CImageGrabber_FlyCapture2.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CImageGrabber_FlyCapture2_H
#define CImageGrabber_FlyCapture2_H

#include <mrpt/slam/CObservationImage.h>
#include <mrpt/slam/CObservationStereoImages.h>
#include <mrpt/hwdrivers/link_pragmas.h>
#include <mrpt/utils/CUncopiable.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** Options used when creating a camera capture object of type CImageGrabber_FlyCapture2   \ingroup mrpt_hwdrivers_grp */
                struct HWDRIVERS_IMPEXP TCaptureOptions_FlyCapture2
                {
                        TCaptureOptions_FlyCapture2();

                        /** @name 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.
                        bool         open_by_guid;   //!< (Default=false) Set to true to force opening a camera by its GUID, in \a camera_guid
                        unsigned int camera_guid[4]; //!< GUID of the camera to open, only when open_by_guid==true.
                        /** @} */

                        /** @name Camera settings
                          * @{ */
                        std::string   videomode;  //!< (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.
                        std::string   framerate;  //!< (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.
                        std::string   grabmode;   //!< (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/)
                        unsigned int  numBuffers; //!< (Default=30) Number of images that can be stored in the buffer, if enabled with grabMode.
                        int           grabTimeout; //!< (Default=5000) Time in milliseconds that RetrieveBuffer() and WaitForBufferEvent() will wait for an image before timing out and returning.

                        bool         trigger_enabled;   //!< (default=false) Enable non-free-running mode, only capturing when a given input trigger signal is detected. Refer to PGR docs.
                        unsigned int trigger_polarity;  //!< (default=0) Refer to PGR docs.
                        unsigned int trigger_source;    //!< (default=0) Refer to PGR docs.
                        unsigned int trigger_mode;      //!< (default=0) Refer to PGR docs.

                        bool         strobe_enabled;    //!< (default=false) Enable the generation of a strobe signal in GPIO. Refer to PGR docs.
                        unsigned int strobe_source;     //!< (default=0)  Refer to PGR docs.
                        unsigned int strobe_polarity;   //!< (default=0)  Refer to PGR docs.
                        float        strobe_delay;      //!< (default=0.0) Delay in ms. Refer to PGR docs.
                        float        strobe_duration;   //!< (default=1.0) Pulse durationin ms. Refer to PGR docs.

                        bool         shutter_auto;      //!< (default=true)
                        float        shutter_time_ms;   //!< (default=4.0) Shutter time, if shutter_auto=false

                        bool    stereo_mode;    //!< (default=false) Obtain images as stereo pairs with Flycapture2
                        bool    get_rectified;  //!< (default=false) Rectify stereo images (needs Triclops installed)
                        unsigned int rect_width;        //!< (default=640) Width for output rectified images
                        unsigned int rect_height;       //!< (default=480) Height for output rectified images
                        /** @} */

                        /** Loads all the options from a config file.
                          * Expected format:
                          *
                          * \code
                          * [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.
                          *
                          *
                          * #shutter_auto     = false   // (default=true)
                          * #shutter_time_ms  = 4.0     // (default=4.0) Shutter time, if shutter_auto=false
                          *
                          * \endcode
                          * \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.
                          */
                        void  loadOptionsFrom(
                                const mrpt::utils::CConfigFileBase & configSource,
                                const std::string & sectionName,
                                const std::string & prefix = std::string() );

                };

                /** A wrapper for Point Gray Research (PGR) FlyCapture2 API for capturing images from Firewire, USB3 or GigaE cameras.
                  *  This class is only available when compiling MRPT with "MRPT_HAS_PGR_FLYCAPTURE2".
                  *
                  * \sa See the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
                  * \sa See example code in [samples]/captureVideoFlyCapture2 and [samples]/captureVideoFlyCapture2_stereo.
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP  CImageGrabber_FlyCapture2 : public mrpt::utils::CUncopiable
                {
                protected:
                        void *m_camera;      //!< Opaque pointer to the FlyCapture2::Camera object. NULL if no camera is grabbing.
                        void *m_camera_info; //!< Opaque pointer to the FlyCapture2::CameraInfo object. NULL if no camera is grabbing.
                        void *m_img_buffer;  //!< Opaque pointer to the FlyCapture2::Image, used as a temporary buffer and to avoid mem alloc/reallocs.
                        void *m_triclops;               //!< Opaque pointer to the TriclopsContext objetc. NULL if no context is active.

                        // Camera intrinsic calibration
                        float                   m_baseline;                                             //!< Camera baseline (only for stereo cameras)
                        float                   m_focalLength;                                  //!< Camera focal length
                        float                   m_centerCol, m_centerRow;               //!< Camera center coordinates

                        TCaptureOptions_FlyCapture2      m_options;                     //!< Camera options

                public:
                        /** Constructor that does not open a camera. \sa open() */
                        CImageGrabber_FlyCapture2();

                        /** Constructor: tries to open the camera with the given options. Raises an exception on error. \sa open() */
                        CImageGrabber_FlyCapture2( const TCaptureOptions_FlyCapture2 &options);

                        /** Destructor */
                        virtual ~CImageGrabber_FlyCapture2();

                        /** Returns the current settings of the camera */
                        const TCaptureOptions_FlyCapture2 & getCameraOptions() const { return m_options; }

                        /** Tries to open the camera with the given options, and starts capture. Raises an exception on error.
                          * \param[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.
                          * \sa close(), startCapture()
                          */
                        void open( const TCaptureOptions_FlyCapture2 &options, const bool startCapture = true );

                        /** Start the actual image capture of the camera. Must be called after open(), only when "startCapture" was set to false.
                          * \sa startSyncCapture
                          */
                        void startCapture();

                        /** Starts a synchronous capture of several cameras, which must have been already opened.
                          * NOTE: This method only works with Firewire cameras, not with USB3 or GigaE ones (as confirmed by PGR support service).
                          * \sa startCapture
                          */
                        static void startSyncCapture( int numCameras, const CImageGrabber_FlyCapture2 **cameras_array );

                        /** Stop capture. */
                        void stopCapture();

                        /** Stop capture and closes the opened camera, if any. Called automatically on object destruction. */
                        void close();

                        /** Returns the PGR FlyCapture2 library version */
                        static std::string getFC2version();

                        /** Grab mono image from the camera. This method blocks until the next frame is captured.
                         * \return false on any error. */
                        bool getObservation( mrpt::slam::CObservationImage &out_observation );

                        /** Grab stereo image from the camera. This method blocks until the next frame is captured.
                         * \return false on any error. */
                        bool getObservation( mrpt::slam::CObservationStereoImages &out_observation );

                        /** Returns if current configuration is stereo or not */
                        inline bool isStereo(){ return m_options.stereo_mode; }

                };      // End of class

        } // End of NS
} // End of NS


#endif