Detailed Description

Options used when creating a camera capture object of type CImageGrabber_FlyCapture2.

Definition at line 22 of file CImageGrabber_FlyCapture2.h.

#include <mrpt/hwdrivers/CImageGrabber_FlyCapture2.h>

Public Member Functions
	TCaptureOptions_FlyCapture2 ()

void	loadOptionsFrom (const mrpt::utils::CConfigFileBase &configSource, const std::string &sectionName, const std::string &prefix=std::string())
	Loads all the options from a config file. More...

Public Attributes
Camera to open
unsigned int	camera_index
	(Default=0) If open_by_guid==false, will open the i'th camera based on this 0-based index. More...

bool	open_by_guid
	(Default=false) Set to true to force opening a camera by its GUID, in camera_guid More...

unsigned int	camera_guid [4]
	GUID of the camera to open, only when open_by_guid==true. More...

Camera settings
std::string	videomode
	(Default="", which means default) A string with a video mode, from the list available in FlyCapture2::VideoMode, eg. "VIDEOMODE_640x480Y8", etc. More...

std::string	framerate
	(Default="", which means default) A string with a framerate, from the list available in FlyCapture2::FrameRate, eg. "FRAMERATE_30", etc. More...

std::string	grabmode
	(Default="BUFFER_FRAMES") A string with a grab mode, from the list available in FlyCapture2::GrabMode More...

unsigned int	numBuffers
	(Default=30) Number of images that can be stored in the buffer, if enabled with grabMode. More...

int	grabTimeout
	(Default=5000) Time in milliseconds that RetrieveBuffer() and WaitForBufferEvent() will wait for an image before timing out and returning. More...

bool	trigger_enabled
	(default=false) Enable non-free-running mode, only capturing when a given input trigger signal is detected. Refer to PGR docs. More...

unsigned int	trigger_polarity
	(default=0) Refer to PGR docs. More...

unsigned int	trigger_source
	(default=0) Refer to PGR docs. More...

unsigned int	trigger_mode
	(default=0) Refer to PGR docs. More...

bool	strobe_enabled
	(default=false) Enable the generation of a strobe signal in GPIO. Refer to PGR docs. More...

unsigned int	strobe_source
	(default=0) Refer to PGR docs. More...

unsigned int	strobe_polarity
	(default=0) Refer to PGR docs. More...

float	strobe_delay
	(default=0.0) Delay in ms. Refer to PGR docs. More...

float	strobe_duration
	(default=1.0) Pulse durationin ms. Refer to PGR docs. More...

bool	autoexposure_auto
	(default=true) More...

bool	autoexposure_onOff
	(default=true) Activate this feature More...

bool	autoexposure_abs
	(default=true) Numeric mode (absolute or integer values) More...

float	autoexposure_EV
	(default=0.0) Exposure Value, if autoexposure_auto=false More...

bool	shutter_auto
	(default=true) More...

bool	shutter_abs
	(default=true) Numeric mode (absolute or integer values) More...

float	shutter_time_ms
	(default=4.0) Shutter time, if shutter_auto=false More...

bool	gain_auto
	(default=true) More...

bool	gain_abs
	(default=true) Numeric mode (absolute or integer values) More...

float	gain_dB
	(default=0.0) Sensor gain, if gain_auto=false More...

bool	stereo_mode
	(default=false) Obtain images as stereo pairs with Flycapture2 More...

bool	get_rectified
	(default=false) Rectify stereo images (needs Triclops installed) More...

unsigned int	rect_width
	(default=640) Width for output rectified images More...

unsigned int	rect_height
	(default=480) Height for output rectified images More...

Constructor & Destructor Documentation

◆ TCaptureOptions_FlyCapture2()

TCaptureOptions_FlyCapture2::TCaptureOptions_FlyCapture2 ( )

Definition at line 134 of file CImageGrabber_FlyCapture2.cpp.

References camera_guid.

Member Function Documentation

◆ loadOptionsFrom()

void TCaptureOptions_FlyCapture2::loadOptionsFrom	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	sectionName,
		const std::string &	prefix = `std::string()`
	)

Loads all the options from a config file.

Expected format:

[sectionName]
# Camera selection:
camera_index = 0      // (Default=0) If open_by_guid==false, will open the i'th camera based on this 0-based index.
open_by_guid = false  // (Default=false) Set to true to force opening a camera by its GUID, in \a camera_guid
camera_guid  = 11223344-55667788-99AABBCC-DDEEFF00  // GUID of the camera to open, only when open_by_guid==true. Hexadecimal blocks separated by dashes ("-")
# Camera settings:
videomode   = VIDEOMODE_640x480Y8 // (Default="", which means default) A string with a video mode, from the list available in [FlyCapture2::VideoMode](http://www.ptgrey.com/support/downloads/documents/flycapture/Doxygen/html/), eg. "VIDEOMODE_640x480Y8", etc.
framerate   = FRAMERATE_30        // (Default="", which means default) A string with a framerate, from the list available in [FlyCapture2::FrameRate](http://www.ptgrey.com/support/downloads/documents/flycapture/Doxygen/html/), eg. "FRAMERATE_30", etc.
grabmode    = BUFFER_FRAMES       // (Default="BUFFER_FRAMES") A string with a grab mode, from the list available in [FlyCapture2::GrabMode](http://www.ptgrey.com/support/downloads/documents/flycapture/Doxygen/html/)
numBuffers  = 30                  // (Default=30) Number of images that can be stored in the buffer, if enabled with grabMode.
grabTimeout = 5000                // (Default=5000) Time in milliseconds that RetrieveBuffer() and WaitForBufferEvent() will wait for an image before timing out and returning.
trigger_enabled = false // (default=false) Enable non-free-running mode, only capturing when a given input trigger signal is detected. Refer to PGR docs.
#trigger_polarity = 0      // (default=0) Refer to PGR docs.
#trigger_source   = 0      // (default=0) Refer to PGR docs.
#trigger_mode     = 0      // (default=0) Refer to PGR docs.
strobe_enabled   = false // (default=false) Enable the generation of a strobe signal in GPIO. Refer to PGR docs.
#strobe_source    = 1     // (default=0)  Refer to PGR docs.
#strobe_polarity  = 0     // (default=0)  Refer to PGR docs.
#strobe_delay     = 0.0   // (default=0.0) Delay in ms. Refer to PGR docs.
#strobe_duration  = 1.0   // (default=1.0) Pulse durationin ms. Refer to PGR docs.
#autoexposure_auto; //!< (default=true)
#autoexposure_abs;  //!< (default=true) Numeric mode (absolute or integer values)
#autoexposure_onoff;//!< (default=true) Activate this feature
#autoexposure_EV;   //!< (default=0.0) Exposure Value, if autoexposure_auto=false
#shutter_auto     = false   // (default=true)
#shutter_abs;       //!< (default=true) Numeric mode (absolute or integer values)
#shutter_time_ms  = 4.0     // (default=4.0) Shutter time, if shutter_auto=false
#gain_auto;         //!< (default=true)
#gain_abs;          //!< (default=true) Numeric mode (absolute or integer values)
#gain_dB;           //!< (default=0.0) Sensor gain, if gain_auto=false
flycap_stereo_mode      = 1     // (default=0) Obtain images as stereo pairs with Flycapture2
flycap_get_rectified    = 1     // (default=0) Rectify stereo images (needs Triclops installed)
flycap_rect_width       = 320   // (default=640) Width for output rectified images
flycap_rect_height      = 240   // (default=480) Height for output rectified images

Note: All parameter names may have an optional prefix, set with the "prefix" parameter. For example, if prefix="LEFT_", the expected variable name "camera_index" in the config section will be "LEFT_camera_index", and so on.

Definition at line 169 of file CImageGrabber_FlyCapture2.cpp.

References ASSERTMSG_, autoexposure_abs, autoexposure_auto, autoexposure_EV, autoexposure_onOff, camera_guid, camera_index, framerate, gain_abs, gain_auto, gain_dB, get_rectified, grabmode, grabTimeout, numBuffers, open_by_guid, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), mrpt::utils::CConfigFileBase::read_uint64_t(), rect_height, rect_width, shutter_abs, shutter_auto, shutter_time_ms, stereo_mode, strobe_delay, strobe_duration, strobe_enabled, strobe_polarity, strobe_source, mrpt::system::tokenize(), trigger_enabled, trigger_mode, trigger_polarity, trigger_source, and videomode.

Member Data Documentation

◆ autoexposure_abs

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::autoexposure_abs

(default=true) Numeric mode (absolute or integer values)

Definition at line 54 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ autoexposure_auto

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::autoexposure_auto

(default=true)

Definition at line 52 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ autoexposure_EV

float mrpt::hwdrivers::TCaptureOptions_FlyCapture2::autoexposure_EV

(default=0.0) Exposure Value, if autoexposure_auto=false

Definition at line 55 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ autoexposure_onOff

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::autoexposure_onOff

(default=true) Activate this feature

Definition at line 53 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ camera_guid

unsigned int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::camera_guid[4]

GUID of the camera to open, only when open_by_guid==true.

Definition at line 30 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::open(), and TCaptureOptions_FlyCapture2().

◆ camera_index

unsigned int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::camera_index

(Default=0) If open_by_guid==false, will open the i'th camera based on this 0-based index.

Definition at line 28 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ framerate

std::string mrpt::hwdrivers::TCaptureOptions_FlyCapture2::framerate

(Default="", which means default) A string with a framerate, from the list available in FlyCapture2::FrameRate, eg. "FRAMERATE_30", etc.

Definition at line 36 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ gain_abs

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::gain_abs

(default=true) Numeric mode (absolute or integer values)

Definition at line 60 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ gain_auto

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::gain_auto

(default=true)

Definition at line 59 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ gain_dB

float mrpt::hwdrivers::TCaptureOptions_FlyCapture2::gain_dB

(default=0.0) Sensor gain, if gain_auto=false

Definition at line 61 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ get_rectified

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::get_rectified

(default=false) Rectify stereo images (needs Triclops installed)

Definition at line 64 of file CImageGrabber_FlyCapture2.h.

Referenced by mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), and loadOptionsFrom().

◆ grabmode

std::string mrpt::hwdrivers::TCaptureOptions_FlyCapture2::grabmode

(Default="BUFFER_FRAMES") A string with a grab mode, from the list available in FlyCapture2::GrabMode

Definition at line 37 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ grabTimeout

int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::grabTimeout

(Default=5000) Time in milliseconds that RetrieveBuffer() and WaitForBufferEvent() will wait for an image before timing out and returning.

Definition at line 39 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ numBuffers

unsigned int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::numBuffers

(Default=30) Number of images that can be stored in the buffer, if enabled with grabMode.

Definition at line 38 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ open_by_guid

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::open_by_guid

(Default=false) Set to true to force opening a camera by its GUID, in camera_guid

Definition at line 29 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ rect_height

unsigned int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::rect_height

(default=480) Height for output rectified images

Definition at line 66 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ rect_width

unsigned int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::rect_width

(default=640) Width for output rectified images

Definition at line 65 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ shutter_abs

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::shutter_abs

(default=true) Numeric mode (absolute or integer values)

Definition at line 57 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ shutter_auto

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::shutter_auto

(default=true)

Definition at line 56 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ shutter_time_ms

float mrpt::hwdrivers::TCaptureOptions_FlyCapture2::shutter_time_ms

(default=4.0) Shutter time, if shutter_auto=false

Definition at line 58 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ stereo_mode

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::stereo_mode

(default=false) Obtain images as stereo pairs with Flycapture2

Definition at line 63 of file CImageGrabber_FlyCapture2.h.

Referenced by mrpt::hwdrivers::CImageGrabber_FlyCapture2::isStereo(), loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ strobe_delay

float mrpt::hwdrivers::TCaptureOptions_FlyCapture2::strobe_delay

(default=0.0) Delay in ms. Refer to PGR docs.

Definition at line 49 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ strobe_duration

float mrpt::hwdrivers::TCaptureOptions_FlyCapture2::strobe_duration

(default=1.0) Pulse durationin ms. Refer to PGR docs.

Definition at line 50 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ strobe_enabled

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::strobe_enabled

(default=false) Enable the generation of a strobe signal in GPIO. Refer to PGR docs.

Definition at line 46 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ strobe_polarity

unsigned int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::strobe_polarity

(default=0) Refer to PGR docs.

Definition at line 48 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ strobe_source

unsigned int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::strobe_source

(default=0) Refer to PGR docs.

Definition at line 47 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ trigger_enabled

bool mrpt::hwdrivers::TCaptureOptions_FlyCapture2::trigger_enabled

(default=false) Enable non-free-running mode, only capturing when a given input trigger signal is detected. Refer to PGR docs.

Definition at line 41 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ trigger_mode

unsigned int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::trigger_mode

(default=0) Refer to PGR docs.

Definition at line 44 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ trigger_polarity

unsigned int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::trigger_polarity

(default=0) Refer to PGR docs.

Definition at line 42 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ trigger_source

unsigned int mrpt::hwdrivers::TCaptureOptions_FlyCapture2::trigger_source

(default=0) Refer to PGR docs.

Definition at line 43 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

◆ videomode

std::string mrpt::hwdrivers::TCaptureOptions_FlyCapture2::videomode

(Default="", which means default) A string with a video mode, from the list available in FlyCapture2::VideoMode, eg. "VIDEOMODE_640x480Y8", etc.

Definition at line 35 of file CImageGrabber_FlyCapture2.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::open().

Detailed Description

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ TCaptureOptions_FlyCapture2()

Member Function Documentation

◆ loadOptionsFrom()

Member Data Documentation

◆ autoexposure_abs

◆ autoexposure_auto

◆ autoexposure_EV

◆ autoexposure_onOff

◆ camera_guid

◆ camera_index

◆ framerate

◆ gain_abs

◆ gain_auto

◆ gain_dB

◆ get_rectified

◆ grabmode

◆ grabTimeout

◆ numBuffers

◆ open_by_guid

◆ rect_height

◆ rect_width

◆ shutter_abs

◆ shutter_auto

◆ shutter_time_ms

◆ stereo_mode

◆ strobe_delay

◆ strobe_duration

◆ strobe_enabled

◆ strobe_polarity

◆ strobe_source

◆ trigger_enabled

◆ trigger_mode

◆ trigger_polarity

◆ trigger_source

◆ videomode