format7_mode);
  bool isVideoModeAndFrameRateSupported(FlyCapture2::VideoMode video_mode, FlyCapture2::FrameRate frame_rate);
  void open(vpImage<unsigned char> &I);
  void open(vpImage<vpRGBa> &I);

  vpFlyCaptureGrabber & operator>>(vpImage<unsigned char> &I);
  vpFlyCaptureGrabber & operator>>(vpImage<vpRGBa> &I);

  float setBrightness(bool brightness_auto, float brightness_value=0);
  void setCameraIndex(unsigned int index);
  void setCameraPower(bool on);
  void setCameraSerial(unsigned int serial);
  float setExposure(bool exposure_on, bool exposure_auto, float exposure_value=0);
  float setGain(bool gain_auto, float gain_value=0);
  void setFormat7VideoMode(FlyCapture2::Mode format7_mode,
                           FlyCapture2::PixelFormat pixel_format,
                           unsigned int width, unsigned int height);
  float setFrameRate(float frame_rate);
  unsigned int setSharpness(bool sharpness_on, bool sharpness_auto, unsigned int sharpness_value=0);
  float setShutter(bool auto_shutter, float shutter_ms=10);
  void setVideoModeAndFrameRate(FlyCapture2::VideoMode video_mode,
                                FlyCapture2::FrameRate frame_rate);

  void startCapture();
  void stopCapture();

protected:
  typedef enum {
    ABS_VALUE, 
    VALUE_A,   
  } PropertyValue;
  std::pair<unsigned int, unsigned int> centerRoi(unsigned int size, unsigned int max_size, unsigned int step);
  FlyCapture2::Property getProperty(FlyCapture2::PropertyType prop_type);
  FlyCapture2::PropertyInfo getPropertyInfo(FlyCapture2::PropertyType prop_type);
  void open();
  void setProperty(const FlyCapture2::PropertyType &prop_type,
                   bool on, bool auto_on, float value,
                   PropertyValue prop_value=ABS_VALUE);

protected:
  FlyCapture2::Camera m_camera; 
  FlyCapture2::PGRGuid m_guid; 
  unsigned int m_index; 
  unsigned int m_numCameras; 
  FlyCapture2::Image m_rawImage; 
  bool m_connected; 
  bool m_capture; 
};

#endif
#endif