vpFlyCaptureGrabber Class Reference

#include <visp3/sensor/vpFlyCaptureGrabber.h>

Inheritance diagram for vpFlyCaptureGrabber:

Public Member Functions
	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)
FlyCapture2::Camera *	getCameraHandler ()
unsigned int	getCameraIndex () const
bool	getCameraPower ()
float	getExposure ()
float	getFrameRate ()
float	getGain ()
unsigned int	getSharpness ()
float	getShutter ()
bool	isCameraPowerAvailable ()
bool	isConnected () const
bool	isCaptureStarted () const
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 ()
Inherited functionalities from vpFramegrabber
unsigned int	getHeight () const
unsigned int	getWidth () const

Static Public Member Functions
static unsigned int	getCameraSerial (unsigned int index)
static unsigned int	getNumCameras ()

Public Attributes
bool	init

Protected Types
enum	PropertyValue { ABS_VALUE, VALUE_A }

Protected Member Functions
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 Attributes
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
unsigned int	height
unsigned int	width

Detailed Description

Allows to grab images from a PointGrey camera using FlyCapture SDK.

To use this class install first FlyCapture SDK https://www.ptgrey.com/flycapture-sdk. Installation instructions are provide here https://visp.inria.fr/3rd_flycapture.

Note

To install FlyCapture SDK on linux follow https://www.ptgrey.com/tan/10548.

For specific details about using FlyCapture and Linux with a USB 3.0 camera, see http://www.ptgrey.com/KB/10685.

Warning

With Ubuntu 16.04 or more recent versions, if you get issues during grabbing like:

Grab loop had an error: There is an image consistency issue with this image.

follow instruction provide in here to increase receive buffer size.

Once installed configure ViSP using cmake to detect FlyCapture SDK and build ViSP to include FlyCapture SDK support.

This class was tested under Ubuntu and Windows with the following cameras:

• Flea3 USB 3.0 cameras (FL3-U3-32S2M-CS, FL3-U3-13E4C-C)
• Flea2 firewire camera (FL2-03S2C)
• Dragonfly2 firewire camera (DR2-COL)

The following example shows how to use this class to capture images from the first camera that is found.

#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  try {
  int nframes = 100;
  vpImage<unsigned char> I;
  char filename[255];
  vpFlyCaptureGrabber g;
  std::cout << "Number of cameras detected: " << g.getNumCameras() << std::endl;

  g.setCameraIndex(0); // Default camera is the first on the bus
  g.getCameraInfo(std::cout);
  g.open(I);

  for(int i=0; i< nframes; i++) {
    g.acquire(I);
    sprintf(filename, "image%04d.pgm", i);
    vpImageIo::write(I, filename);
  }
#endif
}

If more than one camera is detected, you can use setCamera(const unsigned int &) to select the camera of interest.

It is also possible to capture images from multiple cameras. The following example shows how to capture simultaneously images from multiple cameras.

#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  int nframes = 100;
  char filename[255];
  unsigned int numCameras = vpFlyCaptureGrabber::getNumCameras();

  std::cout << "Number of cameras detected: " << numCameras << std::endl;

  vpFlyCaptureGrabber *g = new vpFlyCaptureGrabber [numCameras];
  std::vector< vpImage<unsigned char> > I(numCameras);

  for(unsigned int cam=0; cam < numCameras; cam++) {
    g[cam].setCameraIndex(cam); // Default camera is the first on the bus
    g[cam].getCameraInfo(std::cout);
    g[cam].open(I[cam]);
  }

  for(int i=0; i< nframes; i++) {
    for(unsigned int cam=0; cam < numCameras; cam++) {
      g[cam].acquire(I[cam]);
      sprintf(filename, "image-camera%d-%04d.pgm", cam, i);
      vpImageIo::write(I[cam], filename);
    }
  }
  delete [] g;
#endif
}

Examples:

grabFlyCapture.cpp, servoFlirPtuIBVS.cpp, tutorial-apriltag-detector-live.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-grabber-flycapture.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-pose-from-points-live.cpp.

Definition at line 155 of file vpFlyCaptureGrabber.h.

Member Enumeration Documentation

PropertyValue

enum vpFlyCaptureGrabber::PropertyValue

protected

Enumerator
ABS_VALUE	Consider FlyCapture2::Property::absValue.
VALUE_A	Consider FlyCapture2::Property::valueA.

Definition at line 216 of file vpFlyCaptureGrabber.h.

Constructor & Destructor Documentation

vpFlyCaptureGrabber()

vpFlyCaptureGrabber::vpFlyCaptureGrabber

(

)

Default constructor that consider the first camera found on the bus as active.

Definition at line 56 of file vpFlyCaptureGrabber.cpp.

References getNumCameras(), and m_numCameras.

~vpFlyCaptureGrabber()

vpFlyCaptureGrabber::~vpFlyCaptureGrabber ( )

virtual

Default destructor that closes the connection with the camera.

Definition at line 65 of file vpFlyCaptureGrabber.cpp.

References close().

Member Function Documentation

acquire() [1/4]

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

virtual

Acquire a gray level image from the active camera.

Parameters

I	: Image data structure (8 bits image).

Implements vpFrameGrabber.

Examples:

grabFlyCapture.cpp, servoFlirPtuIBVS.cpp, tutorial-flir-ptu-ibvs.cpp, and tutorial-grabber-flycapture.cpp.

Definition at line 1100 of file vpFlyCaptureGrabber.cpp.

Referenced by acquire(), open(), and operator>>().

acquire() [2/4]

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

Acquire a gray level image from the active camera.

Parameters

I	: Image data structure (8 bits image).
timestamp	: The acquisition timestamp.

Definition at line 1113 of file vpFlyCaptureGrabber.cpp.

References vpImage< Type >::bitmap, vpException::fatalError, getCameraSerial(), vpImage< Type >::getSize(), vpFrameGrabber::height, m_camera, m_index, m_rawImage, open(), vpImage< Type >::resize(), and vpFrameGrabber::width.

acquire() [3/4]

void vpFlyCaptureGrabber::acquire ( vpImage< vpRGBa > &  I )

virtual

Acquire a color image from the active camera.

Parameters

I	: Image data structure (RGBa image).

Implements vpFrameGrabber.

Definition at line 1151 of file vpFlyCaptureGrabber.cpp.

References acquire().

acquire() [4/4]

void vpFlyCaptureGrabber::acquire	(	vpImage< vpRGBa > &	I,
		FlyCapture2::TimeStamp &	timestamp
	)

Acquire a color image from the active camera.

Parameters

I	: Image data structure (RGBa image).
timestamp	: The acquisition timestamp.

Definition at line 1164 of file vpFlyCaptureGrabber.cpp.

References vpException::fatalError, getCameraSerial(), vpFrameGrabber::height, m_camera, m_index, m_rawImage, open(), vpImage< Type >::resize(), and vpFrameGrabber::width.

centerRoi()

std::pair< unsigned int, unsigned int > vpFlyCaptureGrabber::centerRoi ( unsigned int  size, unsigned int  max_size, unsigned int  step  )

protected

Return size and offset corresponding to a centered roi.

Parameters

size	: Horizontal or vertical roi size. If set to 0, use the max allowed size.
max_size	: Allowed max size.
step	: Step.

Definition at line 855 of file vpFlyCaptureGrabber.cpp.

Referenced by setFormat7VideoMode().

close()

void vpFlyCaptureGrabber::close ( )

virtual

Stop active camera capturing images and disconnect the active camera. If you want to use again this camera, you may call setCamera(const unsigned int &) and open(vpImage<unsigned char> &) or open(vpImage<vpRGBa> &) to connect again the camera.

Similar then calling stopCapture() and disconnect():

vpFlyCaptureGrabber g;
...
g.stopCapture();
g.disconnect();

Implements vpFrameGrabber.

Definition at line 1089 of file vpFlyCaptureGrabber.cpp.

References disconnect(), and stopCapture().

Referenced by ~vpFlyCaptureGrabber().

connect()

void vpFlyCaptureGrabber::connect

(

)

Connect the active camera.

See also

disconnect()

Definition at line 1022 of file vpFlyCaptureGrabber.cpp.

References vpException::fatalError, getCameraSerial(), getNumCameras(), vpFrameGrabber::init, m_camera, m_capture, m_connected, m_guid, m_index, and m_numCameras.

Referenced by getBrightness(), getCameraHandler(), getCameraInfo(), getExposure(), getFrameRate(), getGain(), getProperty(), getPropertyInfo(), getSharpness(), getShutter(), isCameraPowerAvailable(), isFormat7Supported(), isVideoModeAndFrameRateSupported(), open(), setBrightness(), setCameraPower(), setExposure(), setFormat7VideoMode(), setFrameRate(), setGain(), setProperty(), setSharpness(), setShutter(), setVideoModeAndFrameRate(), and startCapture().

disconnect()

void vpFlyCaptureGrabber::disconnect

(

)

Disconnect the active camera.

See also

connect()

Definition at line 1057 of file vpFlyCaptureGrabber.cpp.

References vpException::fatalError, vpFrameGrabber::init, m_camera, m_capture, and m_connected.

Referenced by close().

getBrightness()

float vpFlyCaptureGrabber::getBrightness

(

)

Return brightness value in %. If the camera doesn't support brightness property, return an exception.

vpFlyCaptureGrabber g;
g.setCameraIndex(0);
std::cout << "Brightness value: " << g.getBrightness() << " %" << std::endl;

See also

setBrightness()

Definition at line 267 of file vpFlyCaptureGrabber.cpp.

References connect(), and getProperty().

getCameraHandler()

FlyCapture2::Camera * vpFlyCaptureGrabber::getCameraHandler

(

)

Return the handler to the active camera or NULL if the camera is not connected. This function was designed to provide a direct access to the FlyCapture SDK to get access to advanced functionalities that are not implemented in this class.

We provide here after and example that shows how to use this function to access to the camera and check if a given video mode and framerate are supported by the camera.

#include <visp3/core/vpImage.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  int nframes = 100;
  vpImage<unsigned char> I;

  vpFlyCaptureGrabber g;
  g.connect();
  FlyCapture2::Camera *handler = g.getCameraHandler();
  bool supported = false;
  handler->GetVideoModeAndFrameRateInfo(FlyCapture2::VIDEOMODE_1280x960Y8, FlyCapture2::FRAMERATE_60, &supported);
  if (supported)
    g.setVideoModeAndFrameRate(FlyCapture2::VIDEOMODE_1280x960Y8, FlyCapture2::FRAMERATE_60); g.startCapture();

  for(int i=0; i< nframes; i++) {
    g.acquire(I);
  }
#endif
}

The following code shows how to use this function to check if a given format7 (here MODE_0, PIXEL_FORMAT_MONO8) is supported by the camera:

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  vpFlyCaptureGrabber g;
  g.connect();
  FlyCapture2::Camera *handler = g.getCameraHandler();

  // Query for available Format 7 modes
  const FlyCapture2::Mode k_fmt7Mode = FlyCapture2::MODE_0;
  const FlyCapture2::PixelFormat k_fmt7PixFmt = FlyCapture2::PIXEL_FORMAT_MONO8;

  FlyCapture2::Format7Info fmt7Info;
  bool supported;
  fmt7Info.mode = k_fmt7Mode;
  FlyCapture2::Error error = handler->GetFormat7Info( &fmt7Info, &supported );
  if (error != FlyCapture2::PGRERROR_OK) {
    error.PrintErrorTrace();
    return -1;
  }
  if (supported) {
    std::cout << "Max image pixels: (" << fmt7Info.maxWidth << ", " << fmt7Info.maxHeight << ")" << std::endl;
     std::cout << "Image Unit size: (" << fmt7Info.imageHStepSize << ", " << fmt7Info.imageVStepSize << ")"
               << std::endl;
     std::cout << "Offset Unit size: (" << fmt7Info.offsetHStepSize << ", " << fmt7Info.offsetVStepSize << ")"
               << std::endl;
     std::cout << "Pixel format bitfield: 0x" << fmt7Info.pixelFormatBitField << std::endl;

    if ( (k_fmt7PixFmt & fmt7Info.pixelFormatBitField) == 0 ) {
      // Pixel format not supported!
      std::cout << "Pixel format is not supported" << std::endl;
      return -1;
    }
  }
#endif
}

Definition at line 184 of file vpFlyCaptureGrabber.cpp.

References connect(), m_camera, and m_connected.

getCameraIndex()

unsigned int vpFlyCaptureGrabber::getCameraIndex ( ) const

inline

Return the index of the active camera.

Examples:

grabFlyCapture.cpp.

Definition at line 176 of file vpFlyCaptureGrabber.h.

getCameraInfo()

std::ostream & vpFlyCaptureGrabber::getCameraInfo

(

std::ostream &

os

)

Print to the output stream active camera information (serial number, camera model, camera vendor, sensor, resolution, firmaware version, ...).

Definition at line 84 of file vpFlyCaptureGrabber.cpp.

References connect(), and m_camera.

getCameraPower()

bool vpFlyCaptureGrabber::getCameraPower

(

)

Return true if the camera is powered on, false otherwise

See also

setCameraPower()

Definition at line 1271 of file vpFlyCaptureGrabber.cpp.

References isCameraPowerAvailable(), and m_camera.

getCameraSerial()

unsigned int vpFlyCaptureGrabber::getCameraSerial ( unsigned int  index )

static

Return the serial id of a camera with index.

Parameters

index

: Camera index.

The following code shows how to retrieve the serial id of all the cameras that are connected on the bus.

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  vpFlyCaptureGrabber g;
  unsigned int num_cameras = vpFlyCaptureGrabber::getNumCameras();
  for (unsigned int i=0; i<num_cameras; i++) {
    unsigned int serial_id = vpFlyCaptureGrabber::getCameraSerial(i);
    std::cout << "Camera with index " << i << " has serial id: " << serial_id << std::endl;
  }
#endif
}

When two cameras are connected (PGR Flea3 in our case), we get the following:

Camera with index 0 has serial id: 15372913
Camera with index 1 has serial id: 15290004

See also

setCameraSerial()

Examples:

grabFlyCapture.cpp.

Definition at line 346 of file vpFlyCaptureGrabber.cpp.

References vpException::badValue, vpException::fatalError, and getNumCameras().

Referenced by acquire(), connect(), setCameraSerial(), and startCapture().

getExposure()

float vpFlyCaptureGrabber::getExposure

(

)

Return exposure value. If the camera doesn't support exposure property, return an exception.

vpFlyCaptureGrabber g;
g.setCameraIndex(0);
std::cout << "Exposure value: " << g.getExposure() << std::endl;

See also

setExposure()

Definition at line 307 of file vpFlyCaptureGrabber.cpp.

References connect(), and getProperty().

getFrameRate()

float vpFlyCaptureGrabber::getFrameRate

(

)

Return camera capture framerate. If the camera doesn't support framerate property, return an exception.

vpFlyCaptureGrabber g;
g.setCameraIndex(0);
std::cout << "Frame rate: " << g.getFrameRate() << " fps" << std::endl;

See also

setFrameRate()

Definition at line 207 of file vpFlyCaptureGrabber.cpp.

References connect(), and getProperty().

getGain()

float vpFlyCaptureGrabber::getGain

(

)

Return camera gain value in db. If the camera doesn't support gain property, return an exception.

vpFlyCaptureGrabber g;
g.setCameraIndex(0);
std::cout << "Gain value: " << g.getGain() << " ms" << std::endl;

See also

setGain()

Definition at line 247 of file vpFlyCaptureGrabber.cpp.

References connect(), and getProperty().

getHeight()

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.

getNumCameras()

unsigned int vpFlyCaptureGrabber::getNumCameras ( )

static

Returns

Return the number of cameras connected on the bus.

Definition at line 69 of file vpFlyCaptureGrabber.cpp.

Referenced by connect(), getCameraSerial(), setCameraSerial(), and vpFlyCaptureGrabber().

getProperty()

FlyCapture2::Property vpFlyCaptureGrabber::getProperty ( FlyCapture2::PropertyType  prop_type )

protected

Return property values.

Parameters

prop_type

: Property type.

Definition at line 754 of file vpFlyCaptureGrabber.cpp.

References connect(), vpException::fatalError, and m_camera.

Referenced by getBrightness(), getExposure(), getFrameRate(), getGain(), getSharpness(), getShutter(), setBrightness(), setExposure(), setFrameRate(), setGain(), setSharpness(), and setShutter().

getPropertyInfo()

FlyCapture2::PropertyInfo vpFlyCaptureGrabber::getPropertyInfo ( FlyCapture2::PropertyType  prop_type )

protected

Return information concerning a given property type.

Parameters

prop_type

: Property type.

Exceptions

vpException::fatalError

: If property type doesn't exist.

Definition at line 774 of file vpFlyCaptureGrabber.cpp.

References connect(), vpException::fatalError, and m_camera.

Referenced by setProperty().

getSharpness()

unsigned int vpFlyCaptureGrabber::getSharpness

(

)

Return sharpness value. If the camera doesn't support sharpness property, return an exception.

vpFlyCaptureGrabber g;
g.setCameraIndex(0);
std::cout << "Sharpness value: " << g.getSharpness() << std::endl;

See also

setSharpness()

Definition at line 287 of file vpFlyCaptureGrabber.cpp.

References connect(), and getProperty().

getShutter()

float vpFlyCaptureGrabber::getShutter

(

)

Return camera shutter value in ms. If the camera doesn't support shutter property, return an exception.

vpFlyCaptureGrabber g;
g.setCameraIndex(0);
std::cout << "Shutter value: " << g.getShutter() << " ms" << std::endl;

See also

setShutter()

Definition at line 227 of file vpFlyCaptureGrabber.cpp.

References connect(), and getProperty().

getWidth()

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.

isCameraPowerAvailable()

bool vpFlyCaptureGrabber::isCameraPowerAvailable

(

)

Return true if camera power is available, false otherwise.

See also

getCameraPower(), setCameraPowerOn(), setCameraPowerOff()

Definition at line 1250 of file vpFlyCaptureGrabber.cpp.

References connect(), and m_camera.

Referenced by getCameraPower(), and setCameraPower().

isCaptureStarted()

bool vpFlyCaptureGrabber::isCaptureStarted ( ) const

inline

Return true if the camera capture is started.

Definition at line 190 of file vpFlyCaptureGrabber.h.

References vpFrameGrabber::open().

isConnected()

bool vpFlyCaptureGrabber::isConnected ( ) const

inline

Return true if the camera is connected.

Definition at line 188 of file vpFlyCaptureGrabber.h.

isFormat7Supported()

bool vpFlyCaptureGrabber::isFormat7Supported

(

FlyCapture2::Mode

format7_mode

)

Return true if format7 mode is supported.

Definition at line 951 of file vpFlyCaptureGrabber.cpp.

References connect(), vpException::fatalError, and m_camera.

isVideoModeAndFrameRateSupported()

bool vpFlyCaptureGrabber::isVideoModeAndFrameRateSupported	(	FlyCapture2::VideoMode	video_mode,
		FlyCapture2::FrameRate	frame_rate
	)

Return true if video mode and framerate is supported.

Definition at line 835 of file vpFlyCaptureGrabber.cpp.

References connect(), vpException::fatalError, and m_camera.

open() [1/3]

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

virtual

Connect to the active camera, start capture and retrieve an image.

Parameters

I	: Captured image.

Implements vpFrameGrabber.

Examples:

grabFlyCapture.cpp, servoFlirPtuIBVS.cpp, tutorial-apriltag-detector-live.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-grabber-flycapture.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-pose-from-points-live.cpp.

Definition at line 1212 of file vpFlyCaptureGrabber.cpp.

References acquire(), and open().

open() [2/3]

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

virtual

Connect to the active camera, start capture and retrieve an image.

Parameters

I	: Captured image.

Implements vpFrameGrabber.

Definition at line 1222 of file vpFlyCaptureGrabber.cpp.

References acquire(), and open().

open() [3/3]

void vpFlyCaptureGrabber::open ( )

protected

Connect to the active camera and start capture.

Similar then calling:

vpFlyCaptureGrabber g;
...
g.connect();
g.startCapture();

Definition at line 1239 of file vpFlyCaptureGrabber.cpp.

References connect(), and startCapture().

Referenced by acquire(), and open().

operator>>() [1/2]

vpFlyCaptureGrabber & vpFlyCaptureGrabber::operator>>

(

vpImage< unsigned char > &

I

)

Operator that allows to capture a grey level image.

Parameters

I	: The captured image.

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
  vpImage<unsigned char> I;
  vpFlyCaptureGrabber g;
  g >> I;
}

Definition at line 1378 of file vpFlyCaptureGrabber.cpp.

References acquire().

operator>>() [2/2]

vpFlyCaptureGrabber & vpFlyCaptureGrabber::operator>>

(

vpImage< vpRGBa > &

I

)

Operator that allows to capture a grey level image.

Parameters

I	: The captured image.

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
  vpImage<vpRGBa> I;
  vpFlyCaptureGrabber g;
  g >> I;
}

Definition at line 1400 of file vpFlyCaptureGrabber.cpp.

References acquire().

setBrightness()

float vpFlyCaptureGrabber::setBrightness	(	bool	brightness_auto,
		float	brightness_value = 0
	)

Set camera brightness mode and parameter.

Parameters

brightness_auto	: If true set auto brightness, if false set manual brightness applying brightness_value parameter.
brightness_value	: This is the level of black in an image. A high brightness will result in a low amount of black in the image.

Returns

The measured brightness after applying the new setting.

The following example shows how to use this function:

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  vpImage<unsigned char> I;

  vpFlyCaptureGrabber g;
  g.setCameraIndex(0);

  float brightness = g.getBrightness();
  std::cout << "Brightness       : " << brightness << " %" << std::endl;
  brightness = g.setBrightness(false, 2); // Turn manual brightness on to 2%
  std::cout << "Brightness manual: " << brightness << " %" << std::endl;
  brightness = g.setBrightness(true); // Turn auto brightness on
  std::cout << "Brightness auto  : " << brightness << " %" << std::endl;

  g.open(I);
  ...
#endif
}

See also

getBrightness()

Definition at line 641 of file vpFlyCaptureGrabber.cpp.

References connect(), getProperty(), and setProperty().

setCameraIndex()

void vpFlyCaptureGrabber::setCameraIndex

(

unsigned int

index

)

If multiples cameras are connected on the bus, select the camero to dial with.

Parameters

index

: Current camera index, a value comprised between 0 (the first camera found on the bus) and the number of cameras found on the bus and returned by getNumCameras() minus 1. If two cameras are connected on the bus, setting index to one allows to communicate with the second one. This identifier is not unique. That is why, it is also possible to select a camera by its serial number, which is unique using setCameraSerial().

Exceptions

vpException::badValue

: If the index is greater or equal to the number of cameras connected to the bus.

Examples:

grabFlyCapture.cpp.

Definition at line 379 of file vpFlyCaptureGrabber.cpp.

References vpException::badValue, m_index, and m_numCameras.

setCameraPower()

void vpFlyCaptureGrabber::setCameraPower

(

bool

on

)

Power on/off the camera.

Parameters

on	: true to power on the camera, false to power off the camera.

The following example shows how to turn off a camera.

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  vpFlyCaptureGrabber g;

  g.setCameraIndex(0);
  g.connect();

  bool power = g.getCameraPower();
  std::cout << "Camera is powered: " << ((power == true) ? "on" : "off") << std::endl;

  if (power)
    g.setCameraPower(false); // Power off the camera
#endif
}

See also

getCameraPower()

Definition at line 1315 of file vpFlyCaptureGrabber.cpp.

References vpException::badValue, connect(), vpException::fatalError, isCameraPowerAvailable(), m_camera, and vpTime::wait().

setCameraSerial()

void vpFlyCaptureGrabber::setCameraSerial

(

unsigned int

serial_id

)

Set the current camera from its unique serial identifier.

Parameters

serial_id

: Camera serial id.

The following example shows how to capture images from a camera that has seial id 15290004.

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  int nframes = 100;
  vpImage<unsigned char> I;

  vpFlyCaptureGrabber g;
  g.setCameraSerial(15290004); // Set camera with serial id
  g.open(I);
  g.getCameraInfo(std::cout);

  for(int i=0; i< nframes; i++) {
    g.acquire(I);
  }
#endif
}

See also

getCameraSerial()

Definition at line 418 of file vpFlyCaptureGrabber.cpp.

References vpException::badValue, getCameraSerial(), getNumCameras(), m_index, and m_numCameras.

setExposure()

float vpFlyCaptureGrabber::setExposure	(	bool	exposure_on,
		bool	exposure_auto,
		float	exposure_value = 0
	)

Set camera exposure mode and parameter.

Parameters

exposure_on	: If true turn exposure on, otherwise turn off.
exposure_auto	: If true set auto exposure, if false set manual exposure applying exposure_value parameter.
exposure_value	: This is the average intensity of the image. It will use other available (non-manually adjustable) controls to adjust the image. Specifically, when shutter and gain are both in auto mode, manually adjusting the exposure is actually adjusting the auto-exposure, which tries to make the average intensity of the image 1/4 of the auto-exposure value e.g. exposure is 400, the camera will try to adjust shutter and gain so that the average image intensity is 100. When the auto-exposure mode is enabled for exposure, the camera tries to manipulate shutter and gain such that 5% of the image is saturated (pixel value of 255).

Returns

The measured brightness after applying the new setting.

The following example shows how to use this function:

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  vpImage<unsigned char> I;

  vpFlyCaptureGrabber g;
  g.setCameraIndex(0);

  float exposure = g.getExposure();
  std::cout << "Exposure       : " << exposure << std::endl;
  exposure = g.setExposure(true, false, 1); // Turn manual exposure on to 1
  std::cout << "Exposure manual: " << exposure << std::endl;
  exposure = g.setExposure(true, true); // Turn auto exposure on
  std::cout << "Exposure auto  : " << exposure << std::endl;

  g.open(I);
  ...
#endif
}

See also

getExposure()

Definition at line 694 of file vpFlyCaptureGrabber.cpp.

References connect(), getProperty(), and setProperty().

setFormat7VideoMode()

void vpFlyCaptureGrabber::setFormat7VideoMode	(	FlyCapture2::Mode	format7_mode,
		FlyCapture2::PixelFormat	pixel_format,
		unsigned int	w,
		unsigned int	h
	)

Set format7 video mode.

Parameters

format7_mode	: Format 7 mode.
pixel_format	: Pixel format.
w,h	: Width and height of the centered roi. If set to 0, use the max allowed size.

If the format7 video mode and pixel format are not supported, return an exception.

The following example shows how to use this fonction to capture a 640x480 roi:

#include <iomanip>
#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  vpImage<unsigned char> I;

  vpFlyCaptureGrabber g;
  g.setCameraIndex(0);

  g.setFormat7VideoMode(FlyCapture2::MODE_0, FlyCapture2::PIXEL_FORMAT_MONO8, 640, 480);

  g.open(I);
  ...
#endif
}

Definition at line 900 of file vpFlyCaptureGrabber.cpp.

References centerRoi(), connect(), vpException::fatalError, and m_camera.

setFrameRate()

float vpFlyCaptureGrabber::setFrameRate

(

float

frame_rate

)

Set camera frame rate.

Parameters

frame_rate

: Camera frame rate (fps) to set.

Returns

The camera current framerate.

The following example shows how to use this function.

#include <iomanip>
#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  vpImage<unsigned char> I;

  vpFlyCaptureGrabber g;
  g.setCameraIndex(0);

  float framerate = g.getFrameRate();
  std::cout << "Cur frame rate: " << std::fixed << std::setprecision(3) << framerate << " fps" << std::endl;
  framerate = g.setFrameRate(30); // Set framerate to 30 fps
  std::cout << "New frame rate: " << std::fixed << std::setprecision(3) << framerate << " fps" << std::endl;

  g.open(I);
  while (1)
    g.acquire(I);
#endif
}

See also

getFramerate()

Definition at line 510 of file vpFlyCaptureGrabber.cpp.

References connect(), getProperty(), and setProperty().

setGain()

float vpFlyCaptureGrabber::setGain	(	bool	gain_auto,
		float	gain_value = 0
	)

Set camera gain mode and value.

Parameters

gain_auto	: If true set auto gain, if false set manual gain applying gain_value parameter.
gain_value	: The amount of amplification that is applied to a pixel in manual mode. An increase in gain can result in an increase in noise.

Returns

The measured gain after applying the new setting.

The following example shows how to use this function:

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  vpImage<unsigned char> I;

  vpFlyCaptureGrabber g;
  g.setCameraIndex(0);

  float gain_db = g.getGain();
  std::cout << "Gain: " << gain_db << " db" << std::endl;
  gain_db = g.setGain(false, 5); // Turn manual gain on to 5db
  std::cout << "Gain manual: " << gain_db << " db" << std::endl;
  gain_db = g.setGain(true); // Turn auto shutter on
  std::cout << "Gain auto  : " << gain_db << " db" << std::endl;

  g.open(I);
  ...
#endif
}

See also

getGain()

Examples:

tutorial-grabber-flycapture.cpp.

Definition at line 597 of file vpFlyCaptureGrabber.cpp.

References connect(), getProperty(), and setProperty().

setProperty()

void vpFlyCaptureGrabber::setProperty ( const FlyCapture2::PropertyType &  prop_type, bool  on, bool  auto_on, float  value, PropertyValue  prop_value = ABS_VALUE  )

protected

Set camera property.

Parameters

prop_type	: Property type.
on	: true to turn property on.
auto_on	: true to turn auto mode on, false to turn manual mode.
value	: value to set.
prop_value	: Switch to affect value to the corresponding variable.

Definition at line 441 of file vpFlyCaptureGrabber.cpp.

References ABS_VALUE, connect(), vpException::fatalError, getPropertyInfo(), m_camera, and VALUE_A.

Referenced by setBrightness(), setExposure(), setFrameRate(), setGain(), setSharpness(), and setShutter().

setSharpness()

unsigned int vpFlyCaptureGrabber::setSharpness	(	bool	sharpness_on,
		bool	sharpness_auto,
		unsigned int	sharpness_value = 0
	)

Set camera sharpness mode and parameter.

Parameters

sharpness_on	: If true turn sharpness on, otherwise turn off.
sharpness_auto	: If true set auto sharpness, if false set manual sharpness applying sharpness_value parameter.
sharpness_value	: Parameter used to tune the filter applyed on the image to reduce blurred edges in an image.

Returns

The measured sharpness after applying the new setting.

The following example shows how to use this function:

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  vpImage<unsigned char> I;

  vpFlyCaptureGrabber g;
  g.setCameraIndex(0);

  float sharpness = g.getSharpness();
  std::cout << "Sharpness       : " << sharpness << std::endl;
  sharpness = g.setSharpness(true, false, 1000); // Turn manual sharpness on to 1000
  std::cout << "Sharpness manual: " << sharpness << std::endl;
  sharpness = g.setSharpness(true, true); // Turn auto sharpness on
  std::cout << "Sharpness auto  : " << sharpness << std::endl;

  g.open(I);
  ...
#endif
}

See also

getSharpness()

Definition at line 741 of file vpFlyCaptureGrabber.cpp.

References connect(), getProperty(), setProperty(), and VALUE_A.

setShutter()

float vpFlyCaptureGrabber::setShutter	(	bool	auto_shutter,
		float	shutter_ms = 10
	)

Set camera shutter mode and parameter.

Parameters

auto_shutter	: If true set auto shutter, if false set manual shutter applying shutter_ms parameter.
shutter_ms	: This is the speed at which the camera shutter opens and closes in manual mode.

Returns

The measured shutter after applying the new setting.

The following example shows how to use this function:

#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  vpImage<unsigned char> I;

  vpFlyCaptureGrabber g;
  g.setCameraIndex(0);

  float shutter_ms = g.getShutter();
  std::cout << "Shutter       : " << shutter_ms << " ms" << std::endl;
  shutter_ms = g.setShutter(false, 10); // Turn manual shutter on to 10ms
  std::cout << "Shutter manual: " << shutter_ms << " ms" << std::endl;
  shutter_ms = g.setShutter(true); // Turn auto shutter on
  std::cout << "Shutter auto  : " << shutter_ms << " ms" << std::endl;

  g.open(I);
  ...
#endif
}

See also

getShutter()

Examples:

tutorial-grabber-flycapture.cpp.

Definition at line 553 of file vpFlyCaptureGrabber.cpp.

References connect(), getProperty(), and setProperty().

setVideoModeAndFrameRate()

void vpFlyCaptureGrabber::setVideoModeAndFrameRate	(	FlyCapture2::VideoMode	video_mode,
		FlyCapture2::FrameRate	frame_rate
	)

Set video mode and framerate of the active camera.

Parameters

video_mode	: Camera video mode.
frame_rate	: Camera frame rate.

The following example shows how to use this function to set the camera image resolution to 1280 x 960, pixel format to Y8 and capture framerate to 60 fps.

#include <visp3/core/vpImage.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>

int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
  int nframes = 100;
  vpImage<unsigned char> I;
  vpFlyCaptureGrabber g;

  g.setCameraIndex(0); // Default camera is the first on the bus
  g.setVideoModeAndFrameRate(FlyCapture2::VIDEOMODE_1280x960Y8, FlyCapture2::FRAMERATE_60);
  g.open(I);
  g.getCameraInfo(std::cout);

  for(int i=0; i< nframes; i++) {
    g.acquire(I);
  }
#endif
}

Examples:

tutorial-grabber-flycapture.cpp.

Definition at line 820 of file vpFlyCaptureGrabber.cpp.

References connect(), vpException::fatalError, and m_camera.

startCapture()

void vpFlyCaptureGrabber::startCapture

(

)

Start active camera capturing images.

See also

stopCapture()

Definition at line 973 of file vpFlyCaptureGrabber.cpp.

References connect(), vpException::fatalError, getCameraSerial(), vpFrameGrabber::init, m_camera, m_capture, m_connected, and m_index.

Referenced by open().

stopCapture()

void vpFlyCaptureGrabber::stopCapture

(

)

Stop active camera capturing images.

See also

startCapture()

Definition at line 999 of file vpFlyCaptureGrabber.cpp.

References vpException::fatalError, vpFrameGrabber::init, m_camera, m_capture, and m_connected.

Referenced by close().

Member Data Documentation

height

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

init

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

m_camera

FlyCapture2::Camera vpFlyCaptureGrabber::m_camera

protected

Pointer to each camera.

Definition at line 228 of file vpFlyCaptureGrabber.h.

Referenced by acquire(), connect(), disconnect(), getCameraHandler(), getCameraInfo(), getCameraPower(), getProperty(), getPropertyInfo(), isCameraPowerAvailable(), isFormat7Supported(), isVideoModeAndFrameRateSupported(), setCameraPower(), setFormat7VideoMode(), setProperty(), setVideoModeAndFrameRate(), startCapture(), and stopCapture().

m_capture

bool vpFlyCaptureGrabber::m_capture

protected

true is capture started

Definition at line 234 of file vpFlyCaptureGrabber.h.

Referenced by connect(), disconnect(), startCapture(), and stopCapture().

m_connected

bool vpFlyCaptureGrabber::m_connected

protected

true if camera connected

Definition at line 233 of file vpFlyCaptureGrabber.h.

Referenced by connect(), disconnect(), getCameraHandler(), startCapture(), and stopCapture().

m_guid

FlyCapture2::PGRGuid vpFlyCaptureGrabber::m_guid

protected

Active camera guid.

Definition at line 229 of file vpFlyCaptureGrabber.h.

Referenced by connect().

m_index

unsigned int vpFlyCaptureGrabber::m_index

protected

Active camera index.

Definition at line 230 of file vpFlyCaptureGrabber.h.

Referenced by acquire(), connect(), setCameraIndex(), setCameraSerial(), and startCapture().

m_numCameras

unsigned int vpFlyCaptureGrabber::m_numCameras

protected

Number of connected cameras.

Definition at line 231 of file vpFlyCaptureGrabber.h.

Referenced by connect(), setCameraIndex(), setCameraSerial(), and vpFlyCaptureGrabber().

m_rawImage

FlyCapture2::Image vpFlyCaptureGrabber::m_rawImage

protected

Image buffer.

Definition at line 232 of file vpFlyCaptureGrabber.h.

Referenced by acquire().

width

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