vpPylonGrabber.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description: Classes allow to grab images from a Basler camera using
 * Pylon SDK.
 *
 * Authors:
 * Wenfeng CAI
 */

 
#ifndef _vpPylonGrabber_h_
#define _vpPylonGrabber_h_
 
#include <ostream>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpFrameGrabber.h>
 
#ifdef VISP_HAVE_PYLON
 
// Work around: /usr/X11R6/include/X11/X.h:115:30: note: expanded from macro
// 'None'
#ifdef None
#undef None
#endif
// Work around: /usr/X11R6/include/X11/Xlib.h:83:16: note: expanded from
// macro 'Status'
#ifdef Status
#undef Status
#endif
 
#include <pylon/PylonIncludes.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPylonGrabber : public vpFrameGrabber
{
public:
  virtual ~vpPylonGrabber() { }

  enum UserSetName
  {
    USERSET_DEFAULT,  
    USERSET_USERSET1, 
    USERSET_USERSET2, 
    USERSET_USERSET3, 
    USERSET_UNKNOWN   
  };

  virtual void acquire(vpImage<unsigned char> &I) = 0;
  virtual void acquire(vpImage<vpRGBa> &I) = 0;

  virtual void close() = 0;
  virtual void connect() = 0;
  virtual void disconnect() = 0;

  virtual float getBlackLevel() = 0;
  virtual std::ostream &getCameraInfo(std::ostream &os) = 0;
  virtual Pylon::CInstantCamera *getCameraHandler() = 0;
  virtual unsigned int getCameraIndex() const = 0;
  virtual std::string getCameraSerial(unsigned int index) = 0;
  virtual float getExposure() = 0;
  virtual float getFrameRate() = 0;
  virtual float getGain() = 0;
  virtual unsigned int getNumCameras() = 0;
  virtual float getGamma() = 0;
  virtual bool loadUserSet(UserSetName user_set) = 0;
  virtual UserSetName getUserSetDefault() = 0;

  virtual bool isConnected() const = 0;
  virtual bool isCaptureStarted() const = 0;
  virtual void open(vpImage<unsigned char> &I) = 0;
  virtual void open(vpImage<vpRGBa> &I) = 0;

  virtual vpPylonGrabber &operator>>(vpImage<unsigned char> &I) = 0;
  virtual vpPylonGrabber &operator>>(vpImage<vpRGBa> &I) = 0;

  virtual float setBlackLevel(float blacklevel_value) = 0;
  virtual void setCameraIndex(unsigned int index) = 0;
  virtual void setCameraSerial(const std::string &serial) = 0;
  virtual float setExposure(bool exposure_on, bool exposure_auto, float exposure_value) = 0;
  virtual float setGain(bool gain_auto, float gain_value) = 0;
  virtual float setFrameRate(float frame_rate) = 0;
  virtual float setGamma(bool gamma_on, float gamma_value = 1) = 0;
  virtual bool saveUserSet(UserSetName user_set, bool set_default = false) = 0;
  virtual bool setUserSetDefault(UserSetName user_set) = 0;

  virtual void startCapture() = 0;
  virtual void stopCapture() = 0;
};
END_VISP_NAMESPACE
#endif // #ifdef VISP_HAVE_PYLON
#endif // #ifndef _vpPylonGrabber_h_