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 185 of file CImageGrabber_FlyCapture2.h.

#include <mrpt/hwdrivers/CImageGrabber_FlyCapture2.h>

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

	CImageGrabber_FlyCapture2 (const CImageGrabber_FlyCapture2 &)=delete

CImageGrabber_FlyCapture2 &	operator= (const CImageGrabber_FlyCapture2 &)=delete

	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. More...

void *	m_camera_info
	Opaque pointer to the FlyCapture2::CameraInfo object. 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. More...

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

float	m_focalLength
	Camera focal length. More...

float	m_centerCol
	Camera center coordinates. More...

float	m_centerRow

TCaptureOptions_FlyCapture2	m_options
	Camera options. More...

Constructor & Destructor Documentation

◆ CImageGrabber_FlyCapture2() [1/3]

CImageGrabber_FlyCapture2::CImageGrabber_FlyCapture2 ( )

Constructor that does not open a camera.

Default constructor.

See also: open()

Definition at line 262 of file CImageGrabber_FlyCapture2.cpp.

References m_img_buffer.

◆ CImageGrabber_FlyCapture2() [2/3]

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

delete

◆ CImageGrabber_FlyCapture2() [3/3]

CImageGrabber_FlyCapture2::CImageGrabber_FlyCapture2 ( const TCaptureOptions_FlyCapture2 & options )

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

Constructor + open.

Raises an exception on error.

See also: open()

Definition at line 274 of file CImageGrabber_FlyCapture2.cpp.

References m_img_buffer, and open().

◆ ~CImageGrabber_FlyCapture2()

CImageGrabber_FlyCapture2::~CImageGrabber_FlyCapture2 ( )

virtual

Destructor.

Definition at line 288 of file CImageGrabber_FlyCapture2.cpp.

References close(), FC2_BUF_IMG, and m_img_buffer.

Member Function Documentation

◆ close()

void CImageGrabber_FlyCapture2::close ( )

Stop capture and closes the opened camera, if any.

Closes the opened camera, if any.

Called automatically on object destruction.

Definition at line 653 of file CImageGrabber_FlyCapture2.cpp.

References FC2_CAM, FC2_CAM_INFO, m_camera, m_camera_info, m_triclops, stopCapture(), THROW_EXCEPTION, and TRI_CONTEXT.

Referenced by open(), and ~CImageGrabber_FlyCapture2().

◆ getCameraOptions()

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

inline

Returns the current settings of the camera.

Definition at line 228 of file CImageGrabber_FlyCapture2.h.

References m_options.

◆ getFC2version()

std::string CImageGrabber_FlyCapture2::getFC2version ( )

static

Returns the PGR FlyCapture2 library version.

Definition at line 707 of file CImageGrabber_FlyCapture2.cpp.

References mrpt::format(), and THROW_EXCEPTION.

Referenced by open().

◆ getObservation() [1/2]

bool 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.

Definition at line 726 of file CImageGrabber_FlyCapture2.cpp.

References CHECK_FC2_ERROR, mrpt::obs::gnss::error, FC2_BUF_IMG, FC2_CAM, mrpt::obs::CObservationImage::image, mrpt::img::CImage::loadFromMemoryBuffer(), m_camera, mrpt::system::now(), THROW_EXCEPTION, mrpt::system::time_tToTimestamp(), and mrpt::obs::CObservation::timestamp.

◆ getObservation() [2/2]

bool 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.

Definition at line 789 of file CImageGrabber_FlyCapture2.cpp.

References mrpt::obs::CObservationStereoImages::cameraPose, CHECK_FC2_ERROR, CHECK_TRICLOPS_ERROR, FC2_CAM, mrpt::hwdrivers::TCaptureOptions_FlyCapture2::get_rectified, mrpt::obs::CObservationStereoImages::imageLeft, mrpt::obs::CObservationStereoImages::imageRight, mrpt::obs::CObservationStereoImages::leftCamera, m_baseline, m_camera, m_centerCol, m_centerRow, m_focalLength, m_options, mrpt::system::os::memcpy(), mrpt::system::now(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::obs::CObservationStereoImages::rightCamera, mrpt::obs::CObservationStereoImages::rightCameraPose, mrpt::img::CImage::setFromIplImage(), mrpt::img::TCamera::setIntrinsicParamsFromValues(), THROW_EXCEPTION, mrpt::system::time_tToTimestamp(), mrpt::obs::CObservation::timestamp, TRI_CONTEXT, mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::math::CQuaternion< T >::z().

◆ isStereo()

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

inline

Returns if current configuration is stereo or not.

Definition at line 280 of file CImageGrabber_FlyCapture2.h.

References m_options, and mrpt::hwdrivers::TCaptureOptions_FlyCapture2::stereo_mode.

◆ open()

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

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

Tries to open the camera with the given options.

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.