#include <visp3/sensor/vpUeyeGrabber.h>

Public Member Functions
	vpUeyeGrabber ()

virtual	~vpUeyeGrabber ()

void	acquire (vpImage< unsigned char > &I, double timestamp_camera=NULL, std::string timestamp_system=NULL)

void	acquire (vpImage< vpRGBa > &I, double timestamp_camera=NULL, std::string timestamp_system=NULL)

std::string	getActiveCameraModel () const

std::string	getActiveCameraSerialNumber () const

std::vector< unsigned int >	getCameraIDList () const

std::vector< std::string >	getCameraModelList () const

std::vector< std::string >	getCameraSerialNumberList () const

double	getFramerate () const

unsigned int	getFrameHeight () const

unsigned int	getFrameWidth () const

bool	isConnected () const

void	loadParameters (const std::string &filename)

void	open (vpImage< unsigned char > &I)

void	open (vpImage< vpRGBa > &I)

bool	setActiveCamera (unsigned int cam_index)

bool	setColorMode (const std::string &color_mode)

bool	setExposure (bool auto_exposure, double exposure_ms=-1)

bool	setFrameRate (bool auto_frame_rate, double manual_frame_rate_hz=-1)

bool	setGain (bool auto_gain, int master_gain=-1, bool gain_boost=false)

void	setSubsampling (int factor)

void	setVerbose (bool verbose)

void	setWhiteBalance (bool auto_wb)

Detailed Description

Allows to grab images from an IDS camera using uEye SDK.

This class was tested with IDS UI328xCP-C and UI328xCP-C camera models.

By default, the first connected camera is the active one. The following code shows how to get information about all the connected cameras (index, id, model, serial number):

    vpUeyeGrabber g;
    // Get info on connected cameras
    std::vector<unsigned int> cam_ids = g.getCameraIDList();
    std::vector<std::string> cam_models = g.getCameraModelList();
    std::vector<std::string> cam_serials = g.getCameraSerialNumberList();
    if (! cam_ids.size()) {
      std::cout << "No camera detected. Plug a camera and try again..." << std::endl;
      return EXIT_FAILURE;
    }
    std::cout << "Found " << cam_ids.size() << " cameras :"<< std::endl;
    for (unsigned int i = 0; i < cam_ids.size(); i++) {
      std::cout << (opt_camera == i ? " * Camera " : "   Camera ") << i
                << " - ID: " << cam_ids[i]  << " Model: " << cam_models[i] << " S/N: " << cam_serials[i] << std::endl;
    }

If multiple cameras are connected, to select a specific one use the following code:

    if (! g.setActiveCamera(opt_camera)) {
      std::cout << "Unable to select camera " << opt_camera << std::endl;
      return EXIT_FAILURE;
    };

Create an image container, either for gray level or color images:

#ifdef USE_COLOR
    vpImage<vpRGBa> I;        // To acquire color images
#else
    vpImage<unsigned char> I; // To acquire gray images
#endif

Then call open() to connect the active camera:

g.open(I);

From here you can modify camera default settings,

either by loading camera parameters from a config file created by ueyedemo binary:
g.loadParameters(opt_config_file);
either using setter like setColorMode(), setExposure(), setFrameRate(), setGain(), setSubsampling(), setWhiteBalance()

Depending on the settings, you may update image container size, especially if you want to create a window to display the image:

I.resize(g.getFrameHeight(), g.getFrameWidth());

Now you can create an infinite loop to grab images:

while (1) {
  g.acquire(I);
}

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 81 of file vpUeyeGrabber.h.

Constructor & Destructor Documentation

◆ vpUeyeGrabber()

vpUeyeGrabber::vpUeyeGrabber ( )

Default constructor. By default, the active camera is the first one that is found. To select a specific camera use setActiveCamera().

Definition at line 1152 of file vpUeyeGrabber.cpp.

◆ ~vpUeyeGrabber()

vpUeyeGrabber::~vpUeyeGrabber ( )

virtual

Destructor.

Definition at line 1161 of file vpUeyeGrabber.cpp.

Member Function Documentation

◆ acquire() [1/2]

void vpUeyeGrabber::acquire	(	vpImage< unsigned char > &	I,
		double *	timestamp_camera = `NULL`,
		std::string *	timestamp_system = `NULL`
	)

Capture a new grayscale image.

Parameters

[out]	I	: Captured image.
[out]	timestamp_camera	: Time of image capture in milli-seconds with a resolution of 0.1 μs, or NULL if not wanted. The time of image capture is defined as: The time when a (hardware or software) trigger event is received by the camera in trigger mode. The delay between the receipt of the trigger signal and the start of exposure depends on the sensor. The time when the sensor starts to output image data in freerun mode. A rolling shutter sensors starts to output image data after exposure of the first row. With a global shutter sensor, image data is output after exposure of all rows.
[out]	timestamp_system	: Time with a resolution of 1 ms synchronized with the PC's system time, and resynchronized every 60 seconds. This may cause minor time shifts (average time about 3 ms). The format of the string is the following: `YYYY:MM:DD:HH:MM:SS:mmm` for year, month, day, hour, minute, second, millisecond.

To determine the exact interval between two image captures, it is therefore recommended to read out the camera timestamp provided in timestamp_camera.

See also: setColorMode()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1187 of file vpUeyeGrabber.cpp.

◆ acquire() [2/2]

void vpUeyeGrabber::acquire	(	vpImage< vpRGBa > &	I,
		double *	timestamp_camera = `NULL`,
		std::string *	timestamp_system = `NULL`
	)

Capture a new color image.

Parameters

[out]	I	: Captured image.
[out]	timestamp_camera	: Time of image capture in milli-seconds with a resolution of 0.1 μs, or NULL if not wanted. The time of image capture is defined as: The time when a (hardware or software) trigger event is received by the camera in trigger mode. The delay between the receipt of the trigger signal and the start of exposure depends on the sensor. The time when the sensor starts to output image data in freerun mode. A rolling shutter sensors starts to output image data after exposure of the first row. With a global shutter sensor, image data is output after exposure of all rows.
[out]	timestamp_system	: Time with a resolution of 1 ms synchronized with the PC's system time, and resynchronized every 60 seconds. This may cause minor time shifts (average time about 3 ms). The format of the string is the following: `YYYY:MM:DD:HH:MM:SS:mmm` for year, month, day, hour, minute, second, millisecond.

To determine the exact interval between two image captures, it is therefore recommended to read out the camera timestamp provided in timestamp_camera.

See also: setColorMode()

Definition at line 1212 of file vpUeyeGrabber.cpp.

◆ getActiveCameraModel()

std::string vpUeyeGrabber::getActiveCameraModel ( ) const

Get active camera model.

See also: setActiveCamera(), getActiveCameraSerialNumber()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1222 of file vpUeyeGrabber.cpp.

◆ getActiveCameraSerialNumber()

std::string vpUeyeGrabber::getActiveCameraSerialNumber ( ) const

Get active camera serial number.

See also: setActiveCamera(), getActiveCameraModel()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1232 of file vpUeyeGrabber.cpp.

◆ getCameraIDList()

std::vector< unsigned int > vpUeyeGrabber::getCameraIDList ( ) const

Get camera ID list.

Returns: Vector of camera ID corresponding to each camera index. The size of this vector gives correponds also to the number of connected cameras.

See also: getCameraModelList(), getCameraSerialNumberList()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1244 of file vpUeyeGrabber.cpp.

◆ getCameraModelList()

std::vector< std::string > vpUeyeGrabber::getCameraModelList ( ) const

Get camera model list.

Returns: Vector of camera models corresponding to each camera index. The size of this vector gives correponds also to the number of connected cameras.

See also: getCameraIDList(), getCameraSerialNumberList()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1256 of file vpUeyeGrabber.cpp.

◆ getCameraSerialNumberList()

std::vector< std::string > vpUeyeGrabber::getCameraSerialNumberList ( ) const

Get camera serial number list.

Returns: Vector of camera serial numbers corresponding to each camera index. The size of this vector gives correponds also to the number of connected cameras.

See also: getCameraIDList(), getCameraModelList()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1268 of file vpUeyeGrabber.cpp.

◆ getFrameHeight()

unsigned int vpUeyeGrabber::getFrameHeight ( ) const

Return image width captured by the active camera.

Warning: Image width could differ from the one returned by open() depending on the subsampling settings loaded by loadParameters()

See also: open(), getFrameWidth()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1291 of file vpUeyeGrabber.cpp.

◆ getFramerate()

double vpUeyeGrabber::getFramerate ( ) const

Returns the current number of frames actually captured per second. This function needs to be called after acquire().

See also: acquire()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1279 of file vpUeyeGrabber.cpp.

◆ getFrameWidth()

unsigned int vpUeyeGrabber::getFrameWidth ( ) const

Return image height captured by the active camera.

Warning: Image width could differ from the one returned by open() depending on the subsampling settings loaded by loadParameters()

See also: open(), getFrameHeight()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1303 of file vpUeyeGrabber.cpp.

◆ isConnected()

bool vpUeyeGrabber::isConnected ( ) const

Return true if a camera is connected, false otherwise.

Definition at line 1312 of file vpUeyeGrabber.cpp.

◆ loadParameters()

void vpUeyeGrabber::loadParameters ( const std::string & filename )

Load camera parameters from an .ini file.

Parameters

[in] filename : Camera parameters file that contains camera settings. Such a file could be produced using ueyedemo binary provided with IDS uEye Software Suite

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1322 of file vpUeyeGrabber.cpp.

◆ open() [1/2]

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

Starts the driver and establishes the connection to the camera.

Parameters

[out] I : Grayscale image that is resized to match the capture settings.

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1331 of file vpUeyeGrabber.cpp.

◆ open() [2/2]

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

Starts the driver and establishes the connection to the camera.

Parameters

[out] I : Color image that is resized to match the capture settings.

Definition at line 1340 of file vpUeyeGrabber.cpp.

◆ setActiveCamera()

bool vpUeyeGrabber::setActiveCamera ( unsigned int cam_index )

Select a camera from the camera list.

Parameters

cam_index : Camera index.

Returns: True if successful, false otherwise.

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1350 of file vpUeyeGrabber.cpp.

◆ setColorMode()

bool vpUeyeGrabber::setColorMode ( const std::string & color_mode )

Updates active camera color mode.

Warning: Before caling this function the connexion with the active camera should be opened.

Parameters

[in] color_mode : Desired color mode. Admissible values are "MONO8", "RGB8", "RGB32" or "BAYER8".

Note: - When acquiring gray level images using acquire(vpImage<unsigned char> &) we strongly recommend to set color mode to "MONO8".; - When acquiring color level images using acquire(vpImage<vpRGBa> &) we strongly recommend to set color mode to "RGB32".

Returns: true if color mode is applied, false if the color mode is unsupported.

See also: open(), setExposure(), setFrameRate(), setGain(), setSubsampling(), setWhiteBalance()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1370 of file vpUeyeGrabber.cpp.

◆ setExposure()

bool vpUeyeGrabber::setExposure	(	bool	auto_exposure,
		double	exposure_ms = `-1`
	)

Updates active camera exposure / shutter either to auto mode, or to specified manual parameters.

Warning: Before caling this function the connexion with the active camera should be opened.

Parameters

[in]	auto_exposure	: When true enable camera's hardware auto exposure / shutter. This function returns false if the camera does not support auto exposure mode. When set to false, set manual exposure time.
[in]	exposure_ms	: Manual exposure setting time in ms. Valid value range depends on active camera pixel clock rate.

Returns: True if successful, false otherwise.

See also: open(), setColorMode(), setFrameRate(), setGain(), setSubsampling(), setWhiteBalance()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1388 of file vpUeyeGrabber.cpp.

◆ setFrameRate()

bool vpUeyeGrabber::setFrameRate	(	bool	auto_frame_rate,
		double	manual_frame_rate_hz = `-1`
	)

Updates active camera frame rate either to auto mode, or to a specified manual value.

Enabling auto frame rate mode requires to enable auto shutter mode. Enabling auto frame rate mode will disable auto gain mode.

Warning: Before caling this function the connexion with the active camera should be opened.

Parameters

[in]	auto_frame_rate	: Updates camera's hardware auto frame rate mode. When true enable auto frame rate mode. When set to false, enables manual frame rate mode.
[in]	manual_frame_rate_hz	: Desired manual frame rate in Hz. Valid value range depends on current camera pixel clock rate. This parameter is only used when auto frame rate is disabled.

Returns: True if successful, false otherwise.

A typical usage is the following:

vpUeyeGrabber g;
vpImage<unsigned char> I;
g.open(I);
if (! g.setFrameRate(true)) {
  std::cout << "Unable to set auto frame rate" << std::endl;
  double manual_fps = 10.; // 10 Hz is required if auto frame rate is not possible
  if (g.setFrameRate(false, manual_fps)) {
    std::cout << "Framerate set to: " << manual_fps << std::endl;
  }
}

See also: open(), setColorMode(), setExposure(), setGain(), setSubsampling(), setWhiteBalance()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1423 of file vpUeyeGrabber.cpp.

◆ setGain()

bool vpUeyeGrabber::setGain	(	bool	auto_gain,
		int	master_gain = `-1`,
		bool	gain_boost = `false`
	)

Updates active camera gain either to auto mode, or to specified manual parameters.

Auto gain mode is disabled if auto frame rate mode is enabled.

Warning: Before caling this function the connexion with the active camera should be opened.

Parameters

[in]	auto_gain	: Updates camera's hardware auto gain mode. Set to true to enable auto gain. If this mode is not supported, returns false. Set to false, to set manual gain and enable/disable gain boost/
[in]	master_gain	: Manual master gain percentage in range 0 - 100.
[in]	gain_boost	: Only in manual mode, enable/disable gain boost.

Returns: True if successful, false otherwise.

See also: open(), setColorMode(), setExposure(), setFrameRate(), setSubsampling(), setWhiteBalance()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1444 of file vpUeyeGrabber.cpp.

◆ setSubsampling()

void vpUeyeGrabber::setSubsampling ( int factor )

Updates active camera image subsampling factor to reduce image size.

Warning: Before caling this function the connexion with the active camera should be opened.

Parameters

[in] factor : Desired subsampling factor. The number of rows and columns of the resulting image corresponds to the full resolution image size divided by this factor.

See also: open(), setColorMode(), setExposure(), setFrameRate(), setGain(), setWhiteBalance()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1459 of file vpUeyeGrabber.cpp.

◆ setVerbose()

void vpUeyeGrabber::setVerbose ( bool verbose )

Enable/disable verbose mode.

Parameters

[in] verbose : true to enable, false to disable verbose mode.

Definition at line 1484 of file vpUeyeGrabber.cpp.

◆ setWhiteBalance()

void vpUeyeGrabber::setWhiteBalance ( bool auto_wb )

Enables or disables the active camera auto white balance mode.

Warning: Before caling this function the connexion with the active camera should be opened.

Parameters

auto_wb : If true enable auto white balance mode. If false, disable auto white balance mode.

See also: open(), setColorMode(), setExposure(), setFrameRate(), setGain(), setSubsampling()

Examples:: tutorial-grabber-ids-ueye.cpp.

Definition at line 1474 of file vpUeyeGrabber.cpp.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpUeyeGrabber()

◆ ~vpUeyeGrabber()

Member Function Documentation

◆ acquire() [1/2]

◆ acquire() [2/2]

◆ getActiveCameraModel()

◆ getActiveCameraSerialNumber()

◆ getCameraIDList()

◆ getCameraModelList()

◆ getCameraSerialNumberList()

◆ getFrameHeight()

◆ getFramerate()

◆ getFrameWidth()

◆ isConnected()

◆ loadParameters()

◆ open() [1/2]

◆ open() [2/2]

◆ setActiveCamera()

◆ setColorMode()

◆ setExposure()

◆ setFrameRate()

◆ setGain()

◆ setSubsampling()

◆ setVerbose()

◆ setWhiteBalance()