vpPylonGrabber Class Reference

#include <visp3/sensor/vpPylonGrabber.h>

Inheritance diagram for vpPylonGrabber:

Public Types
enum	UserSetName {   USERSET_DEFAULT, USERSET_USERSET1, USERSET_USERSET2, USERSET_USERSET3,   USERSET_UNKNOWN }

Public Member Functions
virtual	~vpPylonGrabber ()
virtual void	acquire (vpImage< unsigned char > &I)=0
virtual void	acquire (vpImage< vpRGBa > &I)=0
virtual void	close ()=0
virtual void	connect ()=0
virtual void	disconnect ()=0
virtual float	getBlackLevel ()=0
virtual std::ostream &	getCameraInfo (std::ostream &os)=0
virtual Pylon::CInstantCamera *	getCameraHandler ()=0
virtual unsigned int	getCameraIndex () const =0
virtual std::string	getCameraSerial (unsigned int index)=0
virtual float	getExposure ()=0
virtual float	getFrameRate ()=0
virtual float	getGain ()=0
virtual unsigned int	getNumCameras ()=0
virtual float	getGamma ()=0
virtual bool	loadUserSet (UserSetName user_set)=0
virtual UserSetName	getUserSetDefault ()=0
virtual bool	isConnected () const =0
virtual bool	isCaptureStarted () const =0
virtual void	open (vpImage< unsigned char > &I)=0
virtual void	open (vpImage< vpRGBa > &I)=0
virtual vpPylonGrabber &	operator>> (vpImage< unsigned char > &I)=0
virtual vpPylonGrabber &	operator>> (vpImage< vpRGBa > &I)=0
virtual float	setBlackLevel (float blacklevel_value)=0
virtual void	setCameraIndex (unsigned int index)=0
virtual void	setCameraSerial (const std::string &serial)=0
virtual float	setExposure (bool exposure_on, bool exposure_auto, float exposure_value)=0
virtual float	setGain (bool gain_auto, float gain_value)=0
virtual float	setFrameRate (float frame_rate)=0
virtual float	setGamma (bool gamma_on, float gamma_value=1)=0
virtual bool	saveUserSet (UserSetName user_set, bool set_default=false)=0
virtual bool	setUserSetDefault (UserSetName user_set)=0
virtual void	startCapture ()=0
virtual void	stopCapture ()=0
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

Allows to grab images from a Basler camera using Pylon SDK. This is an abstract base class which can't be instantiated. Use vpPylonFactory functions to create class instances instead. Currently only GigE and USB3 cameras are supported.

To get a vpPylonGrabber, use the following code.

vpPylonFactory &factory = vpPylonFactory::instance();
vpPylonGrabber *g = factory.createPylonGrabber(vpPylonFactory::BASLER_GIGE);

To use this class install first Pylon SDK
https://www.baslerweb.com/en/support/downloads/software-downloads/#type=pylonsoftware;version=all
Installation instructions included.

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

This class was tested under Ubuntu with pylon 5.0.9 and the following cameras:

• acA640-90gm
• acA1600-60gm

This class is inspired by vpFlyCaptureGrabber with much simplified methods.

Examples:

testPylonGrabber.cpp, and tutorial-grabber-basler-pylon.cpp.

Definition at line 96 of file vpPylonGrabber.h.

Member Enumeration Documentation

UserSetName

enum vpPylonGrabber::UserSetName

Valid values for user set names.

Enumerator
USERSET_DEFAULT	The default user set.
USERSET_USERSET1	User set 1.
USERSET_USERSET2	User set 2.
USERSET_USERSET3	User set 3.
USERSET_UNKNOWN	User set not supported.

Definition at line 106 of file vpPylonGrabber.h.

Constructor & Destructor Documentation

~vpPylonGrabber()

virtual vpPylonGrabber::~vpPylonGrabber ( )

inlinevirtual

Default destructor.

Definition at line 102 of file vpPylonGrabber.h.

Member Function Documentation

acquire() [1/2]

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

pure virtual

Acquire a gray level image from the active camera.

Parameters

I	: Image data structure (8 bits image).

Implements vpFrameGrabber.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp, and tutorial-grabber-basler-pylon.cpp.

acquire() [2/2]

virtual void vpPylonGrabber::acquire ( vpImage< vpRGBa > &  I )

pure virtual

Acquire a color image from the active camera.

Parameters

I	: Image data structure (RGBa image).

Implements vpFrameGrabber.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

close()

virtual void vpPylonGrabber::close ( )

pure virtual

Stop active camera capturing images and disconnect the active camera.

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

Implements vpFrameGrabber.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp.

connect()

virtual void vpPylonGrabber::connect ( )

pure virtual

Connect the active camera.

See also

disconnect()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

disconnect()

virtual void vpPylonGrabber::disconnect ( )

pure virtual

Disconnect the active camera.

See also

connect()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

getBlackLevel()

virtual float vpPylonGrabber::getBlackLevel ( )

pure virtual

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

According to SFNC (standard feature naming convention) of GenICam standard, Black level is used instead of brightness.

See "Terminology Changes" section of the page: https://www.ptgrey.com/kb/11020?countryid=237

See also

setBlackLevel()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp.

getCameraHandler()

virtual Pylon::CInstantCamera* vpPylonGrabber::getCameraHandler ( )

pure virtual

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 Pylon SDK to get access to advanced functionalities that are not implemented in this class.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

getCameraIndex()

virtual unsigned int vpPylonGrabber::getCameraIndex ( ) const

pure virtual

Return the index of the active camera.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

getCameraInfo()

virtual std::ostream& vpPylonGrabber::getCameraInfo ( std::ostream &  os )

pure virtual

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

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp.

getCameraSerial()

virtual std::string vpPylonGrabber::getCameraSerial ( unsigned int  index )

pure virtual

Return the serial id of a camera with index.

Parameters

index

: Camera index.

See also

setCameraSerial()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp.

Referenced by vpPylonGrabberGigE::getCameraIndex(), and vpPylonGrabberUsb::getCameraIndex().

getExposure()

virtual float vpPylonGrabber::getExposure ( )

pure virtual

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

According to SFNC (standard feature naming convention) of GenICam standard, Exposure is used and deprecates shutter.

See "Terminology Changes" section of the page: https://www.ptgrey.com/kb/11020?countryid=237

See also

setExposure()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp.

Referenced by vpPylonGrabberGigE::getCameraIndex(), and vpPylonGrabberUsb::getCameraIndex().

getFrameRate()

virtual float vpPylonGrabber::getFrameRate ( )

pure virtual

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

See also

setFrameRate()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp.

Referenced by vpPylonGrabberGigE::getCameraIndex(), and vpPylonGrabberUsb::getCameraIndex().

getGain()

virtual float vpPylonGrabber::getGain ( )

pure virtual

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

See also

setGain()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp.

Referenced by vpPylonGrabberGigE::getCameraIndex(), and vpPylonGrabberUsb::getCameraIndex().

getGamma()

virtual float vpPylonGrabber::getGamma ( )

pure virtual

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

See also

setGamma()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp.

Referenced by vpPylonGrabberGigE::getCameraIndex(), and vpPylonGrabberUsb::getCameraIndex().

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()

virtual unsigned int vpPylonGrabber::getNumCameras ( )

pure virtual

Get the number of cameras of specific subclasses. GigE, USB, etc.

Returns

Return the number of cameras connected on the bus GigE or USB.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp.

Referenced by vpPylonGrabberGigE::getCameraIndex(), and vpPylonGrabberUsb::getCameraIndex().

getUserSetDefault()

virtual UserSetName vpPylonGrabber::getUserSetDefault ( )

pure virtual

Gets the configuration set being used as the default startup set.

See also

setUserSetDefault()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::getCameraIndex(), and vpPylonGrabberUsb::getCameraIndex().

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.

isCaptureStarted()

virtual bool vpPylonGrabber::isCaptureStarted ( ) const

pure virtual

Return true if the camera capture is started.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

isConnected()

virtual bool vpPylonGrabber::isConnected ( ) const

pure virtual

Return true if the camera is connected.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

loadUserSet()

virtual bool vpPylonGrabber::loadUserSet ( UserSetName  user_set )

pure virtual

Loads the selected configuration into the camera's volatile memory and makes it the active configuration set.

Parameters

user_set

See vpPylonGrabber::UserSetName for valid values.

Returns

true for finished, false otherwise.

See also

saveUserSet()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::getCameraIndex(), and vpPylonGrabberUsb::getCameraIndex().

open() [1/2]

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

pure virtual

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

Parameters

I	: Captured image.

Implements vpFrameGrabber.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp, and tutorial-grabber-basler-pylon.cpp.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

open() [2/2]

virtual void vpPylonGrabber::open ( vpImage< vpRGBa > &  I )

pure virtual

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

Parameters

I	: Captured image.

Implements vpFrameGrabber.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

operator>>() [1/2]

virtual vpPylonGrabber& vpPylonGrabber::operator>> ( vpImage< unsigned char > &  I )

pure virtual

Operator that allows to capture a grey level image.

Parameters

I	: The captured image.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

operator>>() [2/2]

virtual vpPylonGrabber& vpPylonGrabber::operator>> ( vpImage< vpRGBa > &  I )

pure virtual

Operator that allows to capture a color image.

Parameters

I	: The captured image.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

saveUserSet()

virtual bool vpPylonGrabber::saveUserSet ( UserSetName  user_set, bool  set_default = false  )

pure virtual

Saves the current active configuration set into the selected user set.

Parameters

user_set	See vpPylonGrabber::UserSetName for valid values.
set_default	Whether to set the configuration set to be used as the default startup set.

Returns

true for finished, false otherwise.

See also

loadUserSet()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

setBlackLevel()

virtual float vpPylonGrabber::setBlackLevel ( float  blacklevel_value )

pure virtual

Set camera blacklevel mode and parameter.

Parameters

blacklevel_value

: This is the level of black in an image. A high blacklevel will result in a low amount of black in the image.

Returns

The measured blacklevel after applying the new setting.

According to SFNC (standard feature naming convention) of GenICam standard, Black level is used instead of brightness.

See "Terminology Changes" section of the page: https://www.ptgrey.com/kb/11020?countryid=237

See also

getBlackLevel()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

setCameraIndex()

virtual void vpPylonGrabber::setCameraIndex ( unsigned int  index )

pure virtual

If multiples cameras are connected on the bus, select the camera 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 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.

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp, and tutorial-grabber-basler-pylon.cpp.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

setCameraSerial()

virtual void vpPylonGrabber::setCameraSerial ( const std::string &  serial )

pure virtual

Set the current camera from its unique serial identifier.

Parameters

serial

: Camera serial string.

See also

getCameraSerial()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Examples:

testPylonGrabber.cpp.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

setExposure()

virtual float vpPylonGrabber::setExposure ( bool  exposure_on, bool  exposure_auto, float  exposure_value  )

pure virtual

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 exposure value in ms.

Returns

The measured exposure time in ms after applying the new setting.

According to SFNC (standard feature naming convention) of GenICam standard, Exposure is used and deprecates shutter.

See "Terminology Changes" section of the page: https://www.ptgrey.com/kb/11020?countryid=237

See also

getExposure()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

setFrameRate()

virtual float vpPylonGrabber::setFrameRate ( float  frame_rate )

pure virtual

Set camera frame rate.

Parameters

frame_rate

: Camera frame rate (fps) to set.

Returns

The camera current framerate.

See also

getFramerate()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

setGain()

virtual float vpPylonGrabber::setGain ( bool  gain_auto, float  gain_value  )

pure virtual

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.

See also

getGain()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

setGamma()

virtual float vpPylonGrabber::setGamma ( bool  gamma_on, float  gamma_value = 1  )

pure virtual

Set camera gamma correction mode and parameter.

Parameters

gamma_on	: If true turn gamma correction on, otherwise turn off.
gamma_value	: Parameter used to perform gamma correction of pixel intensity.

Returns

The measured gamma correction value after applying the new setting.

See also

getGamma()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

setUserSetDefault()

virtual bool vpPylonGrabber::setUserSetDefault ( UserSetName  user_set )

pure virtual

Sets the configuration set to be used as the default startup set.

Parameters

user_set

See vpPylonGrabber::UserSetName for valid values.

Returns

true for finished, false otherwise.

See also

getUserSetDefault()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

startCapture()

virtual void vpPylonGrabber::startCapture ( )

pure virtual

Start active camera capturing images.

See also

stopCapture()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

stopCapture()

virtual void vpPylonGrabber::stopCapture ( )

pure virtual

Stop active camera capturing images.

See also

startCapture()

Implemented in vpPylonGrabberGigE, and vpPylonGrabberUsb.

Referenced by vpPylonGrabberGigE::isCaptureStarted(), and vpPylonGrabberUsb::isCaptureStarted().

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

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(), vpFlyCaptureGrabber::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().