vpFlyCaptureGrabber.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description: Class which enables to project an image in the 3D space
 * and get the view of a virtual camera.
 */

 
#ifndef _vpFlyCaptureGrabber_h_
#define _vpFlyCaptureGrabber_h_
 
#include <ostream>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpFrameGrabber.h>
 
#ifdef VISP_HAVE_FLYCAPTURE
 
#include <FlyCapture2.h>
 
BEGIN_VISP_NAMESPACE

class VISP_EXPORT vpFlyCaptureGrabber : public vpFrameGrabber
{
public:
  vpFlyCaptureGrabber();
  virtual ~vpFlyCaptureGrabber();
 
  void acquire(vpImage<unsigned char> &I);
  void acquire(vpImage<unsigned char> &I, FlyCapture2::TimeStamp &timestamp);
  void acquire(vpImage<vpRGBa> &I);
  void acquire(vpImage<vpRGBa> &I, FlyCapture2::TimeStamp &timestamp);
 
  void close();
  void connect();
  void disconnect();
 
  float getBrightness();
  std::ostream &getCameraInfo(std::ostream &os); // Cannot be const since
                                                 // FlyCapture2::Camera::GetCameraInfo()
                                                 // isn't
  FlyCapture2::Camera *getCameraHandler();
  unsigned int getCameraIndex() const { return m_index; }
  bool getCameraPower();
  static unsigned int getCameraSerial(unsigned int index);
  float getExposure();
  float getFrameRate();
  float getGain();
  static unsigned int getNumCameras();
  unsigned int getSharpness();
  float getShutter();
 
  bool isCameraPowerAvailable();
  bool isConnected() const { return m_connected; }
  bool isCaptureStarted() const { return m_capture; }
  bool isFormat7Supported(FlyCapture2::Mode format7_mode);
  bool isVideoModeAndFrameRateSupported(FlyCapture2::VideoMode video_mode, FlyCapture2::FrameRate frame_rate);
  void open(vpImage<unsigned char> &I);
  void open(vpImage<vpRGBa> &I);
 
  vpFlyCaptureGrabber &operator>>(vpImage<unsigned char> &I);
  vpFlyCaptureGrabber &operator>>(vpImage<vpRGBa> &I);
 
  float setBrightness(bool brightness_auto, float brightness_value = 0);
  void setCameraIndex(unsigned int index);
  void setCameraPower(bool on);
  void setCameraSerial(unsigned int serial);
  float setExposure(bool exposure_on, bool exposure_auto, float exposure_value = 0);
  float setGain(bool gain_auto, float gain_value = 0);
  void setFormat7VideoMode(FlyCapture2::Mode format7_mode, FlyCapture2::PixelFormat pixel_format, unsigned int width,
                           unsigned int height);
  float setFrameRate(float frame_rate);
  unsigned int setSharpness(bool sharpness_on, bool sharpness_auto, unsigned int sharpness_value = 0);
  float setShutter(bool auto_shutter, float shutter_ms = 10);
  void setVideoModeAndFrameRate(FlyCapture2::VideoMode video_mode, FlyCapture2::FrameRate frame_rate);
 
  void startCapture();
  void stopCapture();
 
protected:
  typedef enum
  {
    ABS_VALUE, 
    VALUE_A,   
  } PropertyValue;
  std::pair<unsigned int, unsigned int> centerRoi(unsigned int size, unsigned int max_size, unsigned int step);
  FlyCapture2::Property getProperty(FlyCapture2::PropertyType prop_type);
  FlyCapture2::PropertyInfo getPropertyInfo(FlyCapture2::PropertyType prop_type);
  void open();
  void setProperty(const FlyCapture2::PropertyType &prop_type, bool on, bool auto_on, float value,
                   PropertyValue prop_value = ABS_VALUE);
 
protected:
  FlyCapture2::Camera m_camera;  
  FlyCapture2::PGRGuid m_guid;   
  unsigned int m_index;          
  unsigned int m_numCameras;     
  FlyCapture2::Image m_rawImage; 
  bool m_connected;              
  bool m_capture;                
};
END_VISP_NAMESPACE
#endif
#endif