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9 #ifndef CImageGrabber_FlyCapture2_H
10 #define CImageGrabber_FlyCapture2_H
30 unsigned int camera_guid[4];
119 const std::string & sectionName,
120 const std::string & prefix = std::string() );
float shutter_time_ms
(default=4.0) Shutter time, if shutter_auto=false
unsigned int rect_width
(default=640) Width for output rectified images
void startCapture()
Start the actual image capture of the camera.
unsigned int rect_height
(default=480) Height for output rectified images
void open(const TCaptureOptions_FlyCapture2 &options, const bool startCapture=true)
Tries to open the camera with the given options, and starts capture.
bool autoexposure_abs
(default=true) Numeric mode (absolute or integer values)
unsigned int strobe_source
(default=0) Refer to PGR docs.
unsigned int trigger_polarity
(default=0) Refer to PGR docs.
void * m_img_buffer
Opaque pointer to the FlyCapture2::Image, used as a temporary buffer and to avoid mem alloc/reallocs.
std::string videomode
(Default="", which means default) A string with a video mode, from the list available in FlyCapture2:...
bool getObservation(mrpt::obs::CObservationImage &out_observation)
Grab mono image from the camera.
void stopCapture()
Stop capture.
unsigned int trigger_mode
(default=0) Refer to PGR docs.
CImageGrabber_FlyCapture2()
Constructor that does not open a camera.
Options used when creating a camera capture object of type CImageGrabber_FlyCapture2.
float m_baseline
Camera baseline (only for stereo cameras)
static void startSyncCapture(int numCameras, const CImageGrabber_FlyCapture2 **cameras_array)
Starts a synchronous capture of several cameras, which must have been already opened.
unsigned int strobe_polarity
(default=0) Refer to PGR docs.
unsigned int trigger_source
(default=0) Refer to PGR docs.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
unsigned int numBuffers
(Default=30) Number of images that can be stored in the buffer, if enabled with grabMode.
float gain_dB
(default=0.0) Sensor gain, if gain_auto=false
static std::string getFC2version()
Returns the PGR FlyCapture2 library version.
bool open_by_guid
(Default=false) Set to true to force opening a camera by its GUID, in camera_guid
bool get_rectified
(default=false) Rectify stereo images (needs Triclops installed)
bool stereo_mode
(default=false) Obtain images as stereo pairs with Flycapture2
bool gain_auto
(default=true)
void * m_camera_info
Opaque pointer to the FlyCapture2::CameraInfo object. NULL if no camera is grabbing.
bool shutter_auto
(default=true)
bool shutter_abs
(default=true) Numeric mode (absolute or integer values)
bool autoexposure_onOff
(default=true) Activate this feature
const TCaptureOptions_FlyCapture2 & getCameraOptions() const
Returns the current settings of the camera.
This class allows loading and storing values and vectors of different types from a configuration text...
int grabTimeout
(Default=5000) Time in milliseconds that RetrieveBuffer() and WaitForBufferEvent() will wait for an i...
std::string framerate
(Default="", which means default) A string with a framerate, from the list available in FlyCapture2::...
std::string grabmode
(Default="BUFFER_FRAMES") A string with a grab mode, from the list available in FlyCapture2::GrabMode
float strobe_delay
(default=0.0) Delay in ms. Refer to PGR docs.
bool isStereo()
Returns if current configuration is stereo or not.
bool strobe_enabled
(default=false) Enable the generation of a strobe signal in GPIO. Refer to PGR docs.
The base class of classes that cannot be copied: compile-time errors will be issued on any copy opera...
unsigned int camera_index
(Default=0) If open_by_guid==false, will open the i'th camera based on this 0-based index.
TCaptureOptions_FlyCapture2 m_options
Camera options.
void * m_triclops
Opaque pointer to the TriclopsContext objetc. NULL if no context is active.
A wrapper for Point Gray Research (PGR) FlyCapture2 API for capturing images from Firewire,...
bool getObservation(mrpt::obs::CObservationStereoImages &out_observation)
Grab stereo image from the camera.
TCaptureOptions_FlyCapture2()
bool gain_abs
(default=true) Numeric mode (absolute or integer values)
float autoexposure_EV
(default=0.0) Exposure Value, if autoexposure_auto=false
bool autoexposure_auto
(default=true)
bool trigger_enabled
(default=false) Enable non-free-running mode, only capturing when a given input trigger signal is det...
CImageGrabber_FlyCapture2(const TCaptureOptions_FlyCapture2 &options)
Constructor: tries to open the camera with the given options.
virtual ~CImageGrabber_FlyCapture2()
Destructor.
void * m_camera
Opaque pointer to the FlyCapture2::Camera object. NULL if no camera is grabbing.
float strobe_duration
(default=1.0) Pulse durationin ms. Refer to PGR docs.
void close()
Stop capture and closes the opened camera, if any.
Declares a class derived from "CObservation" that encapsules an image from a camera,...
Observation class for either a pair of left+right or left+disparity images from a stereo camera.
float m_centerRow
Camera center coordinates.
float m_focalLength
Camera focal length.
void loadOptionsFrom(const mrpt::utils::CConfigFileBase &configSource, const std::string §ionName, const std::string &prefix=std::string())
Loads all the options from a config file.
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