Visual Servoing Platform  version 3.6.1 under development (2024-05-21)
vpFlyCaptureGrabber.h
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30  *
31  * Description: Class which enables to project an image in the 3D space
32  * and get the view of a virtual camera.
33  *
34 *****************************************************************************/
35 
36 #ifndef _vpFlyCaptureGrabber_h_
37 #define _vpFlyCaptureGrabber_h_
38 
39 #include <ostream>
40 #include <visp3/core/vpConfig.h>
41 #include <visp3/core/vpFrameGrabber.h>
42 
43 #ifdef VISP_HAVE_FLYCAPTURE
44 
45 #include <FlyCapture2.h>
46 
152 class VISP_EXPORT vpFlyCaptureGrabber : public vpFrameGrabber
153 {
154 public:
156  virtual ~vpFlyCaptureGrabber();
157 
159  void acquire(vpImage<unsigned char> &I, FlyCapture2::TimeStamp &timestamp);
160  void acquire(vpImage<vpRGBa> &I);
161  void acquire(vpImage<vpRGBa> &I, FlyCapture2::TimeStamp &timestamp);
162 
163  void close();
164  void connect();
165  void disconnect();
166 
167  float getBrightness();
168  std::ostream &getCameraInfo(std::ostream &os); // Cannot be const since
169  // FlyCapture2::Camera::GetCameraInfo()
170  // isn't
171  FlyCapture2::Camera *getCameraHandler();
173  unsigned int getCameraIndex() const { return m_index; };
174  bool getCameraPower();
175  static unsigned int getCameraSerial(unsigned int index);
176  float getExposure();
177  float getFrameRate();
178  float getGain();
179  static unsigned int getNumCameras();
180  unsigned int getSharpness();
181  float getShutter();
182 
183  bool isCameraPowerAvailable();
185  bool isConnected() const { return m_connected; }
187  bool isCaptureStarted() const { return m_capture; }
188  bool isFormat7Supported(FlyCapture2::Mode format7_mode);
189  bool isVideoModeAndFrameRateSupported(FlyCapture2::VideoMode video_mode, FlyCapture2::FrameRate frame_rate);
190  void open(vpImage<unsigned char> &I);
191  void open(vpImage<vpRGBa> &I);
192 
194  vpFlyCaptureGrabber &operator>>(vpImage<vpRGBa> &I);
195 
196  float setBrightness(bool brightness_auto, float brightness_value = 0);
197  void setCameraIndex(unsigned int index);
198  void setCameraPower(bool on);
199  void setCameraSerial(unsigned int serial);
200  float setExposure(bool exposure_on, bool exposure_auto, float exposure_value = 0);
201  float setGain(bool gain_auto, float gain_value = 0);
202  void setFormat7VideoMode(FlyCapture2::Mode format7_mode, FlyCapture2::PixelFormat pixel_format, unsigned int width,
203  unsigned int height);
204  float setFrameRate(float frame_rate);
205  unsigned int setSharpness(bool sharpness_on, bool sharpness_auto, unsigned int sharpness_value = 0);
206  float setShutter(bool auto_shutter, float shutter_ms = 10);
207  void setVideoModeAndFrameRate(FlyCapture2::VideoMode video_mode, FlyCapture2::FrameRate frame_rate);
208 
209  void startCapture();
210  void stopCapture();
211 
212 protected:
213  typedef enum
214  {
217  } PropertyValue;
218  std::pair<unsigned int, unsigned int> centerRoi(unsigned int size, unsigned int max_size, unsigned int step);
219  FlyCapture2::Property getProperty(FlyCapture2::PropertyType prop_type);
220  FlyCapture2::PropertyInfo getPropertyInfo(FlyCapture2::PropertyType prop_type);
221  void open();
222  void setProperty(const FlyCapture2::PropertyType &prop_type, bool on, bool auto_on, float value,
223  PropertyValue prop_value = ABS_VALUE);
224 
225 protected:
226  FlyCapture2::Camera m_camera;
227  FlyCapture2::PGRGuid m_guid;
228  unsigned int m_index;
229  unsigned int m_numCameras;
230  FlyCapture2::Image m_rawImage;
231  bool m_connected;
232  bool m_capture;
233 };
234 
235 #endif
236 #endif
FlyCapture2::Image m_rawImage
Image buffer.
bool m_capture
true is capture started
bool isCaptureStarted() const
Return true if the camera capture is started.
FlyCapture2::Camera m_camera
Pointer to each camera.
unsigned int m_index
Active camera index.
unsigned int m_numCameras
Number of connected cameras.
@ VALUE_A
Consider FlyCapture2::Property::valueA.
@ ABS_VALUE
Consider FlyCapture2::Property::absValue.
bool m_connected
true if camera connected
FlyCapture2::PGRGuid m_guid
Active camera guid.
unsigned int getCameraIndex() const
bool isConnected() const
Return true if the camera is connected.
Base class for all video devices. It is designed to provide a front end to video sources.
virtual void open(vpImage< unsigned char > &I)=0
virtual void acquire(vpImage< unsigned char > &I)=0
virtual void close()=0