#include <ueye_cam_driver.hpp>

Inheritance diagram for ueye_cam::UEyeCamDriver:

Public Member Functions
virtual INT	connectCam (int new_cam_ID=-1)
virtual INT	disconnectCam ()
bool	extTriggerModeActive ()
bool	freeRunModeActive ()
bool	isCapturing ()
bool	isConnected ()
INT	loadCamConfig (std::string filename)
const char *	processNextFrame (INT timeout_ms)
INT	setBinning (int &rate, bool reallocate_buffer=true)
INT	setColorMode (std::string mode, bool reallocate_buffer=true)
INT	setExposure (bool &auto_exposure, double &exposure_ms)
INT	setExtTriggerMode ()
INT	setFlashParams (INT &delay_us, UINT &duration_us)
INT	setFrameRate (bool &auto_frame_rate, double &frame_rate_hz)
INT	setFreeRunMode ()
INT	setGain (bool &auto_gain, INT &master_gain_prc, INT &red_gain_prc, INT &green_gain_prc, INT &blue_gain_prc, bool &gain_boost)
INT	setMirrorLeftRight (bool flip_vertical)
INT	setMirrorUpsideDown (bool flip_horizontal)
INT	setPixelClockRate (INT &clock_rate_mhz)
INT	setResolution (INT &image_width, INT &image_height, INT &image_left, INT &image_top, bool reallocate_buffer=true)
INT	setSensorScaling (double &rate, bool reallocate_buffer=true)
INT	setStandbyMode ()
INT	setSubsampling (int &rate, bool reallocate_buffer=true)
INT	setWhiteBalance (bool &auto_white_balance, INT &red_offset, INT &blue_offset)
	UEyeCamDriver (int cam_ID=ANY_CAMERA, std::string cam_name="camera")
virtual	~UEyeCamDriver ()
Static Public Member Functions
static const char *	err2str (INT error)
Static Public Attributes
static constexpr int	ANY_CAMERA = 0
Protected Member Functions
INT	reallocateCamBuffer ()
Protected Attributes
INT	bits_per_pixel_
IS_RECT	cam_aoi_
unsigned int	cam_binning_rate_
char *	cam_buffer_
int	cam_buffer_id_
INT	cam_buffer_pitch_
unsigned int	cam_buffer_size_
HIDS	cam_handle_
int	cam_id_
std::string	cam_name_
SENSORINFO	cam_sensor_info_
double	cam_sensor_scaling_rate_
unsigned int	cam_subsampling_rate_

Detailed Description

Thin wrapper for UEye camera API from IDS Imaging Development Systems GMBH.

Definition at line 82 of file ueye_cam_driver.hpp.

Constructor & Destructor Documentation

ueye_cam::UEyeCamDriver::UEyeCamDriver	(	int	cam_ID = `ANY_CAMERA`,
		std::string	cam_name = `"camera"`
	)

Initializes member variables.

Definition at line 57 of file ueye_cam_driver.cpp.

ueye_cam::UEyeCamDriver::~UEyeCamDriver ( ) [virtual]

Terminates UEye camera interface.

Definition at line 76 of file ueye_cam_driver.cpp.

Member Function Documentation

INT ueye_cam::UEyeCamDriver::connectCam ( int new_cam_ID = -1 ) [virtual]

Initializes and loads the UEye camera handle.

Parameters:

new_cam_ID If set to -1, then uses existing camera ID.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 81 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::disconnectCam ( ) [virtual]

Terminates and releases the UEye camera handle.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Reimplemented in ueye_cam::UEyeCamNodelet.

Definition at line 136 of file ueye_cam_driver.cpp.

const char * ueye_cam::UEyeCamDriver::err2str ( INT error ) [static]

Stringifies UEye API error flag.

Definition at line 949 of file ueye_cam_driver.cpp.

bool ueye_cam::UEyeCamDriver::extTriggerModeActive ( ) [inline]

Definition at line 361 of file ueye_cam_driver.hpp.

bool ueye_cam::UEyeCamDriver::freeRunModeActive ( ) [inline]

Definition at line 355 of file ueye_cam_driver.hpp.

bool ueye_cam::UEyeCamDriver::isCapturing ( ) [inline]

Definition at line 367 of file ueye_cam_driver.hpp.

bool ueye_cam::UEyeCamDriver::isConnected ( ) [inline]

Definition at line 353 of file ueye_cam_driver.hpp.

INT ueye_cam::UEyeCamDriver::loadCamConfig ( std::string filename )

Loads UEye camera parameter configuration INI file into current camera's settings.

Parameters:

filename Relative or absolute path to UEye camera configuration file.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 159 of file ueye_cam_driver.cpp.

const char * ueye_cam::UEyeCamDriver::processNextFrame ( INT timeout_ms )

Waits for next frame to be available, then returns pointer to frame if successful. This function should only be called when the camera is in live capture mode. Since this function will block until the next frame is available, it can be used in a loop, without additional delays, to repeatedly query frames from the camera at the maximum rate possible given current camera settings.

Parameters:

timeout_ms Timeout duration while waiting for next frame event.

Returns:: Pointer to raw image buffer if successful, NULL otherwise. WARNING: image buffer contents may change during capture, or may become invalid after calling other functions!

Definition at line 890 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::reallocateCamBuffer ( ) [protected]

Definition at line 907 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setBinning	(	int &	rate,
		bool	reallocate_buffer = `true`
	)

Updates current camera handle's binning rate.

Parameters:

rate	Desired binning rate.
reallocate_buffer	Whether to auto-reallocate buffer or not after changing parameter. If set to false, remember to reallocate_buffer via another function or via reallocateCamBuffer() manually!

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 347 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setColorMode	(	std::string	mode,
		bool	reallocate_buffer = `true`
	)

Updates current camera handle's color mode and re-initializes internal frame buffer. This function will stop live capture automatically if necessary.

Parameters:

mode	Color mode string. Valid values: {"rgb8", "mono8", "bayer_rggb8"}. Certain values may not be available for a given camera model.
reallocate_buffer	Whether to auto-reallocate buffer or not after changing parameter. If set to false, remember to reallocate_buffer via another function or via reallocateCamBuffer() manually!

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 200 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setExposure	(	bool &	auto_exposure,
		double &	exposure_ms
	)

Updates current camera handle's exposure / shutter either to auto mode, or to specified manual parameters.

Parameters:

auto_exposure	Updates camera's hardware auto shutter / auto shutter mode. Will be deactivated if camera does not support mode.
exposure_ms	Manual exposure setting, in ms. Valid value range depends on current camera pixel clock rate.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 538 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setExtTriggerMode ( )

Sets current camera to external trigger mode, where a HI to LO falling-edge signal on the digital input pin of the camera will trigger the camera to capture a frame. This function also resets the digital output pin to always be LO.

Note that this function only sets the mode. Frames are then grabbed by calling processNextFrame().

IMPLEMENTATION DETAIL: currently this function supports falling-edge trigger only, since our camera (UI-1246LE) only supports this mode

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 783 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setFlashParams	(	INT &	delay_us,
		UINT &	duration_us
	)

Updates the flash signal's delay (from start of exposure) and duration. The flash signal is routed to the digital output pin by default in setFreeRunMode(), and can act as a triggering signal for driving other cameras configured as setExtTriggerMode().

Note that setting flash parameters by itself may not have an effect, if the flash output is not enabled via is_IO().

Definition at line 707 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setFrameRate	(	bool &	auto_frame_rate,
		double &	frame_rate_hz
	)

Updates current camera handle's frame rate either to auto mode, or to specified manual parameters.

Enabling auto frame rate mode requires that auto shutter mode be enabled. Enabling auto frame rate mode will disable auto gain mode.

Parameters:

auto_frame_rate	Updates camera's hardware auto frame rate / auto frame mode mode. Will be deactivated if camera does not support mode.
frame_rate_hz	Desired frame rate, in Hz / frames per second. Valid value range depends on current camera pixel clock rate.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 625 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setFreeRunMode ( )

Sets current camera to start capturing frames to internal buffer repeatedly. This function also pre-configures the camera to operate in free-run, non-triggered mode, and further attempts to enable the digital output pin to raise to HI during exposure (a.k.a. flash signal, which is useful for triggering other cameras).

Note that this function only sets the mode. Frames are grabbed by calling processNextFrame().

IMPLEMENTATION DETAIL: the flash output signal is set to active-high, so that multiple flash outputs from different cameras can be connected to an OR combination gate to allow any camera to emit the flash trigger. In contrast, in active-low mode, any de-activated camera will output LOW, which would dominate over the triggering signals at the NAND combination gate.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 746 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setGain	(	bool &	auto_gain,
		INT &	master_gain_prc,
		INT &	red_gain_prc,
		INT &	green_gain_prc,
		INT &	blue_gain_prc,
		bool &	gain_boost
	)

Updates current camera handle's gain either to auto mode, or to specified manual parameters.

Auto gain mode is disabled if auto frame rate mode is enabled.

Parameters:

auto_gain	Updates camera's hardware auto gain / auto gain mode. Will be deactivated if camera does not support mode.
master_gain_prc	Manual master gain percentage.
red_gain_prc	Manual red channel gain percentage.
green_gain_prc	Manual green channel gain percentage.
blue_gain_prc	Manual blue channel gain percentage.
gain_boost	Sets the gain boost. This parameter is independent of auto/manual gain mode.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 465 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setMirrorLeftRight ( bool flip_vertical )

Mirrors the camera image left to right

Parameters:

flip_vertical Wheter to flip the image left to right or not.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 825 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setMirrorUpsideDown ( bool flip_horizontal )

Mirrors the camera image upside down

Parameters:

flip_horizontal Wheter to flip the image upside down or not.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 813 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setPixelClockRate ( INT & clock_rate_mhz )

Updates current camera handle's pixel clock rate.

Parameters:

clock_rate_mhz Desired pixel clock rate, in MHz. Valid value range depends on camera model.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 679 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setResolution	(	INT &	image_width,
		INT &	image_height,
		INT &	image_left,
		INT &	image_top,
		bool	reallocate_buffer = `true`
	)

Updates current camera handle's sensor resolution and area of interest. This function will stop live capture automatically if necessary.

Parameters:

image_width	Desired width for area of interest / image. Will be automatically bounded by valid range for current camera.
image_height	Desired height for area of interest / image. Will be automatically bounded by valid range for current camera.
image_left	Desired left pixel offset for area of interest / image. Set to -1 to auto-center.
image_top	Desired top pixel offset for area of interest / image. Set to -1 to auto-center.
reallocate_buffer	Whether to auto-reallocate buffer or not after changing parameter. If set to false, remember to reallocate_buffer via another function or via reallocateCamBuffer() manually!

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 235 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setSensorScaling	(	double &	rate,
		bool	reallocate_buffer = `true`
	)

Updates current camera handle's internal image scaling rate.

Parameters:

rate	Desired internal image scaling rate.
reallocate_buffer	Whether to auto-reallocate buffer or not after changing parameter. If set to false, remember to reallocate_buffer via another function or via reallocateCamBuffer() manually!

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 415 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setStandbyMode ( )

Disables either free-run or external trigger mode, and sets the current camera to standby mode.

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 837 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setSubsampling	(	int &	rate,
		bool	reallocate_buffer = `true`
	)

Updates current camera handle's subsampling rate.

Parameters:

rate	Desired subsampling rate.
reallocate_buffer	Whether to auto-reallocate buffer or not after changing parameter. If set to false, remember to reallocate_buffer via another function or via reallocateCamBuffer() manually!

Returns:: IS_SUCCESS if successful, error flag otherwise (see err2str).

Definition at line 279 of file ueye_cam_driver.cpp.

INT ueye_cam::UEyeCamDriver::setWhiteBalance	(	bool &	auto_white_balance,
		INT &	red_offset,
		INT &	blue_offset
	)

Enables or disables the current camera handle's auto white balance mode, and configures auto white balance channel offset parameters.

Parameters:

auto_white_balance	Updates camera's hardware auto white balance / auto white balance mode. Will be deactivated if camera does not support mode.
red_offset	Red channel offset in auto white balance mode. Range: [-50, 50]
blue_offset	Blue channel offset in auto white balance mode. Range: [-50, 50]