Visual Servoing Platform version 3.6.0
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vpPylonGrabberUsb.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description: Header of vpPylonGrabberUsb class.
32 *
33 * Authors:
34 * Wenfeng CAI
35 *
36*****************************************************************************/
37
44#ifndef _vpPylonGrabberUsb_h_
45#define _vpPylonGrabberUsb_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/usb/BaslerUsbInstantCamera.h>
54
65class VISP_EXPORT vpPylonGrabberUsb : public vpPylonGrabber
66{
67public:
69 virtual ~vpPylonGrabberUsb();
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);
90 UserSetName getUserSetDefault();
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
115protected:
116 void open();
117 bool selectUserSet(UserSetName user_set);
118
119private:
120 Pylon::CBaslerUsbInstantCamera 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 _vpPylonGrabberUsb_h_
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getCameraIndex() const
bool isCaptureStarted() const
Return true if the camera capture is started.
bool isConnected() const
Return true if the camera is connected.
virtual void startCapture()=0
virtual void close()=0
Stop active camera capturing images and disconnect the active camera.
virtual float getFrameRate()=0
virtual void disconnect()=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 Pylon::CInstantCamera * getCameraHandler()=0
virtual vpPylonGrabber & operator>>(vpImage< unsigned char > &I)=0
virtual unsigned int getNumCameras()=0
Get the number of cameras of specific subclasses. GigE, USB, etc.
virtual void setCameraSerial(const std::string &serial)=0
virtual float getBlackLevel()=0
virtual float setGamma(bool gamma_on, float gamma_value=1)=0
virtual float setFrameRate(float frame_rate)=0
virtual float getGain()=0
virtual void acquire(vpImage< unsigned char > &I)=0
virtual void stopCapture()=0
virtual float getExposure()=0
virtual bool setUserSetDefault(UserSetName user_set)=0
Sets the configuration set to be used as the default startup set.
virtual void open(vpImage< unsigned char > &I)=0
virtual void connect()=0
virtual std::string getCameraSerial(unsigned int index)=0
virtual UserSetName getUserSetDefault()=0
Gets the configuration set being used as the default startup set.
virtual void setCameraIndex(unsigned int index)=0
virtual bool loadUserSet(UserSetName user_set)=0
Loads the selected configuration into the camera's volatile memory and makes it the active configurat...
virtual std::ostream & getCameraInfo(std::ostream &os)=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 setBlackLevel(float blacklevel_value)=0
virtual float getGamma()=0