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Visual Servoing Platform
version 3.2.0
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#include "vpPylonGrabberUsb.h"
Public Types | |
enum | UserSetName { USERSET_DEFAULT, USERSET_USERSET1, USERSET_USERSET2, USERSET_USERSET3, USERSET_UNKNOWN } |
Public Member Functions | |
vpPylonGrabberUsb () | |
virtual | ~vpPylonGrabberUsb () |
void | acquire (vpImage< unsigned char > &I) |
void | acquire (vpImage< vpRGBa > &I) |
void | close () |
void | connect () |
void | disconnect () |
float | getBlackLevel () |
std::ostream & | getCameraInfo (std::ostream &os) |
Pylon::CInstantCamera * | getCameraHandler () |
unsigned int | getCameraIndex () const |
std::string | getCameraSerial (unsigned int index) |
float | getExposure () |
float | getFrameRate () |
float | getGain () |
unsigned int | getNumCameras () |
float | getGamma () |
bool | loadUserSet (UserSetName user_set) |
UserSetName | getUserSetDefault () |
bool | isConnected () const |
bool | isCaptureStarted () const |
void | open (vpImage< unsigned char > &I) |
void | open (vpImage< vpRGBa > &I) |
vpPylonGrabber & | operator>> (vpImage< unsigned char > &I) |
vpPylonGrabber & | operator>> (vpImage< vpRGBa > &I) |
float | setBlackLevel (float blacklevel_value=0) |
void | setCameraIndex (unsigned int index) |
void | setCameraSerial (const std::string &serial) |
float | setExposure (bool exposure_on, bool exposure_auto, float exposure_value=0) |
float | setGain (bool gain_auto, float gain_value=0) |
float | setFrameRate (float frame_rate) |
float | setGamma (bool gamma_on, float gamma_value=1) |
bool | saveUserSet (UserSetName user_set, bool set_default=false) |
bool | setUserSetDefault (UserSetName user_set) |
void | startCapture () |
void | stopCapture () |
Inherited functionalities from vpFramegrabber | |
unsigned int | getHeight () const |
unsigned int | getWidth () const |
Public Attributes | |
bool | init |
Protected Member Functions | |
void | open () |
bool | selectUserSet (UserSetName user_set) |
Protected Attributes | |
unsigned int | height |
unsigned int | width |
Allows to grab images from a Basler USB camera using Pylon SDK.
This class should not be instantiated directly. Use vpPylonFactory::createPylonGrabber() instead.
Definition at line 64 of file vpPylonGrabberUsb.h.
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inherited |
Valid values for user set names.
Enumerator | |
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USERSET_DEFAULT | The default user set. |
USERSET_USERSET1 | User set 1. |
USERSET_USERSET2 | User set 2. |
USERSET_USERSET3 | User set 3. |
USERSET_UNKNOWN | User set not supported. |
Definition at line 105 of file vpPylonGrabber.h.
vpPylonGrabberUsb::vpPylonGrabberUsb | ( | ) |
Default constructor that consider the first camera found on the bus as active.
Definition at line 54 of file vpPylonGrabberUsb.cpp.
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virtual |
Default destructor that closes the connection with the camera.
Definition at line 62 of file vpPylonGrabberUsb.cpp.
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Acquire a gray level image from the active camera.
I | : Image data structure (8 bits image). |
Implements vpPylonGrabber.
Definition at line 635 of file vpPylonGrabberUsb.cpp.
Acquire a color image from the active camera.
I | : Image data structure (RGBa image). |
Implements vpPylonGrabber.
Definition at line 664 of file vpPylonGrabberUsb.cpp.
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virtual |
Stop active camera capturing images and disconnect the active camera.
If you want to use again this camera, you may call setCameraIndex(const unsigned int &) and open(vpImage<unsigned char> &) or open(vpImage<vpRGBa> &) to connect again the camera.
Implements vpPylonGrabber.
Definition at line 624 of file vpPylonGrabberUsb.cpp.
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Connect the active camera.
Implements vpPylonGrabber.
Definition at line 571 of file vpPylonGrabberUsb.cpp.
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Disconnect the active camera.
Implements vpPylonGrabber.
Definition at line 604 of file vpPylonGrabberUsb.cpp.
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Return blacklevel value in % or raw value. If the camera doesn't support blacklevel property, return an exception.
According to SFNC (standard feature naming convention) of GenICam standard, Black level is used instead of brightness.
See "Terminology Changes" section of the page: https://www.ptgrey.com/kb/11020?countryid=237
Implements vpPylonGrabber.
Definition at line 164 of file vpPylonGrabberUsb.cpp.
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Return the handler to the active camera or NULL if the camera is not connected. This function was designed to provide a direct access to the Pylon SDK to get access to advanced functionalities that are not implemented in this class.
Implements vpPylonGrabber.
Definition at line 112 of file vpPylonGrabberUsb.cpp.
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inlinevirtual |
Return the index of the active camera.
Implements vpPylonGrabber.
Definition at line 81 of file vpPylonGrabberUsb.h.
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Print to the output stream active camera information (serial number, camera model, camera vendor, sensor, resolution, firmware version, ...).
Implements vpPylonGrabber.
Definition at line 85 of file vpPylonGrabberUsb.cpp.
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Return the serial id of a camera with index.
index | : Camera index. |
Implements vpPylonGrabber.
Definition at line 215 of file vpPylonGrabberUsb.cpp.
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Return exposure value in ms. If the camera doesn't support exposure property, return an exception.
According to SFNC (standard feature naming convention) of GenICam standard, Exposure is used and deprecates shutter.
See "Terminology Changes" section of the page: https://www.ptgrey.com/kb/11020?countryid=237
Implements vpPylonGrabber.
Definition at line 185 of file vpPylonGrabberUsb.cpp.
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Return camera capture framerate. If the camera doesn't support framerate property, return an exception.
Implements vpPylonGrabber.
Definition at line 129 of file vpPylonGrabberUsb.cpp.
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Return camera gain value in dB or raw value. If the camera doesn't support gain property, return an exception.
Implements vpPylonGrabber.
Definition at line 143 of file vpPylonGrabberUsb.cpp.
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Return gamma correction value. If the camera doesn't support gamma property, return an exception.
Implements vpPylonGrabber.
Definition at line 201 of file vpPylonGrabberUsb.cpp.
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inlineinherited |
Return the number of rows in the image.
Definition at line 113 of file vpFrameGrabber.h.
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Implements vpPylonGrabber.
Definition at line 67 of file vpPylonGrabberUsb.cpp.
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Gets the configuration set being used as the default startup set.
Implements vpPylonGrabber.
Definition at line 266 of file vpPylonGrabberUsb.cpp.
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inlineinherited |
Return the number of columns in the image.
Definition at line 115 of file vpFrameGrabber.h.
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inlinevirtual |
Return true if the camera capture is started.
Implements vpPylonGrabber.
Definition at line 94 of file vpPylonGrabberUsb.h.
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inlinevirtual |
Return true if the camera is connected.
Implements vpPylonGrabber.
Definition at line 92 of file vpPylonGrabberUsb.h.
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Loads the selected configuration into the camera's volatile memory and makes it the active configuration set.
user_set | See vpPylonGrabber::UserSetName for valid values. |
Implements vpPylonGrabber.
Definition at line 245 of file vpPylonGrabberUsb.cpp.
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protected |
Connect to the active camera and start capture.
Similar then calling:
Definition at line 730 of file vpPylonGrabberUsb.cpp.
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Connect to the active camera, start capture and retrieve an image.
I | : Captured image. |
Implements vpPylonGrabber.
Definition at line 703 of file vpPylonGrabberUsb.cpp.
Connect to the active camera, start capture and retrieve an image.
I | : Captured image. |
Implements vpPylonGrabber.
Definition at line 713 of file vpPylonGrabberUsb.cpp.
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Operator that allows to capture a grey level image.
I | : The captured image. |
Implements vpPylonGrabber.
Definition at line 774 of file vpPylonGrabberUsb.cpp.
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Operator that allows to capture a color image.
I | : The captured image. |
Implements vpPylonGrabber.
Definition at line 784 of file vpPylonGrabberUsb.cpp.
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Saves the current active configuration set into the selected user set.
user_set | See vpPylonGrabber::UserSetName for valid values. |
set_default | Whether to set the configuration set to be used as the default startup set. |
Implements vpPylonGrabber.
Definition at line 479 of file vpPylonGrabberUsb.cpp.
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protected |
Selects the configuration set to load, save, or configure.
user_set | See vpPylonGrabber::UserSetName for valid values. |
Default User Set is read-only and cannot be modified.
Definition at line 744 of file vpPylonGrabberUsb.cpp.
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Set camera blacklevel mode and parameter.
blacklevel_value | : This is the level of black in an image. A high blacklevel will result in a low amount of black in the image. |
According to SFNC (standard feature naming convention) of GenICam standard, Black level is used instead of brightness.
See "Terminology Changes" section of the page: https://www.ptgrey.com/kb/11020?countryid=237
Implements vpPylonGrabber.
Definition at line 393 of file vpPylonGrabberUsb.cpp.
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virtual |
If multiples cameras are connected on the bus, select the camera to dial with.
index | : Current camera index, a value comprised between 0 (the first camera found on the bus) and the number of cameras found and returned by getNumCameras() minus 1. |
If two cameras are connected on the bus, setting index to one allows to communicate with the second one. This identifier is not unique. That is why, it is also possible to select a camera by its serial number, which is unique using setCameraSerial().
vpException::badValue | : If the index is greater or equal to the number of cameras connected to the bus. |
Implements vpPylonGrabber.
Definition at line 306 of file vpPylonGrabberUsb.cpp.
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Set the current camera from its unique serial identifier.
serial | : Camera serial string. |
Implements vpPylonGrabber.
Definition at line 322 of file vpPylonGrabberUsb.cpp.
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Set camera exposure mode and parameter.
exposure_on | : If true turn exposure on, otherwise turn off. |
exposure_auto | : If true set auto exposure, if false set manual exposure applying exposure_value parameter. |
exposure_value | : This is the exposure value in ms. |
According to SFNC (standard feature naming convention) of GenICam standard, Exposure is used and deprecates shutter.
See "Terminology Changes" section of the page: https://www.ptgrey.com/kb/11020?countryid=237
Implements vpPylonGrabber.
Definition at line 421 of file vpPylonGrabberUsb.cpp.
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Set camera frame rate.
frame_rate | : Camera frame rate (fps) to set. |
Implements vpPylonGrabber.
Definition at line 341 of file vpPylonGrabberUsb.cpp.
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Set camera gain mode and value.
gain_auto | : If true set auto gain, if false set manual gain applying gain_value parameter. |
gain_value | : The amount of amplification that is applied to a pixel in manual mode. An increase in gain can result in an increase in noise. |
Implements vpPylonGrabber.
Definition at line 363 of file vpPylonGrabberUsb.cpp.
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Set camera gamma correction mode and parameter.
gamma_on | : If true turn gamma correction on, otherwise turn off. |
gamma_value | : Parameter used to perform gamma correction of pixel intensity. |
Implements vpPylonGrabber.
Definition at line 454 of file vpPylonGrabberUsb.cpp.
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virtual |
Sets the configuration set to be used as the default startup set.
user_set | See vpPylonGrabber::UserSetName for valid values. |
Implements vpPylonGrabber.
Definition at line 506 of file vpPylonGrabberUsb.cpp.
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Start active camera capturing images.
Implements vpPylonGrabber.
Definition at line 537 of file vpPylonGrabberUsb.cpp.
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Stop active camera capturing images.
Implements vpPylonGrabber.
Definition at line 555 of file vpPylonGrabberUsb.cpp.
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protectedinherited |
Number of rows in the image.
Definition at line 106 of file vpFrameGrabber.h.
Referenced by vpDirectShowGrabber::getFormat().
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Set to true if the frame grabber has been initialized.
Definition at line 103 of file vpFrameGrabber.h.
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protectedinherited |
Number of columns in the image.
Definition at line 107 of file vpFrameGrabber.h.
Referenced by vpDirectShowGrabber::getFormat().