Triclops SDK
4.0.3.0
Enumerations | Functions
Point Grey's FlyCapture 2 SDK interfacing functions

Enumerations

enum  Fc2Triclops::ErrorType {
  Fc2Triclops::ERRORTYPE_OK, Fc2Triclops::ERRORTYPE_CONFIG_READ_FAILED, Fc2Triclops::ERRORTYPE_NO_CONFIG_FILE, Fc2Triclops::ERRORTYPE_NO_CAMERA,
  Fc2Triclops::ERRORTYPE_CORRUPT_CONFIG_FILE, Fc2Triclops::ERRORTYPE_FAILED_OUTPUT_ALLOCATION, Fc2Triclops::ERRORTYPE_FAILED_CONVERSION, Fc2Triclops::ERRORTYPE_INVALID_INPUT,
  Fc2Triclops::ERRORTYPE_INVALID_OUTPUT, Fc2Triclops::ERRORTYPE_NO_FMT7_SUPPORT, Fc2Triclops::ERRORTYPE_INVALID_FMT7, Fc2Triclops::ERRORTYPE_NO_CORRECT_CAMERAMODE
}
 FlyCapture 2 interfacing error codes. More...
 
enum  Fc2Triclops::StereoCameraMode { Fc2Triclops::TWO_CAMERA = 1, Fc2Triclops::TWO_CAMERA_NARROW, Fc2Triclops::TWO_CAMERA_WIDE }
 Point Grey's stereo cameras operating modes. More...
 

Functions

ErrorType Fc2Triclops::getContextFromCamera (unsigned long cameraSerialNumber, TriclopsContext *outputContext)
 Generate a context from a connected camera. More...
 
int Fc2Triclops::handleFc2Error (FlyCapture2::Error const &fc2Error)
 Handles FlyCapture 2 errors. More...
 
int Fc2Triclops::handleFc2TriclopsError (Fc2Triclops::ErrorType const &error, const char *pCallNameStr)
 Handles FlyCapture2Bridge errors. More...
 
ErrorType Fc2Triclops::isBB2 (const FlyCapture2::Camera &cam, bool &flag)
 Checks if a camera is a dual sensor Bumblebee camera. More...
 
ErrorType Fc2Triclops::isBBXB3 (const FlyCapture2::Camera &cam, bool &flag)
 Checks if a camera is a triple sensor Bumblebee camera. More...
 
ErrorType Fc2Triclops::packThreeSideBySideRgbImage (const FlyCapture2::Image &imageRgbRight, const FlyCapture2::Image &imageRgbMiddle, const FlyCapture2::Image &imageRgbLeft, FlyCapture2::Image &packedRgbImage)
 Generates a side-by-side image from a stereo image triplet. More...
 
ErrorType Fc2Triclops::packTwoSideBySideRgbImage (const FlyCapture2::Image &imageRgbRight, const FlyCapture2::Image &imageRgbLeft, FlyCapture2::Image &packedRgbImage)
 Generates a side-by-side image from a left and right image pair. More...
 
ErrorType Fc2Triclops::setStereoMode (FlyCapture2::Camera &cam, StereoCameraMode &mode)
 Sets a new stereo mode for a connected camera. More...
 
ErrorType Fc2Triclops::unpackUnprocessedRawOrMono16Image (const FlyCapture2::Image &unprocessedImage, bool isLittleEndian, FlyCapture2::Image &unprocessedImageRight, FlyCapture2::Image &unprocessedImageLeft)
 Unpacks a raw, interleaved, stereo image into right and left raw images. More...
 
ErrorType Fc2Triclops::unpackUnprocessedRgbImage (const FlyCapture2::Image &unprocessedImage, FlyCapture2::Image &unprocessedImageRight, FlyCapture2::Image &unprocessedImageMiddle, FlyCapture2::Image &unprocessedImageLeft)
 Unpacks a raw triple stereo image into right, left and middle raw images. More...
 

Detailed Description

This group contains interfacing functions to manage side-by-side images retrieved from Point Grey cameras or to directly control such cameras.

Enumeration Type Documentation

FlyCapture 2 interfacing error codes.

These errors are just a conversion of possible FlyCapture 2 errors.

Enumerator
ERRORTYPE_OK 

No errors encountered

ERRORTYPE_CONFIG_READ_FAILED 

Error while reading a camera configuration

ERRORTYPE_NO_CONFIG_FILE 

Empty or non-existant configuration file

ERRORTYPE_NO_CAMERA 

Camera not connected

ERRORTYPE_CORRUPT_CONFIG_FILE 

Corrupted configuration file

ERRORTYPE_FAILED_OUTPUT_ALLOCATION 

Memory allocation failed

ERRORTYPE_FAILED_CONVERSION 

Pixel format conversion failed

ERRORTYPE_INVALID_INPUT 

One or more function parameters are invalid

ERRORTYPE_INVALID_OUTPUT 

One or more output values are invalid due to failed operations

ERRORTYPE_NO_FMT7_SUPPORT 

Format7 is not supported by the device

ERRORTYPE_INVALID_FMT7 

Invalid Format7 request

ERRORTYPE_NO_CORRECT_CAMERAMODE 

Invalid camera mode requested

Point Grey's stereo cameras operating modes.

Stereo cameras usually provide a dual image stream, interleaving the data from the right camera and the left camera (i.e. RLRLRL...), from the point of view of the camera, using Mono16 format for mono sensors and Raw16 for color cameras.

Enumerator
TWO_CAMERA 

Dual stereo mode. When used with a triple-sensor stereo camera (e.g. BBXB3) it will be converted to TWO_CAMERA_NARROW

TWO_CAMERA_NARROW 

Narrow (i.e. right and middle sensor) dual stereo mode

TWO_CAMERA_WIDE 

Wide (i.e. right and left sensor) dual stereo mode

Function Documentation

ErrorType Fc2Triclops::getContextFromCamera ( unsigned long  cameraSerialNumber,
TriclopsContext outputContext 
)

Generate a context from a connected camera.

Parameters
cameraSerialNumberThe serial number of the connected camera
outputContextThe context to be filled
Returns
An error code representing the outcome of the function
Return values
ERRORTYPE_OKThe function completed successfully
ERRORTYPE_NO_CAMERAThe serial number provided refers to a camera that is not currently connected
ERRORTYPE_CONFIG_READ_FAILEDThe retrieval of the configuration failed
ERRORTYPE_NO_CONFIG_FILEThe retrieved camera configuration is empty
ERRORTYPE_CORRUPT_CONFIG_FILEThe retrieved camera configuration is corrupt
See also
triclopsGetDefaultContextFromFile()
triclopsGetDefaultContextFromMemory()
int Fc2Triclops::handleFc2Error ( FlyCapture2::Error const &  fc2Error)

Handles FlyCapture 2 errors.

This function handles errors generated by FlyCapture 2 objects (e.g. camera, image ), while printing a formatted log trace.

Parameters
fc2ErrorThe error to handle
Returns
A FlyCapture2::ErrorType enumerator
See also
handleFc2TriclopsError()
int Fc2Triclops::handleFc2TriclopsError ( Fc2Triclops::ErrorType const &  error,
const char *  pCallNameStr 
)

Handles FlyCapture2Bridge errors.

This function handles errors generated by FlyCapture2Bridge functions, while printing a formatted log trace.

Parameters
errorThe error to handle
pCallNameStrA string to add to the formatted log (e.g. the caller's name)
Returns
(int)error + 1000
See also
handleFc2TriclopsError()
ErrorType Fc2Triclops::isBB2 ( const FlyCapture2::Camera &  cam,
bool &  flag 
)

Checks if a camera is a dual sensor Bumblebee camera.

Parameters
camThe camera to check
flagWhether the provided camera is a dual sensor camera or not
Returns
An error code representing the outcome of the function
Return values
ERRORTYPE_OKThe function completed successfully
ERRORTYPE_CONFIG_READ_FAILEDThe retrieval of the configuration failed
See also
isBBX3()
ErrorType Fc2Triclops::isBBXB3 ( const FlyCapture2::Camera &  cam,
bool &  flag 
)

Checks if a camera is a triple sensor Bumblebee camera.

Parameters
camThe camera to check
flagWhether the provided camera is a riple sensor camera or not
Returns
An error code representing the outcome of the function
Return values
ERRORTYPE_OKThe function completed successfully
ERRORTYPE_CONFIG_READ_FAILEDThe retrieval of the configuration failed
See also
isBB2()
ErrorType Fc2Triclops::packThreeSideBySideRgbImage ( const FlyCapture2::Image &  imageRgbRight,
const FlyCapture2::Image &  imageRgbMiddle,
const FlyCapture2::Image &  imageRgbLeft,
FlyCapture2::Image &  packedRgbImage 
)

Generates a side-by-side image from a stereo image triplet.

Parameters
imageRgbRightThe right image
imageRgbMiddleThe middle image
imageRgbLeftThe left image
packedRgbImageThe resulting side-by-side image
Returns
An error code representing the outcome of the function
Return values
ERRORTYPE_OKThe function completed successfully
ERRORTYPE_FAILED_CONVERSIONThe conversion failed
ERRORTYPE_INVALID_INPUTOne or more input parameters are invalid
ERRORTYPE_INVALID_OUTPUTThe function generated an invalid output
See also
packTwoSideBySideRgbImage()
ErrorType Fc2Triclops::packTwoSideBySideRgbImage ( const FlyCapture2::Image &  imageRgbRight,
const FlyCapture2::Image &  imageRgbLeft,
FlyCapture2::Image &  packedRgbImage 
)

Generates a side-by-side image from a left and right image pair.

Parameters
imageRgbRightThe right image
imageRgbLeftThe left image
packedRgbImageThe resulting side-by-side image
Returns
An error code representing the outcome of the function
Return values
ERRORTYPE_OKThe function completed successfully
ERRORTYPE_FAILED_CONVERSIONThe conversion failed
ERRORTYPE_INVALID_INPUTOne or more input parameters are invalid
ERRORTYPE_INVALID_OUTPUTThe function generated an invalid output
See also
packThreeSideBySideRgbImage()
ErrorType Fc2Triclops::setStereoMode ( FlyCapture2::Camera &  cam,
StereoCameraMode mode 
)

Sets a new stereo mode for a connected camera.

Parameters
camThe camera for which to set the new stereo mode
modeThe stereo mode to set
Returns
An error code representing the outcome of the function
Return values
ERRORTYPE_OKThe function completed successfully
ERRORTYPE_CONFIG_READ_FAILEDThe retrieval of the configuration failed
ERRORTYPE_NO_FMT7_SUPPORTFormat7 is not supported
ERRORTYPE_INVALID_FMT7Format7 configuration is invalid
ERRORTYPE_NO_CORRECT_CAMERAMODEThe chosen stereo mode value is not correct for the camera provided
ErrorType Fc2Triclops::unpackUnprocessedRawOrMono16Image ( const FlyCapture2::Image &  unprocessedImage,
bool  isLittleEndian,
FlyCapture2::Image &  unprocessedImageRight,
FlyCapture2::Image &  unprocessedImageLeft 
)

Unpacks a raw, interleaved, stereo image into right and left raw images.

Parameters
unprocessedImageThe interleaved raw image to unpack
isLittleEndianWhether the image is encoded in little or big endian format.
unprocessedImageRightThe unpacked right image
unprocessedImageLeftThe unpacked left image
Returns
An error code representing the outcome of the function
Return values
ERRORTYPE_OKThe function completed successfully
ERRORTYPE_FAILED_CONVERSIONThe conversion failed
ERRORTYPE_INVALID_INPUTOne or more input parameters are invalid
ERRORTYPE_INVALID_OUTPUTThe function generated an invalid output
See also
unpackUnprocessedRgbImage()
ErrorType Fc2Triclops::unpackUnprocessedRgbImage ( const FlyCapture2::Image &  unprocessedImage,
FlyCapture2::Image &  unprocessedImageRight,
FlyCapture2::Image &  unprocessedImageMiddle,
FlyCapture2::Image &  unprocessedImageLeft 
)

Unpacks a raw triple stereo image into right, left and middle raw images.

This function unpacks triple stereo images that have been packed as the color channels of an RGB image. The triple stereo mode can be enabled on a connected camera using setStereoMode() to set THREE_CAMERA stereo mode.

Parameters
unprocessedImageThe packed raw image to unpack
unprocessedImageRightThe unpacked right image
unprocessedImageMiddleThe unpacked middle image
unprocessedImageLeftThe unpacked left image
Returns
An error code representing the outcome of the function
Return values
ERRORTYPE_OKThe function completed successfully
ERRORTYPE_FAILED_CONVERSIONThe conversion failed
ERRORTYPE_INVALID_INPUTOne or more input parameters are invalid
ERRORTYPE_INVALID_OUTPUTThe function generated an invalid output
See also
unpackUnprocessedRawOrMono16Image()
setStereoMode()
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