Visual Servoing Platform version 3.6.0
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vpPylonGrabber.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
24 *
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: Classes allow to grab images from a Basler camera using
32 * Pylon SDK.
33 *
34 * Authors:
35 * Wenfeng CAI
36 *
37*****************************************************************************/
38
39#ifndef _vpPylonGrabber_h_
40#define _vpPylonGrabber_h_
41
42#include <ostream>
43#include <visp3/core/vpConfig.h>
44#include <visp3/core/vpFrameGrabber.h>
45
46#ifdef VISP_HAVE_PYLON
47
48// Work around: /usr/X11R6/include/X11/X.h:115:30: note: expanded from macro
49// 'None'
50#ifdef None
51#undef None
52#endif
53// Work around: /usr/X11R6/include/X11/Xlib.h:83:16: note: expanded from
54// macro 'Status'
55#ifdef Status
56#undef Status
57#endif
58
59#include <pylon/PylonIncludes.h>
60
96class VISP_EXPORT vpPylonGrabber : public vpFrameGrabber
97{
98public:
102 virtual ~vpPylonGrabber(){};
103
113
119 virtual void acquire(vpImage<unsigned char> &I) = 0;
125 virtual void acquire(vpImage<vpRGBa> &I) = 0;
126
135 virtual void close() = 0;
141 virtual void connect() = 0;
147 virtual void disconnect() = 0;
148
160 virtual float getBlackLevel() = 0;
166 virtual std::ostream &getCameraInfo(std::ostream &os) = 0;
173 virtual Pylon::CInstantCamera *getCameraHandler() = 0;
175 virtual unsigned int getCameraIndex() const = 0;
182 virtual std::string getCameraSerial(unsigned int index) = 0;
194 virtual float getExposure() = 0;
201 virtual float getFrameRate() = 0;
208 virtual float getGain() = 0;
214 virtual unsigned int getNumCameras() = 0;
221 virtual float getGamma() = 0;
231 virtual bool loadUserSet(UserSetName user_set) = 0;
239
241 virtual bool isConnected() const = 0;
243 virtual bool isCaptureStarted() const = 0;
248 virtual void open(vpImage<unsigned char> &I) = 0;
253 virtual void open(vpImage<vpRGBa> &I) = 0;
254
265
280 virtual float setBlackLevel(float blacklevel_value) = 0;
297 virtual void setCameraIndex(unsigned int index) = 0;
304 virtual void setCameraSerial(const std::string &serial) = 0;
322 virtual float setExposure(bool exposure_on, bool exposure_auto, float exposure_value) = 0;
335 virtual float setGain(bool gain_auto, float gain_value) = 0;
343 virtual float setFrameRate(float frame_rate) = 0;
356 virtual float setGamma(bool gamma_on, float gamma_value = 1) = 0;
368 virtual bool saveUserSet(UserSetName user_set, bool set_default = false) = 0;
378 virtual bool setUserSetDefault(UserSetName user_set) = 0;
379
385 virtual void startCapture() = 0;
391 virtual void stopCapture() = 0;
392};
393
394#endif // #ifdef VISP_HAVE_PYLON
395#endif // #ifndef _vpPylonGrabber_h_
Base class for all video devices. It is designed to provide a front end to video sources.
Definition of the vpImage class member functions.
Definition vpImage.h:135
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 bool isConnected() const =0
Return true if the camera is connected.
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 vpPylonGrabber & operator>>(vpImage< vpRGBa > &I)=0
virtual void open(vpImage< vpRGBa > &I)=0
virtual void setCameraSerial(const std::string &serial)=0
virtual float getBlackLevel()=0
virtual void acquire(vpImage< vpRGBa > &I)=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 unsigned int getCameraIndex() const =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 ~vpPylonGrabber()
virtual bool isCaptureStarted() const =0
Return true if the camera capture is started.
@ USERSET_DEFAULT
The default user set.
@ USERSET_USERSET1
User set 1.
@ USERSET_USERSET3
User set 3.
@ USERSET_USERSET2
User set 2.
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