Galaxis Codebase: AlviumAsyncCamera Class Reference

#include <AsyncCamera.hpp>

Collaboration diagram for AlviumAsyncCamera:

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Public Member Functions
	AlviumAsyncCamera ()

	~AlviumAsyncCamera ()

bool	start_grabbing_detached ()

void	stop_grabbing_detached ()

std::shared_ptr< sensor_msgs::msg::Image >	pop_image (bool blocking)

Private Attributes
CameraFrameObserver *	m_frameObserver

std::atomic< bool >	m_runGrabbing

VimbaSystem &	m_vimbaSystem

AVT::VmbAPI::CameraPtr	m_camera

Detailed Description

Definition at line 43 of file AsyncCamera.hpp.

Constructor & Destructor Documentation

◆ AlviumAsyncCamera()

AlviumAsyncCamera::AlviumAsyncCamera ( )

Definition at line 116 of file AsyncCamera.cpp.

                                      : m_vimbaSystem(VimbaSystem::GetInstance()) {
   m_runGrabbing = false;
  
   if(VmbErrorSuccess != m_vimbaSystem.Startup()) {
     log_warning("[CAMERA] [ALVIUM] Vimba System failed to startup!");
   }
 }

References galaxis::utils::log_warning(), m_runGrabbing, and m_vimbaSystem.

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◆ ~AlviumAsyncCamera()

AlviumAsyncCamera::~AlviumAsyncCamera ( )

Definition at line 124 of file AsyncCamera.cpp.

                                       {
   stop_grabbing_detached();
   m_vimbaSystem.Shutdown();
 }

References m_vimbaSystem, and stop_grabbing_detached().

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Member Function Documentation

◆ pop_image()

std::shared_ptr< sensor_msgs::msg::Image > AlviumAsyncCamera::pop_image ( bool blocking )

Definition at line 137 of file AsyncCamera.cpp.

                                                                              {
   if(m_frameObserver != nullptr) {
     return m_frameObserver->PopLastImage(blocking);
   }
   else {
     log_warning("[CAMERA] [ALVIUM] Frame Observer not initialized!");
     return nullptr;
   }
 }

References galaxis::utils::log_warning(), m_frameObserver, and CameraFrameObserver::PopLastImage().

Referenced by VCINodeAsync::camera_publish_loop().

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◆ start_grabbing_detached()

bool AlviumAsyncCamera::start_grabbing_detached ( )

Definition at line 147 of file AsyncCamera.cpp.

                                                 {
  
   AVT::VmbAPI::CameraPtrVector cameraPtrVec;
   // Get all known cameras
   if ( VmbErrorSuccess != m_vimbaSystem.GetCameras( cameraPtrVec )){
     log_warning("[CAMERA] [ALVIUM] Failed to get cameras!");
     return false;
   }
  
   if(cameraPtrVec.size() < 1) {
     log_warning("[CAMERA] [ALVIUM] No camera found!");
     return false;
   }
  
   std::string cameraIdString;
   if(VmbErrorSuccess != cameraPtrVec[0]->GetID(cameraIdString)) {
     log_warning("[CAMERA] [ALVIUM] Failed to get the camera ID string.");
     return false;
   }
  
   // open camera
   if(VmbErrorSuccess != m_vimbaSystem.OpenCameraByID(cameraIdString.c_str(), VmbAccessModeFull, m_camera)) {
     log_warning("[CAMERA] [ALVIUM] Failed to open the camera.");
     return false;
   }
  
   // load settings
   if(VmbErrorSuccess != m_camera->LoadCameraSettings("AlviumCameraVimbaSettings.xml")) {
     log_warning("[CAMERA] [ALVIUM] Failed to load camera settings.");
     return false;
   }
  
   // // set to rgb8
   // AVT::VmbAPI::FeaturePtr formatFeature;
   // if(VmbErrorSuccess != m_camera->GetFeatureByName( "PixelFormat", formatFeature )) {
   //   log_warning("[CAMERA] [ALVIUM] Failed to get the pixel format feature.");
   // }
  
   // if(VmbErrorSuccess != formatFeature->SetValue(VmbPixelFormatRgb8)) {
   //   log_warning("[CAMERA] [ALVIUM] Failed to get the pixel format feature.");
   // }
  
   // // prepare for image transformation
   // if( VmbErrorSuccess != SetIntFeatureValueModulo2( m_camera, "Width" ) ){
   //   log_warning("[CAMERA] [ALVIUM] Failed to set int feature.");
   // }
   // if( VmbErrorSuccess != SetIntFeatureValueModulo2( m_camera, "Height" ) ){
   //   log_warning("[CAMERA] [ALVIUM] Failed to set int feature.");
   // }
  
   // create frame observer (This will be wrapped in a shared_ptr so we don't delete it)
   m_frameObserver = new CameraFrameObserver( m_camera );
  
   // start streaming
   if(VmbErrorSuccess != m_camera->StartContinuousImageAcquisition( 100/*number_of_frames*/, IFrameObserverPtr( m_frameObserver ))) {
     log_warning("[CAMERA] [ALVIUM] Failed to set start continuous image acquision.");
     return false;
   }
  
   this->m_runGrabbing = true;
   return true;
 }

References galaxis::utils::log_warning(), m_camera, m_frameObserver, m_runGrabbing, and m_vimbaSystem.

Referenced by VCINodeAsync::VCINodeAsync().

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◆ stop_grabbing_detached()

void AlviumAsyncCamera::stop_grabbing_detached ( )

Definition at line 129 of file AsyncCamera.cpp.

                                                {
   if(this->m_runGrabbing) {
     m_camera->StopContinuousImageAcquisition();
     delete m_frameObserver;
     this->m_runGrabbing = false;
   }
 }