Detailed Description

A wrapper for Point Gray Research (PGR) FlyCapture2 API for capturing images from Firewire, USB3 or GigaE cameras and stereo cameras.

This class is only available when compiling MRPT with "MRPT_HAS_PGR_FLYCAPTURE2".

See also: See the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor; See example code in [samples]/captureVideoFlyCapture2 and [samples]/captureVideoFlyCapture2_stereo.

Definition at line 131 of file CImageGrabber_FlyCapture2.h.

#include <mrpt/hwdrivers/CImageGrabber_FlyCapture2.h>

Inheritance diagram for mrpt::hwdrivers::CImageGrabber_FlyCapture2:

Public Member Functions
	CImageGrabber_FlyCapture2 ()
	Constructor that does not open a camera. More...

	CImageGrabber_FlyCapture2 (const TCaptureOptions_FlyCapture2 &options)
	Constructor: tries to open the camera with the given options. More...

virtual	~CImageGrabber_FlyCapture2 ()
	Destructor. More...

const TCaptureOptions_FlyCapture2 &	getCameraOptions () const
	Returns the current settings of the camera. More...

void	open (const TCaptureOptions_FlyCapture2 &options, const bool startCapture=true)
	Tries to open the camera with the given options, and starts capture. More...

void	startCapture ()
	Start the actual image capture of the camera. More...

void	stopCapture ()
	Stop capture. More...

void	close ()
	Stop capture and closes the opened camera, if any. More...

bool	getObservation (mrpt::obs::CObservationImage &out_observation)
	Grab mono image from the camera. More...

bool	getObservation (mrpt::obs::CObservationStereoImages &out_observation)
	Grab stereo image from the camera. More...

bool	isStereo ()
	Returns if current configuration is stereo or not. More...

Static Public Member Functions
static void	startSyncCapture (int numCameras, const CImageGrabber_FlyCapture2 **cameras_array)
	Starts a synchronous capture of several cameras, which must have been already opened. More...

static std::string	getFC2version ()
	Returns the PGR FlyCapture2 library version. More...

Protected Attributes
void *	m_camera
	Opaque pointer to the FlyCapture2::Camera object. NULL if no camera is grabbing. More...

void *	m_camera_info
	Opaque pointer to the FlyCapture2::CameraInfo object. NULL if no camera is grabbing. More...

void *	m_img_buffer
	Opaque pointer to the FlyCapture2::Image, used as a temporary buffer and to avoid mem alloc/reallocs. More...

void *	m_triclops
	Opaque pointer to the TriclopsContext objetc. NULL if no context is active. More...

float	m_baseline
	Camera baseline (only for stereo cameras) More...

float	m_focalLength
	Camera focal length. More...

float	m_centerCol

float	m_centerRow
	Camera center coordinates. More...

TCaptureOptions_FlyCapture2	m_options
	Camera options. More...

Constructor & Destructor Documentation

◆ CImageGrabber_FlyCapture2() [1/2]

mrpt::hwdrivers::CImageGrabber_FlyCapture2::CImageGrabber_FlyCapture2 ( )

Constructor that does not open a camera.

See also: open()

◆ CImageGrabber_FlyCapture2() [2/2]

mrpt::hwdrivers::CImageGrabber_FlyCapture2::CImageGrabber_FlyCapture2 ( const TCaptureOptions_FlyCapture2 & options )

Constructor: tries to open the camera with the given options.

Raises an exception on error.

See also: open()

◆ ~CImageGrabber_FlyCapture2()

virtual mrpt::hwdrivers::CImageGrabber_FlyCapture2::~CImageGrabber_FlyCapture2 ( )

virtual

Destructor.

Member Function Documentation

◆ close()

void mrpt::hwdrivers::CImageGrabber_FlyCapture2::close ( )

Stop capture and closes the opened camera, if any.

Called automatically on object destruction.

◆ getCameraOptions()

const TCaptureOptions_FlyCapture2& mrpt::hwdrivers::CImageGrabber_FlyCapture2::getCameraOptions ( ) const

inline

Returns the current settings of the camera.

Definition at line 157 of file CImageGrabber_FlyCapture2.h.

◆ getFC2version()

static std::string mrpt::hwdrivers::CImageGrabber_FlyCapture2::getFC2version ( )

static

Returns the PGR FlyCapture2 library version.

◆ getObservation() [1/2]

bool mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation ( mrpt::obs::CObservationImage & out_observation )

Grab mono image from the camera.

This method blocks until the next frame is captured.

Returns: false on any error.

◆ getObservation() [2/2]

bool mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation ( mrpt::obs::CObservationStereoImages & out_observation )

Grab stereo image from the camera.

This method blocks until the next frame is captured.

Returns: false on any error.

◆ isStereo()

bool mrpt::hwdrivers::CImageGrabber_FlyCapture2::isStereo ( )

inline

Returns if current configuration is stereo or not.

Definition at line 194 of file CImageGrabber_FlyCapture2.h.

References mrpt::hwdrivers::TCaptureOptions_FlyCapture2::stereo_mode.

◆ open()

void mrpt::hwdrivers::CImageGrabber_FlyCapture2::open	(	const TCaptureOptions_FlyCapture2 &	options,
		const bool	startCapture = `true`
	)

Tries to open the camera with the given options, and starts capture.

Raises an exception on error.

Parameters

[in] startCapture If set to false, the camera is only opened and configured, but a posterior call to startCapture() is required to start grabbing images.

See also: close(), startCapture()

◆ startCapture()

void mrpt::hwdrivers::CImageGrabber_FlyCapture2::startCapture ( )

Start the actual image capture of the camera.

Must be called after open(), only when "startCapture" was set to false.

See also: startSyncCapture

◆ startSyncCapture()

static void mrpt::hwdrivers::CImageGrabber_FlyCapture2::startSyncCapture	(	int	numCameras,
		const CImageGrabber_FlyCapture2 **	cameras_array
	)

static

Starts a synchronous capture of several cameras, which must have been already opened.

NOTE: This method only works with Firewire cameras, not with USB3 or GigaE ones (as confirmed by PGR support service).

See also: startCapture

◆ stopCapture()

void mrpt::hwdrivers::CImageGrabber_FlyCapture2::stopCapture ( )

Stop capture.

Member Data Documentation

◆ m_baseline

float mrpt::hwdrivers::CImageGrabber_FlyCapture2::m_baseline

protected

Camera baseline (only for stereo cameras)

Definition at line 140 of file CImageGrabber_FlyCapture2.h.

◆ m_camera

void* mrpt::hwdrivers::CImageGrabber_FlyCapture2::m_camera

protected

Opaque pointer to the FlyCapture2::Camera object. NULL if no camera is grabbing.

Definition at line 134 of file CImageGrabber_FlyCapture2.h.

◆ m_camera_info

void* mrpt::hwdrivers::CImageGrabber_FlyCapture2::m_camera_info

protected

Opaque pointer to the FlyCapture2::CameraInfo object. NULL if no camera is grabbing.

Definition at line 135 of file CImageGrabber_FlyCapture2.h.

◆ m_centerCol

float mrpt::hwdrivers::CImageGrabber_FlyCapture2::m_centerCol

protected

Definition at line 142 of file CImageGrabber_FlyCapture2.h.

◆ m_centerRow

float mrpt::hwdrivers::CImageGrabber_FlyCapture2::m_centerRow

protected

Camera center coordinates.

Definition at line 142 of file CImageGrabber_FlyCapture2.h.

◆ m_focalLength

float mrpt::hwdrivers::CImageGrabber_FlyCapture2::m_focalLength

protected

Camera focal length.

Definition at line 141 of file CImageGrabber_FlyCapture2.h.

◆ m_img_buffer

void* mrpt::hwdrivers::CImageGrabber_FlyCapture2::m_img_buffer

protected

Opaque pointer to the FlyCapture2::Image, used as a temporary buffer and to avoid mem alloc/reallocs.

Definition at line 136 of file CImageGrabber_FlyCapture2.h.

◆ m_options

TCaptureOptions_FlyCapture2 mrpt::hwdrivers::CImageGrabber_FlyCapture2::m_options

protected

Camera options.

Definition at line 144 of file CImageGrabber_FlyCapture2.h.

◆ m_triclops

void* mrpt::hwdrivers::CImageGrabber_FlyCapture2::m_triclops

protected

Opaque pointer to the TriclopsContext objetc. NULL if no context is active.

Definition at line 137 of file CImageGrabber_FlyCapture2.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ CImageGrabber_FlyCapture2() [1/2]

◆ CImageGrabber_FlyCapture2() [2/2]

◆ ~CImageGrabber_FlyCapture2()

Member Function Documentation

◆ close()

◆ getCameraOptions()

◆ getFC2version()

◆ getObservation() [1/2]

◆ getObservation() [2/2]

◆ isStereo()

◆ open()

◆ startCapture()

◆ startSyncCapture()

◆ stopCapture()

Member Data Documentation

◆ m_baseline

◆ m_camera

◆ m_camera_info

◆ m_centerCol

◆ m_centerRow

◆ m_focalLength

◆ m_img_buffer

◆ m_options

◆ m_triclops