Visual Servoing Platform  version 3.4.0
vpPylonGrabberGigE.h
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30  *
31  * Description: Header of vpPylonGrabberGigE class.
32  *
33  * Authors:
34  * Wenfeng CAI
35  *
36  *****************************************************************************/
37 
44 #ifndef _vpPylonGrabberGigE_h_
45 #define _vpPylonGrabberGigE_h_
46 
47 #include <visp3/core/vpConfig.h>
48 
49 #include <visp3/sensor/vpPylonGrabber.h>
50 
51 #ifdef VISP_HAVE_PYLON
52 
53 #include <pylon/gige/BaslerGigEInstantCamera.h>
54 
65 class VISP_EXPORT vpPylonGrabberGigE : public vpPylonGrabber
66 {
67 public:
69  virtual ~vpPylonGrabberGigE();
70 
72  void acquire(vpImage<vpRGBa> &I);
73 
74  void close();
75  void connect();
76  void disconnect();
77 
78  float getBlackLevel();
79  std::ostream &getCameraInfo(std::ostream &os);
80  Pylon::CInstantCamera *getCameraHandler();
82  unsigned int getCameraIndex() const { return m_index; };
83  std::string getCameraSerial(unsigned int index);
84  float getExposure();
85  float getFrameRate();
86  float getGain();
87  unsigned int getNumCameras();
88  float getGamma();
89  bool loadUserSet(UserSetName user_set);
91 
93  bool isConnected() const { return m_connected; }
95  bool isCaptureStarted() const { return m_camera.IsGrabbing(); }
97  void open(vpImage<vpRGBa> &I);
98 
101 
102  float setBlackLevel(float blacklevel_value = 0);
103  void setCameraIndex(unsigned int index);
104  void setCameraSerial(const std::string &serial);
105  float setExposure(bool exposure_on, bool exposure_auto, float exposure_value = 0);
106  float setGain(bool gain_auto, float gain_value = 0);
107  float setFrameRate(float frame_rate);
108  float setGamma(bool gamma_on, float gamma_value = 1);
109  bool saveUserSet(UserSetName user_set, bool set_default = false);
110  bool setUserSetDefault(UserSetName user_set);
111 
112  void startCapture();
113  void stopCapture();
114 
115 protected:
116  void open();
117  bool selectUserSet(UserSetName user_set);
118 
119 private:
120  Pylon::CBaslerGigEInstantCamera m_camera;
121  unsigned int m_index;
122  unsigned int m_numCameras;
123  bool m_connected;
124 };
125 
126 #endif // #ifdef VISP_HAVE_PYLON
127 #endif // #ifndef _vpPylonGrabberGigE_h_
virtual unsigned int getNumCameras()=0
Get the number of cameras of specific subclasses. GigE, USB, etc.
virtual Pylon::CInstantCamera * getCameraHandler()=0
virtual UserSetName getUserSetDefault()=0
Gets the configuration set being used as the default startup set.
virtual void setCameraSerial(const std::string &serial)=0
virtual void open(vpImage< unsigned char > &I)=0
virtual void startCapture()=0
unsigned int getCameraIndex() const
virtual float setGamma(bool gamma_on, float gamma_value=1)=0
virtual float getBlackLevel()=0
virtual bool saveUserSet(UserSetName user_set, bool set_default=false)=0
Saves the current active configuration set into the selected user set.
virtual float getGain()=0
virtual float setExposure(bool exposure_on, bool exposure_auto, float exposure_value)=0
virtual void close()=0
Stop active camera capturing images and disconnect the active camera.
virtual float setBlackLevel(float blacklevel_value)=0
virtual vpPylonGrabber & operator>>(vpImage< unsigned char > &I)=0
virtual float getFrameRate()=0
virtual std::string getCameraSerial(unsigned int index)=0
virtual void acquire(vpImage< unsigned char > &I)=0
virtual void disconnect()=0
virtual void connect()=0
virtual float setFrameRate(float frame_rate)=0
virtual float setGain(bool gain_auto, float gain_value)=0
virtual bool loadUserSet(UserSetName user_set)=0
Loads the selected configuration into the camera&#39;s volatile memory and makes it the active configurat...
virtual void setCameraIndex(unsigned int index)=0
virtual std::ostream & getCameraInfo(std::ostream &os)=0
virtual bool setUserSetDefault(UserSetName user_set)=0
Sets the configuration set to be used as the default startup set.
bool isCaptureStarted() const
Return true if the camera capture is started.
bool isConnected() const
Return true if the camera is connected.
virtual void stopCapture()=0
virtual float getGamma()=0
virtual float getExposure()=0