#include <PointGreyCamera.h>

Public Member Functions
void	connect ()
	Function that connects to a specified camera. More...

void	disconnect ()
	Disconnects from the camera. More...

std::vector< uint32_t >	getAttachedCameras ()

uint	getBrightness ()

float	getCameraTemperature ()
	Gets the current operating temperature. More...

uint	getExposure ()

uint	getGain ()

uint	getROIPosition ()

uint	getShutter ()

uint	getWhiteBalance ()

void	grabImage (sensor_msgs::Image &image, const std::string &frame_id)
	Loads the raw data from the cameras buffer. More...

void	grabStereoImage (sensor_msgs::Image &image, const std::string &frame_id, sensor_msgs::Image &second_image, const std::string &second_frame_id)

	PointGreyCamera ()

void	setBRWhiteBalance (bool auto_white_balance, uint16_t &blue, uint16_t &red)

void	setDesiredCamera (const uint32_t &id)
	Used to set the serial number for the camera you wish to connect to. More...

void	setGain (double &gain)

void	setGigEParameters (bool auto_packet_size, unsigned int packet_size, unsigned int packet_delay)
	Set parameters relative to GigE cameras. More...

bool	setNewConfiguration (pointgrey_camera_driver::PointGreyConfig &config, const uint32_t &level)
	Function that allows reconfiguration of the camera. More...

void	setTimeout (const double &timeout)
	Will set grabImage timeout for the camera. More...

void	start ()
	Starts the camera loading data into its buffer. More...

bool	stop ()
	Stops the camera loading data into its buffer. More...

	~PointGreyCamera ()

Static Public Member Functions
static void	handleError (const std::string &prefix, const FlyCapture2::Error &error)
	Handles errors returned by FlyCapture2. More...

Static Public Attributes
static const uint8_t	LEVEL_RECONFIGURE_CLOSE = 3

static const uint8_t	LEVEL_RECONFIGURE_RUNNING = 0

static const uint8_t	LEVEL_RECONFIGURE_STOP = 1

Private Member Functions
float	getCameraFrameRate ()
	Gets the current frame rate. More...

bool	getFormat7PixelFormatFromString (std::string &sformat, FlyCapture2::PixelFormat &fmt7PixFmt)
	Converts the dynamic_reconfigure string type into a FlyCapture2::PixelFormat. More...

bool	getVideoModeFromString (std::string &vmode, FlyCapture2::VideoMode &vmode_out, FlyCapture2::Mode &fmt7Mode)
	Converts the dynamic_reconfigure string type into a FlyCapture2::VideoMode. More...

bool	setExternalStrobe (bool &enable, const std::string &dest, double &duration, double &delay, bool &polarityHigh)
	Will set the external strobe of the camera. More...

bool	setExternalTrigger (bool &enable, std::string &mode, std::string &source, int32_t &parameter, double &delay, bool &polarityHigh)
	Will set the external triggering of the camera. More...

bool	setFormat7 (FlyCapture2::Mode &fmt7Mode, FlyCapture2::PixelFormat &fmt7PixFmt, uint16_t &roi_width, uint16_t &roi_height, uint16_t &roi_offset_x, uint16_t &roi_offset_y)
	Changes the camera into Format7 mode with the associated parameters. More...

bool	setProperty (const FlyCapture2::PropertyType &type, const bool &autoSet, unsigned int &valueA, unsigned int &valueB)

bool	setProperty (const FlyCapture2::PropertyType &type, const bool &autoSet, double &value)
	Generic wrapper for setting properties in FlyCapture2. More...

void	setupGigEPacketDelay (FlyCapture2::PGRGuid &guid, unsigned int packet_delay)
	Will configure the packet delay of the GigECamera with the given GUID to a given value. More...

void	setupGigEPacketSize (FlyCapture2::PGRGuid &guid)
	Will autoconfigure the packet size of the GigECamera with the given GUID. More...

void	setupGigEPacketSize (FlyCapture2::PGRGuid &guid, unsigned int packet_size)
	Will configure the packet size of the GigECamera with the given GUID to a given value. More...

void	setVideoMode (FlyCapture2::VideoMode &videoMode)
	Changes the video mode of the connected camera. More...

bool	setWhiteBalance (bool &auto_white_balance, uint16_t &blue, uint16_t &red)
	Sets the white balance property. More...

Private Attributes
bool	auto_packet_size_
	If true, GigE packet size is automatically determined, otherwise packet_size_ is used: More...

FlyCapture2::BusManager	busMgr_
	A FlyCapture2::BusManager that is responsible for finding the appropriate camera. More...

FlyCapture2::Camera	cam_
	A FlyCapture2::Camera set by the bus manager. More...

volatile bool	captureRunning_
	A status boolean that checks if the camera has been started and is loading images into its buffer.ù More...

bool	isColor_
	If true, camera is currently running in color mode, otherwise camera is running in mono mode. More...

FlyCapture2::ImageMetadata	metadata_
	Metadata from the last image, stores useful information such as timestamp, gain, shutter, brightness, exposure. More...

boost::mutex	mutex_
	A mutex to make sure that we don't try to grabImages while reconfiguring or vice versa. Implemented with boost::mutex::scoped_lock. More...

unsigned int	packet_delay_
	GigE packet delay: More...

unsigned int	packet_size_
	GigE packet size: More...

uint32_t	serial_
	A variable to hold the serial number of the desired camera. More...

Detailed Description

Definition at line 49 of file PointGreyCamera.h.

Constructor & Destructor Documentation

PointGreyCamera::PointGreyCamera ( )

Definition at line 40 of file PointGreyCamera.cpp.

PointGreyCamera::~PointGreyCamera ( )

Definition at line 47 of file PointGreyCamera.cpp.

Member Function Documentation

void PointGreyCamera::connect ( )

Function that connects to a specified camera.

Will connect to the camera specified in the setDesiredCamera(std::string id) call. If setDesiredCamera is not called first this will connect to the first camera. Connecting to the first camera is not recommended for multi-camera or production systems. This function must be called before setNewConfiguration() or start()!

Definition at line 873 of file PointGreyCamera.cpp.

void PointGreyCamera::disconnect ( )

Disconnects from the camera.

Disconnects the camera and frees it.

Definition at line 944 of file PointGreyCamera.cpp.

std::vector< uint32_t > PointGreyCamera::getAttachedCameras ( )

Definition at line 1197 of file PointGreyCamera.cpp.

uint PointGreyCamera::getBrightness ( )

Definition at line 1172 of file PointGreyCamera.cpp.

float PointGreyCamera::getCameraFrameRate ( )

private

Gets the current frame rate.

Gets the camera's current reported frame rate.

Returns: The reported frame rate.

Definition at line 650 of file PointGreyCamera.cpp.

float PointGreyCamera::getCameraTemperature ( )

Gets the current operating temperature.

Gets the camera's current reported operating temperature.

Returns: The reported temperature in Celsius.

Definition at line 641 of file PointGreyCamera.cpp.

uint PointGreyCamera::getExposure ( )

Definition at line 1177 of file PointGreyCamera.cpp.

bool PointGreyCamera::getFormat7PixelFormatFromString	(	std::string &	sformat,
		FlyCapture2::PixelFormat &	fmt7PixFmt
	)

private

Converts the dynamic_reconfigure string type into a FlyCapture2::PixelFormat.

This function will convert the string input from dynamic_reconfigure into the proper datatype for use with FlyCapture enum.

Parameters

fmt7Mode	input video mode, needed to know which PixelFormats are valid.
sformat	dynamic_reconfigure Format 7 color coding, will be changed if unsupported.
fmt7PixFmt	FlyCapture2::PixelFormat, will be set to the appropriate output type.

Returns: Returns true when the configuration could be applied without modification.

Definition at line 411 of file PointGreyCamera.cpp.

uint PointGreyCamera::getGain ( )

Definition at line 1162 of file PointGreyCamera.cpp.

uint PointGreyCamera::getROIPosition ( )

Definition at line 1187 of file PointGreyCamera.cpp.

uint PointGreyCamera::getShutter ( )

Definition at line 1167 of file PointGreyCamera.cpp.

bool PointGreyCamera::getVideoModeFromString	(	std::string &	vmode,
		FlyCapture2::VideoMode &	vmode_out,
		FlyCapture2::Mode &	fmt7Mode
	)

private

Converts the dynamic_reconfigure string type into a FlyCapture2::VideoMode.

This function will convert the string input from dynamic_reconfigure into the proper datatype for use with FlyCapture enum.

Parameters

vmode	input video mode, will be changed if unsupported.
vmode_out	FlyCapture2::VideoMode, will be changed to either the corresponding type as vmode, or to the most compatible type.
fmt7Mode	will be set to the appropriate FlyCapture2::Mode if vmode is a format 7 mode.upacket, upacket,

Returns: Returns true when the configuration could be applied without modification.

Definition at line 326 of file PointGreyCamera.cpp.

uint PointGreyCamera::getWhiteBalance ( )

Definition at line 1182 of file PointGreyCamera.cpp.

void PointGreyCamera::grabImage	(	sensor_msgs::Image &	image,
		const std::string &	frame_id
	)

Loads the raw data from the cameras buffer.

This function will load the raw data from the buffer and place it into a sensor_msgs::Image.

Parameters

image	sensor_msgs::Image that will be filled with the image currently in the buffer.
frame_id	The name of the optical frame of the camera.

Definition at line 979 of file PointGreyCamera.cpp.

void PointGreyCamera::grabStereoImage	(	sensor_msgs::Image &	image,
		const std::string &	frame_id,
		sensor_msgs::Image &	second_image,
		const std::string &	second_frame_id
	)

Definition at line 1070 of file PointGreyCamera.cpp.

void PointGreyCamera::handleError	(	const std::string &	prefix,
		const FlyCapture2::Error &	error
	)

static

Handles errors returned by FlyCapture2.

Checks the status of a FlyCapture2::Error and if there is an error, will throw a runtime_error

Parameters

prefix	Message that will prefix the obscure FlyCapture2 error and provide context on the problem.
error	FlyCapture2::Error that is returned from many FlyCapture functions.

Definition at line 1213 of file PointGreyCamera.cpp.

void PointGreyCamera::setBRWhiteBalance	(	bool	auto_white_balance,
		uint16_t &	blue,
		uint16_t &	red
	)

Definition at line 199 of file PointGreyCamera.cpp.

void PointGreyCamera::setDesiredCamera ( const uint32_t & id )

Used to set the serial number for the camera you wish to connect to.

Sets the desired serial number. If this value is not set, the driver will try to connect to the first camera on the bus. This function should be called before connect().

Parameters

id	serial number for the camera. Should be something like 10491081.

Definition at line 1192 of file PointGreyCamera.cpp.

bool PointGreyCamera::setExternalStrobe	(	bool &	enable,
		const std::string &	dest,
		double &	duration,
		double &	delay,
		bool &	polarityHigh
	)

private

Will set the external strobe of the camera.

This function will enable external strobing of the camera on the specifed pin and set the desired duration, and delay. Note that unlike the trigger, multiple output strobes on different pins are quite possible; each output can be enable and disabled separately.

Parameters

enable	Whether or not to use enable strobing on the give pin.
dest	The pin to modify.
delay	The delay in milliseconds to wait after image capture.
duration	The length in milliseconds to hold the strobe.
polarityHigh	Whether the polarity of the strobe signal is high.

Returns: Returns true when the configuration could be applied without modification.

Definition at line 685 of file PointGreyCamera.cpp.

bool PointGreyCamera::setExternalTrigger	(	bool &	enable,
		std::string &	mode,
		std::string &	source,
		int32_t &	parameter,
		double &	delay,
		bool &	polarityHigh
	)

private

Will set the external triggering of the camera.

This function will enable external triggering of the camera and set the desired source, parameter, and delay.

Parameters

enable	Whether or not to use external triggering.
mode	The desired external triggering mode.
source	The desired external triggering source.
parameter	The parameter currently only used by trigger mode 3 (skip N frames, where parameter is N).
delay	The delay in seconds to wait after being triggered.
polarityHigh	Whether the polarity of the triggering signal is high.

Returns: Returns true when the configuration could be applied without modification.

Todo:: , check delay min and max values

Definition at line 730 of file PointGreyCamera.cpp.

bool PointGreyCamera::setFormat7	(	FlyCapture2::Mode &	fmt7Mode,
		FlyCapture2::PixelFormat &	fmt7PixFmt,
		uint16_t &	roi_width,
		uint16_t &	roi_height,
		uint16_t &	roi_offset_x,
		uint16_t &	roi_offset_y
	)

private

Changes the camera into Format7 mode with the associated parameters.

This function will stop the camera, change the video mode into Format 7, and then restart the camera.

Parameters

fmt7Mode	Flycapture2::Mode, desired Format 7 mode.
fmt7PixFmt	FlyCapture2::PixelFormat, desired Format 7 pixel format.
roi_width	width of the region of interest for Format 7 in pixels, will be changed if unsupported. '0' is full width.
roi_height	height of the region of interest for Format 7 in pixels, will be changed if unsupported. '0' is full height
roi_offset_x	offset in pixels from the left side of the image for the region of interest for Format 7, will be changed if unsupported.
roi_offset_y	offset in pixels from the top of the image for the region of interest for Format 7, will be changed if unsupported.

Returns: Returns true when the configuration could be applied without modification.

Definition at line 228 of file PointGreyCamera.cpp.

void PointGreyCamera::setGain ( double & gain )

Definition at line 194 of file PointGreyCamera.cpp.

void PointGreyCamera::setGigEParameters	(	bool	auto_packet_size,
		unsigned int	packet_size,
		unsigned int	packet_delay
	)

Set parameters relative to GigE cameras.

Parameters

auto_packet_size	Flag stating if packet size should be automatically determined or not.
packet_size	The packet size value to use if auto_packet_size is false.

Definition at line 822 of file PointGreyCamera.cpp.

bool PointGreyCamera::setNewConfiguration	(	pointgrey_camera_driver::PointGreyConfig &	config,
		const uint32_t &	level
	)

Function that allows reconfiguration of the camera.

This function handles a reference of a camera_library::CameraConfig object and configures the camera as close to the given values as possible. As a function for dynamic_reconfigure, values that are not valid are changed by the driver and can be inspected after this function ends. This function will stop and restart the camera when called on a SensorLevels::RECONFIGURE_STOP level.

Parameters

config	camera_library::CameraConfig object passed by reference. Values will be changed to those the driver is currently using.
level	Reconfiguration level. See constants below for details.

Returns: Returns true when the configuration could be applied without modification.

Definition at line 51 of file PointGreyCamera.cpp.

bool PointGreyCamera::setProperty	(	const FlyCapture2::PropertyType &	type,
		const bool &	autoSet,
		unsigned int &	valueA,
		unsigned int &	valueB
	)

private

Todo:: say which property?

Todo:: say which property?

Definition at line 470 of file PointGreyCamera.cpp.

bool PointGreyCamera::setProperty	(	const FlyCapture2::PropertyType &	type,
		const bool &	autoSet,
		double &	value
	)

private

Generic wrapper for setting properties in FlyCapture2.

This function will set the appropriate type and if desired, will allow the camera to change its own value. If value is outside the range of min and max, it will be set to either extreme.

Parameters

type	FlyCapture2::PropertyType to set. Examples: FlyCapture2::GAIN FlyCapture2::SHUTTER FlyCapture2::BRIGHTNESS
autoSet	whether or not to allow the camera to automatically adjust values. Ex: auto exposure, auto shutter. Not supported for all types.
value	Desired absolute value to be set in appropriate units. Will be changed if this value is not supported.
min	Absolute mininum value that this type can be set to.
max	Absolute maximum value that this type can be set to.

Returns: Returns true when the configuration could be applied without modification.

Todo:: say which property?

Todo:: say which property?

Definition at line 531 of file PointGreyCamera.cpp.

void PointGreyCamera::setTimeout ( const double & timeout )

Will set grabImage timeout for the camera.

This function will set the time required for grabCamera to throw a timeout exception. Must be called after connect().

Parameters

timeout The desired timeout value (in seconds)

Definition at line 627 of file PointGreyCamera.cpp.

void PointGreyCamera::setupGigEPacketDelay	(	FlyCapture2::PGRGuid &	guid,
		unsigned int	packet_delay
	)

private

Will configure the packet delay of the GigECamera with the given GUID to a given value.

Note that this is expected only to work for GigE cameras, and only if the camera is not connected.

Parameters

guid	the camera to autoconfigure
packet_delay	The packet delay value to use.

Definition at line 860 of file PointGreyCamera.cpp.

void PointGreyCamera::setupGigEPacketSize ( FlyCapture2::PGRGuid & guid )

private

Will autoconfigure the packet size of the GigECamera with the given GUID.

Note that this is expected only to work for GigE cameras, and only if the camera is not connected.

Parameters

guid	the camera to autoconfigure

void PointGreyCamera::setupGigEPacketSize	(	FlyCapture2::PGRGuid &	guid,
		unsigned int	packet_size
	)

private

Will configure the packet size of the GigECamera with the given GUID to a given value.

Note that this is expected only to work for GigE cameras, and only if the camera is not connected.

Parameters

guid	the camera to autoconfigure
packet_size	The packet size value to use.

void PointGreyCamera::setVideoMode ( FlyCapture2::VideoMode & videoMode )

private

Changes the video mode of the connected camera.

This function will change the camera to the desired videomode and allow up the maximum framerate for that mode.

Parameters

videoMode string of desired video mode, will be changed if unsupported.

Definition at line 204 of file PointGreyCamera.cpp.

bool PointGreyCamera::setWhiteBalance	(	bool &	auto_white_balance,
		uint16_t &	blue,
		uint16_t &	red
	)

private

Sets the white balance property.

This function will set the white balance for the camera.. If value is outside the range of min and max, it will be set to either extreme.

Parameters

blue	Value for the blue white balance setting.
red	Value for the red white balance setting.

Returns: Returns true when the configuration could be applied without modification.

Definition at line 578 of file PointGreyCamera.cpp.

void PointGreyCamera::start ( )

Starts the camera loading data into its buffer.

This function will start the camera capturing images and loading them into the buffer. To retrieve images, grabImage must be called.

Definition at line 955 of file PointGreyCamera.cpp.

bool PointGreyCamera::stop ( )

Stops the camera loading data into its buffer.

This function will stop the camera capturing images and loading them into the buffer.

Returns: Returns true if the camera was started when called. Useful for knowing if the camera needs restarted in certain instances.

Definition at line 966 of file PointGreyCamera.cpp.

Member Data Documentation

bool PointGreyCamera::auto_packet_size_

private

If true, GigE packet size is automatically determined, otherwise packet_size_ is used:

Definition at line 191 of file PointGreyCamera.h.

FlyCapture2::BusManager PointGreyCamera::busMgr_

private

A FlyCapture2::BusManager that is responsible for finding the appropriate camera.

Definition at line 179 of file PointGreyCamera.h.

FlyCapture2::Camera PointGreyCamera::cam_

private

A FlyCapture2::Camera set by the bus manager.

Definition at line 180 of file PointGreyCamera.h.

volatile bool PointGreyCamera::captureRunning_

private

A status boolean that checks if the camera has been started and is loading images into its buffer.ù

Definition at line 184 of file PointGreyCamera.h.

bool PointGreyCamera::isColor_

private

If true, camera is currently running in color mode, otherwise camera is running in mono mode.

Definition at line 187 of file PointGreyCamera.h.

const uint8_t PointGreyCamera::LEVEL_RECONFIGURE_CLOSE = 3

static

Parameters that need a sensor to be stopped completely when changed.

Definition at line 72 of file PointGreyCamera.h.

const uint8_t PointGreyCamera::LEVEL_RECONFIGURE_RUNNING = 0

static

Parameters that can be changed while a sensor is streaming.

Definition at line 78 of file PointGreyCamera.h.

const uint8_t PointGreyCamera::LEVEL_RECONFIGURE_STOP = 1

static

Parameters that need a sensor to stop streaming when changed.

Definition at line 75 of file PointGreyCamera.h.

FlyCapture2::ImageMetadata PointGreyCamera::metadata_

private

Metadata from the last image, stores useful information such as timestamp, gain, shutter, brightness, exposure.

Definition at line 181 of file PointGreyCamera.h.

boost::mutex PointGreyCamera::mutex_

private

A mutex to make sure that we don't try to grabImages while reconfiguring or vice versa. Implemented with boost::mutex::scoped_lock.

Definition at line 183 of file PointGreyCamera.h.

unsigned int PointGreyCamera::packet_delay_

private

GigE packet delay:

Definition at line 195 of file PointGreyCamera.h.

unsigned int PointGreyCamera::packet_size_

private

GigE packet size:

Definition at line 193 of file PointGreyCamera.h.

uint32_t PointGreyCamera::serial_

private

A variable to hold the serial number of the desired camera.

Definition at line 178 of file PointGreyCamera.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation