FlirTau2Camera C++ library

v2.0.3

Table of contents

• Overview
• Versions
• Library files
• FlirTau2Camera class description
  • FlirTau2Camera class declaration
  • getVersion method
  • openCamera method
  • initCamera method
  • closeCamera method
  • isCameraOpen method
  • isCameraConnected method
  • setParam method
  • getParam method
  • getParams method
  • executeCommand method
  • decodeAndExecuteCommand method
  • encodeSetParamCommand method of Camera class
  • encodeCommand method of Camera class
  • decodeCommand method of Camera class
• Data structures
  • CameraCommand enum
  • CameraParam enum
• CameraParams class description
  • CameraParams class declaration
  • Serialize camera params
  • Deserialize camera params
  • Read and write camera params to JSON file
• Build and connect to your project
• Simple example
• Test application

Overview

The FlirTau2Camera C++ library is a software controller for Flir Tau 2 camera. The FlirTau2Camera library inherits Camera interface. It depends on libraries: Camera interface library (provides interface and data structures to control cameras, source code included, Apache 2.0 license), Logger logging library (provides function to print log information in console and files, source code included, Apache 2.0 license), SerialPort library (provides functions to work with serial ports, source code included, Apache 2.0 license) and FlirTau2Parser (provides functions to encode / decode commands and responses from camera, source code included). The FlirTau2Camera library provides simple interface to be integrated in any C++ project. The library repository (folder) is provided by source code and doesn’t have third-party dependencies to be specially installed in OS. It built C++17 standard and compatible with Linux and Windows.

Versions

Table 1 - Library versions.

Version	Release date	What’s new
1.0.0	30.05.2023	- First version.
2.0.0	07.03.2024	- Interface updated. - Test application updated. - Documentation updated.
2.0.1	04.04.2024	- Code review and documentation update.
2.0.2	23.05.2024	- Submodules updated. - Documentation updated.
2.0.3	07.08.2024	- CMake structure updated.

Library files

The library supplied by source code only. The user would be given a set of files in the form of a CMake project (repository). The repository structure is shown below:

CMakeLists.txt ------------------ Main CMake file of the library.
3rdparty ------------------------ Folder with third-party libraries.
    CMakeLists.txt -------------- CMake file to include third-party libraries.
    Camera ---------------------- Folder of the Camera library source code.
    FlirTau2Parser -------------- Folder of the Flir tau 2 protocol parser library source code.
    Logger ---------------------- Folder of the Logger library source code.
    SerialPort ------------------ Folder of the SerialPort library source code.
src ----------------------------- Folder with source code of the library.
    CMakeLists.txt -------------- CMake file of the library.
    FlirTau2Camera.cpp ---------- C++ implementation file.
    FlirTau2Camera.h ------------ Header file which includes FlirTau2Camera class declaration.
    FlirTau2CameraVersion.h ----- Header file which includes version of the library.
    FlirTau2CameraVersion.h.in -- CMake service file to generate version file.
test ---------------------------- Folder with test application.
    CMakeLists.txt -------------- CMake file for test application.
    main.cpp -------------------- Source code file of test application.

FlirTau2Camera class description

FlirTau2Camera Class declaration

The FlirTau2Camera interface class declared in FlirTau2Camera.h file. The FlirTau2Camera class inherits Camera interfaces. Class declaration:

class FlirTau2Camera : public cr::camera::Camera
{
public:

  /// Get Camera class version.
  static std::string getVersion();

  /// Init camera controller.
  bool openCamera(std::string initString) override;

  /// Init camera controller by parameters class.
  bool initCamera(CameraParams& params) override;

  /// Close camera serial port.
  void closeCamera() override;

  /// Get camera open status.
  bool isCameraOpen() override;

  /// Get camera connection status.
  bool isCameraConnected() override;

  /// Set the camera controller param.
  bool setParam(CameraParam id, float value) override;

  /// Get the camera controller param.
  float getParam(CameraParam id) override;

  /// Get the camera controller params.
  void getParams(CameraParams& params) override;

  /// Execute camera controller action command.
  bool executeCommand(CameraCommand id) override;

  /// Decode and execute command.
  bool decodeAndExecuteCommand(uint8_t* data, int size) override;
};

getVersion method

The getVersion() returns string of FlirTau2Camera class version. Method declaration:

static std::string getVersion();

Method can be used without FlirTau2Camera class instance:

std::cout << "FlirTau2Camera class version: " << FlirTau2Camera::getVersion();

Console output:

FlirTau2Camera class version: 2.0.3

openCamera method

The openCamera(…) opens serial port to communicate with camera. Method declaration:

bool openCamera(std::string initString) override;

Parameter	Value
initString	Initialization string. Formats : -[serialPortName];[baudrate];[timeOut] -[serialPortName];[baudrate] (timeout in milliseconds - 10 by default) -[serialPortName] (baudrate is 57600 by default, timeout in milliseconds - 10 by default)

Returns: TRUE if the camera controller initialized or FALSE if not.

initCamera method

The initCamera(…) initializes controller and sets camera params (Camera interface). The method will call openCamera(…) method and after will set given camera params with setParam(…) method. Method declaration:

bool initCamera(CameraParams& params) override;

Parameter	Value
params	CameraParams class object. CameraParams class contains initString which used in openCamera(…) method.

Returns: TRUE if the controller initialized and camera parameters were set or FALSE if not.

closeCamera method

The closeCamera() method closes serial port. Method declaration:

void closeCamera() override;

isCameraOpen method

The isCameraOpen() method returns serial port open status. Open status shows if the controller initialized (serial port open) but doesn’t show if controller has communication with equipment. For example, if serial port is open (opens serial port file in OS) but equipment can be not active (no power). In this case open status just shows that the serial port is open. Method declaration:

bool isCameraOpen() override;

Returns: TRUE is the controller initialized (serial port open) or FALSE if not.

isCameraConnected method

The isCameraConnected() shows if the controller receives responses from equipment (camera). For example, if serial port open but equipment not active (no power). In this case method isCameraOpen(…) will return TRUE but isCameraConnected() method will return FALSE. The FlirTau2Camera library checks connection status every time when send command to camera. If no output commands to camera the method will return FALSE. Method declaration:

bool isCameraConnected() override;

Returns: TRUE if the controller has data exchange with equipment or FALSE if not.

setParam method

The setParam(…) method sets new camera controller parameter value. Method declaration:

bool setParam(CameraParam id, float value) override;

Parameter	Description
id	Camera controller parameter ID according to CameraParam enum.
value	Parameter value. Value depends on parameter ID.

Returns: TRUE is the parameter was set or FALSE if not.

getParam method

The getParam(…) method intended to obtain Camera parameter value. Method declaration:

float getParam(CameraParam id) override;

Parameter	Description
id	Camera controller parameter ID according according to CameraParam enum.

Returns: parameter value or -1 of the parameters not supported.

getParams method

The getParams(…) method intended to obtain Camera parameters structure. Method declaration:

void getParams(CameraParams& params) override;

Parameter	Description
params	Reference to CameraParams class object.

executeCommand method

The executeCommand(…) method intended to execute Camera action command. Method declaration:

bool executeCommand(CameraCommand id) override;

Parameter	Description
id	Camera controller command ID according to CameraCommand enum.

Returns: TRUE is the command was executed or FALSE if not.

decodeAndExecuteCommand method

The decodeAndExecuteCommand(…) method decodes and executes command on controller side. Method will decode commands which encoded by encodeCommand(…) and encodeSetParamCommand(…) methods of Camera interface class. If command decoded the method will call setParam(…) or executeCommand(…) methods for camera interfaces. This method is thread-safe. This means that the method can be safely called from any thread. Method declaration:

bool decodeAndExecuteCommand(uint8_t* data, int size) override;

Parameter	Description
data	Pointer to input command data.
size	Size of command. Must be 11 bytes for SET_PARAM and 7 bytes for COMMAND.

Returns: TRUE if command decoded (SET_PARAM or COMMAND) and executed (action command or set param command).

encodeSetParamCommand method of Camera class

encodeSetParamCommand(…) static method of Camera interface class encodes command to change any remote camera parameter value. To control a camera remotely, the developer has to design his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the Camera class contains static methods for encoding the control command. The Camera class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). encodeSetParamCommand(…) designed to encode SET_PARAM command. Method declaration:

static void encodeSetParamCommand(uint8_t* data, int& size, CameraParam id, float value);

Parameter	Description
data	Pointer to data buffer for encoded command. Must have size >= 11.
size	Size of encoded data. Will be 11 bytes.
id	Parameter ID according to CameraParam enum.
value	Parameter value.

SET_PARAM command format:

Byte	Value	Description
0	0x01	SET_PARAM command header value.
1	Major	Major version of Camera class.
2	Minor	Minor version of Camera class.
3	id	Parameter ID int32_t in Little-endian format.
4	id	Parameter ID int32_t in Little-endian format.
5	id	Parameter ID int32_t in Little-endian format.
6	id	Parameter ID int32_t in Little-endian format.
7	value	Parameter value float in Little-endian format.
8	value	Parameter value float in Little-endian format.
9	value	Parameter value float in Little-endian format.
10	value	Parameter value float in Little-endian format.

encodeSetParamCommand(…) is static and used without Camera class instance. This method used on client side (control system). Command encoding example:

// Buffer for encoded data.
uint8_t data[11];
// Size of encoded data.
int size = 0;
// Random parameter value.
float outValue = (float)(rand() % 20);
// Encode command.
Camera::encodeSetParamCommand(data, size, CameraParam::ROI_X0, outValue);

encodeCommand method of Camera class

encodeCommand(…) static method of Camera interface class encodes command for camera remote control. To control a camera remotely, the developer has to design his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the Camera class contains static methods for encoding the control command. The Camera class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). encodeCommand(…) designed to encode COMMAND command (action command). Method declaration:

static void encodeCommand(uint8_t* data, int& size, CameraCommand id);

Parameter	Description
data	Pointer to data buffer for encoded command. Must have size >= 7.
size	Size of encoded data. Will be 7 bytes.
id	Command ID according to CameraCommand enum.

COMMAND format:

Byte	Value	Description
0	0x00	COMMAND header value.
1	Major	Major version of Camera class.
2	Minor	Minor version of Camera class.
3	id	Command ID int32_t in Little-endian format.
4	id	Command ID int32_t in Little-endian format.
5	id	Command ID int32_t in Little-endian format.
6	id	Command ID int32_t in Little-endian format.

encodeCommand(…) is static and used without Camera class instance. This method used on client side (control system). Command encoding example:

// Buffer for encoded data.
uint8_t data[7];
// Size of encoded data.
int size = 0;
// Encode command.
Camera::encodeCommand(data, size, CameraCommand::NUC);

decodeCommand method of Camera class

decodeCommand(…) static method of Camera interface class decodes command on camera controller side. Method declaration:

static int decodeCommand(uint8_t* data, int size, CameraParam& paramId, CameraCommand& commandId, float& value);

Parameter	Description
data	Pointer to input command.
size	Size of command. Must be 11 bytes for SET_PARAM and 7 bytes for COMMAND.
paramId	Camera parameter ID according to CameraParam enum. After decoding SET_PARAM command the method will return parameter ID.
commandId	Camera command ID according to CameraCommand enum. After decoding COMMAND the method will return command ID.
value	Camera parameter value (after decoding SET_PARAM command).

Returns: 0 - in case decoding COMMAND, 1 - in case decoding SET_PARAM command or -1 in case errors.

Data structures

CameraCommand enum

Enum declaration:

enum class CameraCommand
{
    /// Restart camera controller.
    RESTART = 1,
    /// Do NUC.
    NUC,
    /// Apply settings.
    APPLY_PARAMS,
    /// Save params.
    SAVE_PARAMS,
    /// Menu on.
    MENU_ON,
    /// Menu off.
    MENU_OFF,
    /// Menu set.
    MENU_SET,
    /// Menu up.
    MENU_UP,
    /// Menu down.
    MENU_DOWN,
    /// Menu left.
    MENU_LEFT,
    /// Menu right.
    MENU_RIGHT,
    /// Freeze, Argument: time msec.
    FREEZE,
    /// Disable freeze.
    DEFREEZE
};

Table 2 - Camera commands description.

Command	Description
RESTART	Restart camera.
NUC	Nuc command.
APPLY_PARAMS	Not supported by FlirTau2Camera library.
SAVE_PARAMS	Not supported by FlirTau2Camera library.
MENU_ON	Not supported by FlirTau2Camera library.
MENU_OFF	Not supported by FlirTau2Camera library.
MENU_SET	Not supported by FlirTau2Camera library.
MENU_UP	Not supported by FlirTau2Camera library.
MENU_DOWN	Not supported by FlirTau2Camera library.
MENU_LEFT	Not supported by FlirTau2Camera library.
MENU_RIGHT	Not supported by FlirTau2Camera library.
FREEZE	Not supported by FlirTau2Camera library.
DEFREEZE	Not supported by FlirTau2Camera library.

CameraParam enum

Enum declaration:

enum class CameraParam
{
    /// Video frame width. Value from 0 to 16384.
    WIDTH = 1,
    /// Video frame height Value from 0 to 16384.
    HEIGHT,
    /// Display menu mode.
    DISPLAY_MODE,
    /// Video output type.
    VIDEO_OUTPUT,
    /// Logging mode.
    LOG_MODE,
    /// Exposure mode.
    EXPOSURE_MODE,
    /// Exposure time of the camera sensor.
    EXPOSURE_TIME,
    /// White balance mode.
    WHITE_BALANCE_MODE,
    /// White balance area.
    WHITE_BALANCE_AREA,
    /// White dynamic range mode.
    WIDE_DYNAMIC_RANGE_MODE,
    /// Image stabilization mode.
    STABILIZATION_MODE,
    /// ISO sensitivity.
    ISO_SENSITIVITY,
    /// Scene mode.
    SCENE_MODE,
    /// FPS.
    FPS,
    /// Brightness mode.
    BRIGHTNESS_MODE,
    /// Brightness. Value 0 - 100%.
    BRIGHTNESS,
    /// Contrast. Value 1 - 100%.
    CONTRAST,
    /// Gain mode.
    GAIN_MODE,
    /// Gain. Value 1 - 100%.
    GAIN,
    /// Sharpening mode.
    SHARPENING_MODE,
    /// Sharpening. Value 1 - 100%.
    SHARPENING,
    /// Palette.
    PALETTE,
    /// Analog gain control mode.
    AGC_MODE,
    /// Shutter mode.
    SHUTTER_MODE,
    /// Shutter position. 0 (full close) - 65535 (full open).
    SHUTTER_POSITION,
    /// Shutter speed. Value: 0 - 100%.
    SHUTTER_SPEED,
    /// Digital zoom mode.
    DIGITAL_ZOOM_MODE,
    /// Digital zoom. Value 1.0 (x1) - 20.0 (x20).
    DIGITAL_ZOOM,
    /// Exposure compensation mode.
    EXPOSURE_COMPENSATION_MODE,
    /// Exposure compensation position. 
    EXPOSURE_COMPENSATION_POSITION,
    /// Defog mode.
    DEFOG_MODE,
    /// Dehaze mode.
    DEHAZE_MODE,
    /// Noise reduction mode.
    NOISE_REDUCTION_MODE,
    /// Black and white filter mode.
    BLACK_WHITE_FILTER_MODE,
    /// Filter mode.
    FILTER_MODE,
    /// NUC mode for thermal cameras.
    NUC_MODE,
    /// Auto NUC interval for thermal cameras. 
    AUTO_NUC_INTERVAL_MSEC,
    /// Image flip mode.
    IMAGE_FLIP,
    /// DDE mode.
    DDE_MODE,
    /// DDE level.
    DDE_LEVEL,
    /// ROI top-left horizontal position, pixels.
    ROI_X0,
    /// ROI top-left vertical position, pixels.
    ROI_Y0,
    /// ROI bottom-right horizontal position, pixels.
    ROI_X1,
    /// ROI bottom-right vertical position, pixels.
    ROI_Y1,
    /// Camera temperature, degree.
    TEMPERATURE,
    /// ALC gate.
    ALC_GATE,
    /// Sensor sensitivity.
    SENSETIVITY,
    /// Changing mode (day / night).
    CHANGING_MODE,
    /// Changing level (day / night).
    CHANGING_LEVEL,
    /// Chroma level. Values: 0 - 100%.
    CHROMA_LEVEL,
    /// Details, enhancement. Values: 0 - 100%.
    DETAIL,
    /// Camera settings profile.
    PROFILE,
    /// Connection status (read only). Shows if we have respond from camera.
    /// Value: 0 - not connected, 2 - connected.
    IS_CONNECTED,
    /// Open status (read only):
    /// 1 - camera control port open, 0 - not open.
    IS_OPEN,
    /// Camera type.
    TYPE,
    /// Camera custom param.
    CUSTOM_1,
    /// Camera custom param.
    CUSTOM_2,
    /// Camera custom param.
    CUSTOM_3
};

Table 3 - Camera params description.

Parameter	Access	Description
WIDTH	read / write	Not supported by FlirTau2Camera library.
HEIGHT	read / write	Not supported by FlirTau2Camera library.
DISPLAY_MODE	read / write	Not supported by FlirTau2Camera library.
VIDEO_OUTPUT	read / write	Not supported by FlirTau2Camera library.
LOG_MODE	read / write	Logging mode. Values: 0 - Disable, 1 - Only file, 2 - Only terminal (console), 3 - File and terminal.
EXPOSURE_MODE	read / write	Not supported by FlirTau2Camera library.
EXPOSURE_TIME	read / write	Not supported by FlirTau2Camera library.
WHITE_BALANCE_MODE	read / write	Not supported by FlirTau2Camera library.
WHITE_BALANCE_AREA	read / write	Not supported by FlirTau2Camera library.
WHITE_DINAMIC_RANGE_MODE	read / write	Not supported by FlirTau2Camera library.
STABILIZATION_MODE	read / write	Not supported by FlirTau2Camera library.
ISO_SENSITIVITY	read / write	Not supported by FlirTau2Camera library.
SCENE_MODE	read / write	Not supported by FlirTau2Camera library.
FPS	read / write	Not supported by FlirTau2Camera library.
BRIGHTNESS_MODE	read / write	Not supported by FlirTau2Camera library.
BRIGHTNESS	read / write	Brightness value in percentage.
CONTRAST	read / write	Contrast value in percentage.
GAIN_MODE	read / write	Gain mode. Values: 0 - Manual . 1 - Auto. 2 - Low gain. 3 - High gain.
GAIN	read / write	Not supported by FlirTau2Camera library.
SHARPENING_MODE	read / write	Not supported by FlirTau2Camera library.
SHARPENING	read / write	Not supported by FlirTau2Camera library.
PALETTE	read / write	Palette value in range between 0 - 12.
AGC_MODE	read / write	AGC mode. Values: 0 - Manual. 1 - Linear. 2 - Once bright. 3 - Auto bright
SHUTTER_MODE	read / write	Not supported by FlirTau2Camera library.
SHUTTER_POSITION	read / write	Shutter position. FlirTau2 camera supports only open and closed shutter position. Value : 0 - closed, 65535 - open.
SHUTTER_SPEED	read / write	Not supported by FlirTau2Camera library.
DIGITAL_ZOOM_MODE	read / write	Not supported by FlirTau2Camera library.
DIGITAL_ZOOM	read only	Not supported by FlirTau2Camera library.
EXPOSURE_COMPENSATION_MODE	read only	Not supported by FlirTau2Camera library.
EXPOSURE_COMPENSATION_POSITION	read / write	Not supported by FlirTau2Camera library.
DEFOG_MODE	read / write	Not supported by FlirTau2Camera library.
DEHAZE_MODE	read / write	Not supported by FlirTau2Camera library.
NOISE_REDUCTION_MODE	read / write	Not supported by FlirTau2Camera library.
BLACK_WHITE_FILTER_MODE	read only	Not supported by FlirTau2Camera library.
FILTER_MODE	read / write	Not supported by FlirTau2Camera library.
NUC_MODE	read / write	NUC mode for camera. Values: 0 - Manual, 1 - Auto.
AUTO_NUC_INTERVAL	read / write	Auto NUC interval for thermal cameras. Value in milliseconds from 0 (Off) to 100000.
IMAGE_FLIP	read / write	Not supported by FlirTau2Camera library.
DDE_MODE	read / write	Not supported by FlirTau2Camera library.
DDE_LEVEL	read / write	DDE level between 0 - 255.
ROI_X0	read / write	Not supported by FlirTau2Camera library.
ROI_Y0	read / write	Not supported by FlirTau2Camera library.
ROI_X1	read / write	Not supported by FlirTau2Camera library.
ROI_Y1	read / write	Not supported by FlirTau2Camera library.
TEMPERATURE	read only	Not supported by FlirTau2Camera library.
ALC_GATE	read / write	Not supported by FlirTau2Camera library.
SENSITIVITY	read / write	Not supported by FlirTau2Camera library.
CHANGING_MODE	read / write	Not supported by FlirTau2Camera library.
CHANGING_LEVEL	read / write	Not supported by FlirTau2Camera library.
CHROMA_LEVEL	read / write	Not supported by FlirTau2Camera library.
DETAIL	read / write	Not supported by FlirTau2Camera library.
PROFILE	read / write	Not supported by FlirTau2Camera library.
IS_CONNECTED	read only	Connection status. Connection status shows if the controller has data exchange with equipment. For example, if serial port open but equipment can be not active (no power). In this case connection status shows that controller doesn’t have data exchange with equipment (method will return 0). It the controller has data exchange with equipment the method will return 1. If the controller not initialize the connection status always FALSE. The FlirTau2Camera library checks connection status every time when send command to camera. If no output commands to camera the method will return FALSE. Value: 0 - not connected. 1 - connected.
IS_OPEN	read only	Controller initialization status. Open status shows if the controller initialized or not but doesn’t show if controller has communication with equipment. For example, if serial port open but equipment can be not active (no power). In this case open status just shows that the controller has opened serial port. Values: 0 - not open (not initialized), 1 - open (initialized).
TYPE	read / write	Not supported by FlirTau2Camera library.
CUSTOM_1	read / write	Not supported by FlirTau2Camera library.
CUSTOM_2	read / write	Not supported by FlirTau2Camera library.
CUSTOM_3	read / write	Not supported by FlirTau2Camera library.

CameraParams class description

CameraParams class used for camera controller initialization or to get all actual params. Also CameraParams provide structure to write/read params from JSON files (JSON_READABLE macro) and provide methods to encode and decode params.

CameraParams Class declaration

CameraParams interface class declared in Camera.h file. Class declaration:

class CameraParams
{
public:
    /// Initialization string.
    std::string initString{"/dev/ttyUSB0;9600"};
    /// Video frame width. Value from 0 to 16384.
    int width{0};
    /// Video frame height Value from 0 to 16384.
    int height{0};
    /// Display menu mode. 
    int displayMode{0};
    /// Video output type.
    int videoOutput{0};
    /// Logging mode.
    int logMode{0};
    /// Exposure mode. 
    int exposureMode{1};
    /// Exposure time of the camera sensor.
    int exposureTime{0};
    /// White balance mode. 
    int whiteBalanceMode{1};
    /// White balance area.
    int whiteBalanceArea{0};
    /// White dynamic range mode.
    int wideDynamicRangeMode{0};
    /// Image stabilization mode.
    int stabilisationMode{0};
    /// ISO sensitivity.
    int isoSensetivity{0};
    /// Scene mode.
    int sceneMode{0};
    /// FPS.
    float fps{0.0f};
    /// Brightness mode.
    int brightnessMode{1};
    /// Brightness. Value 0 - 100%.
    int brightness{0};
    /// Contrast. Value 1 - 100%.
    int contrast{0};
    /// Gain mode.
    int gainMode{1};
    /// Gain. Value 1 - 100%.
    int gain{0};
    /// Sharpening mode.
    int sharpeningMode{0};
    /// Sharpening. Value 1 - 100%.
    int sharpening{0};
    /// Palette.
    int palette{0};
    /// Analog gain control mode.
    int agcMode{1};
    /// Shutter mode.
    int shutterMode{1};
    /// Shutter position. 0 (full close) - 65535 (full open).
    int shutterPos{0};
    /// Shutter speed. Value: 0 - 100%.
    int shutterSpeed{0};
    /// Digital zoom mode.
    int digitalZoomMode{0};
    /// Digital zoom. Value 1.0 (x1) - 20.0 (x20).
    float digitalZoom{1.0f};
    /// Exposure compensation mode.
    int exposureCompensationMode{0};
    /// Exposure compensation position.
    int exposureCompensationPosition{0};
    /// Defog mode. 
    int defogMode{0};
    /// Dehaze mode.
    int dehazeMode{0};
    /// Noise reduction mode.
    int noiseReductionMode{0};
    /// Black and white filter mode.
    int blackAndWhiteFilterMode{0};
    /// Filter mode.
    int filterMode{0};
    /// NUC mode for thermal cameras.
    int nucMode{0};
    /// Auto NUC interval for thermal cameras.
    int autoNucIntervalMsec{0};
    /// Image flip mode. 
    int imageFlip{0};
    /// DDE mode.
    int ddeMode{0};
    /// DDE level.
    float ddeLevel{0};
    /// ROI top-left horizontal position, pixels.
    int roiX0{0};
    /// ROI top-left vertical position, pixels.
    int roiY0{0};
    /// ROI bottom-right horizontal position, pixels.
    int roiX1{0};
    /// ROI bottom-right vertical position, pixels.
    int roiY1{0};
    /// Camera temperature, degree.
    float temperature{0.0f};
    /// ALC gate.
    int alcGate{0};
    /// Sensor sensitivity.
    float sensitivity{0};
    /// Changing mode (day / night).
    int changingMode{0};
    /// Changing level (day / night).
    float changingLevel{0.0f};
    /// Chroma level. Values: 0 - 100%.
    int chromaLevel{0};
    /// Details, enhancement. Values: 0 - 100%.
    int detail{0};
    /// Camera settings profile.
    int profile{0};
    /// Connection status (read only).
    bool isConnected{false};
    /// Open status (read only).
    bool isOpen{false};
    /// Camera type.
    int type{0};
    /// Camera custom param.
    float custom1{0.0f};
    /// Camera custom param.
    float custom2{0.0f};
    /// Camera custom param.
    float custom3{0.0f};

    JSON_READABLE(CameraParams, initString, width, height, displayMode,
                  videoOutput, logMode, exposureMode, exposureTime,
                  whiteBalanceMode, whiteBalanceArea, wideDynamicRangeMode,
                  stabilisationMode, isoSensetivity, sceneMode, fps,
                  brightnessMode, brightness, contrast, gainMode, gain,
                  sharpeningMode, sharpening, palette, agcMode, shutterMode,
                  shutterPos, shutterSpeed, digitalZoomMode, digitalZoom,
                  exposureCompensationMode, exposureCompensationPosition,
                  defogMode, dehazeMode, noiseReductionMode,
                  blackAndWhiteFilterMode, filterMode, nucMode,
                  autoNucIntervalMsec, imageFlip, ddeMode, ddeLevel,
                  roiX0, roiY0, roiX1, roiY1, alcGate, sensitivity,
                  changingMode, changingLevel, chromaLevel, detail,
                  profile, type, custom1, custom2, custom3)

    /// operator =
    CameraParams& operator= (const CameraParams& src);

    /// Encode params. The method doesn't encode initString.
    bool encode(uint8_t* data, int bufferSize, int& size,
                CameraParamsMask* mask = nullptr);

    /// Decode params. The method doesn't decode initString.
    bool decode(uint8_t* data, int dataSize);
};

Table 4 - CameraParams class fields description is equivalent to CameraParam enum description.

Field	type	Description
initString	string	Initialization string contains full serial port name, baudrate separated by “;”. Example: “/dev/ttyUSB0;9600”.
width	int	Not supported by FlirTau2Camera library.
height	int	Not supported by FlirTau2Camera library.
displayMode	int	Not supported by FlirTau2Camera library.
videoOutput	int	Not supported by FlirTau2Camera library.
logMode	int	Logging mode. Values: 0 - Disable 1 - Only file 2 - Only terminal (console) 3 - File and terminal
exposureMode	int	Not supported by FlirTau2Camera library.
exposureTime	int	Not supported by FlirTau2Camera library.
whiteBalanceMode	int	Not supported by FlirTau2Camera library.
whiteBalanceArea	int	Not supported by FlirTau2Camera library.
wideDynamicRangeMode	int	Not supported by FlirTau2Camera library.
stabilisationMode	int	Not supported by FlirTau2Camera library.
isoSensetivity	int	Not supported by FlirTau2Camera library.
sceneMode	int	Not supported by FlirTau2Camera library.
fps	float	Not supported by FlirTau2Camera library.
brightnessMode	int	Not supported by FlirTau2Camera library.
brightness	int	Brightness value in percentage.
contrast	int	Contrast value in percentage.
gainMode	int	Gain mode. Values: 0 - Manual . 1 - Auto. 2 - Low gain. 3 - High gain.
gain	int	Not supported by FlirTau2Camera library.
sharpeningMode	int	Not supported by FlirTau2Camera library.
sharpening	int	Not supported by FlirTau2Camera library.
palette	int	Palette value in range between 0 - 12.
agcMode	int	AGC mode. Values: 0 - Manual. 1 - Linear. 2 - Once bright. 3 - Auto bright
shutterMode	int	Not supported by FlirTau2Camera library.
shutterPos	int	Shutter position. FlirTau2 camera supports only open and closed shutter position. Value : 0 - closed, 65535 - open.
shutterSpeed	int	Not supported by FlirTau2Camera library.
digitalZoomMode	int	Not supported by FlirTau2Camera library.
digitalZoom	float	Not supported by FlirTau2Camera library.
exposureCompensationMode	int	Not supported by FlirTau2Camera library.
exposureCompensationPosition	int	Not supported by FlirTau2Camera library.
defogMode	int	Not supported by FlirTau2Camera library.
dehazeMode	int	Not supported by FlirTau2Camera library.
noiseReductionMode	int	Not supported by FlirTau2Camera library.
blackAndWhiteFilterMode	int	Not supported by FlirTau2Camera library.
filterMode	int	Not supported by FlirTau2Camera library.
nucMode	int	NUC mode for camera. Values: 0 - Manual, 1 - Auto.
autoNucIntervalMsec	int	Auto NUC interval for thermal cameras. Value in milliseconds from 0 (Off) to 100000.
imageFlip	int	Not supported by FlirTau2Camera library.
ddeMode	int	Not supported by FlirTau2Camera library.
ddeLevel	float	DDE level between 0 - 255.
roiX0	int	Not supported by FlirTau2Camera library.
roiY0	int	Not supported by FlirTau2Camera library.
roiX1	int	Not supported by FlirTau2Camera library.
roiY1	int	Not supported by FlirTau2Camera library.
temperature	float	Not supported by FlirTau2Camera library.
alcGate	int	Not supported by FlirTau2Camera library.
sensitivity	float	Not supported by FlirTau2Camera library.
changingMode	int	Not supported by FlirTau2Camera library.
changingLevel	float	Not supported by FlirTau2Camera library.
chromaLevel	int	Not supported by FlirTau2Camera library.
detail	int	Not supported by FlirTau2Camera library.
profile	int	Not supported by FlirTau2Camera library.
isConnected	bool	Connection status. Connection status shows if the controller has data exchange with equipment. For example, if serial port open but equipment can be not active (no power). In this case connection status shows that controller doesn’t have data exchange with equipment (methods will return 0). It the controller has data exchange with equipment the method will return 1. If the controller not initialize the connection status always FALSE. The FlirTau2Camera library checks connection status every time when send command to camera. If no output commands to camera the method will return FALSE. Value: 0 - not connected. 1 - connected.
isOpen	bool	Controller initialization status. Open status shows if the controller initialized or not but doesn’t show if controller has communication with equipment. For example, if serial port open but equipment can be not active (no power). In this case open status just shows that the controller has opened serial port. Values: 0 - not open (not initialized), 1 - open (initialized).
type	int	Not supported by FlirTau2Camera library.
custom1	float	Not supported by FlirTau2Camera library.
custom2	float	Not supported by FlirTau2Camera library.
custom3	float	Not supported by FlirTau2Camera library.

None: CameraParams class fields listed in above reflect params set/get by methods setParam(…) and getParam(…).

Serialize camera params

CameraParams class provides method encode(…) to serialize camera params. Serialization of camera params necessary in case when you have to send camera params via communication channels. Method doesn’t encode initString field. Method provides options to exclude particular parameters from serialization. To do this method inserts binary mask (8 bytes) where each bit represents particular parameter and decode(…) method recognizes it. Method declaration:

bool encode(uint8_t* data, int bufferSize, int& size, CameraParamsMask* mask = nullptr);

Parameter	Value
data	Pointer to data buffer. Buffer size must be >= 237 bytes.
bufferSize	Data buffer size. Buffer size must be >= 237 bytes.
size	Size of encoded data.
mask	Parameters mask - pointer to CameraParamsMask structure. CameraParamsMask (declared in Camera.h file) determines flags for each field (parameter) declared in CameraParams class. If the user wants to exclude any parameters from serialization, he can put a pointer to the mask. If the user wants to exclude a particular parameter from serialization, he should set the corresponding flag in the CameraParamsMask structure.

Returns: TRUE if params encoded (serialized) or FALSE if not.

CameraParamsMask structure declaration:

typedef struct CameraParamsMask
{
    bool width{true};
    bool height{true};
    bool displayMode{true};
    bool videoOutput{true};
    bool logMode{true};
    bool exposureMode{true};
    bool exposureTime{true};
    bool whiteBalanceMode{true};
    bool whiteBalanceArea{true};
    bool wideDynamicRangeMode{true};
    bool stabilisationMode{true};
    bool isoSensetivity{true};
    bool sceneMode{true};
    bool fps{true};
    bool brightnessMode{true};
    bool brightness{true};
    bool contrast{true};
    bool gainMode{true};
    bool gain{true};
    bool sharpeningMode{true};
    bool sharpening{true};
    bool palette{true};
    bool agcMode{true};
    bool shutterMode{true};
    bool shutterPos{true};
    bool shutterSpeed{true};
    bool digitalZoomMode{true};
    bool digitalZoom{true};
    bool exposureCompensationMode{true};
    bool exposureCompensationPosition{true};
    bool defogMode{true};
    bool dehazeMode{true};
    bool noiseReductionMode{true};
    bool blackAndWhiteFilterMode{true};
    bool filterMode{true};
    bool nucMode{true};
    bool autoNucIntervalMsec{true};
    bool imageFlip{true};
    bool ddeMode{true};
    bool ddeLevel{true};
    bool roiX0{true};
    bool roiY0{true};
    bool roiX1{true};
    bool roiY1{true};
    bool temperature{true};
    bool alcGate{true};
    bool sensitivity{true};
    bool changingMode{true};
    bool changingLevel{true};
    bool chromaLevel{true};
    bool detail{true};
    bool profile{true};
    bool isConnected{true};
    bool isOpen{true};
    bool type{true};
    bool custom1{true};
    bool custom2{true};
    bool custom3{true};
} CameraParamsMask;

Example without parameters mask:

// Encode data.
CameraParams in;
in.profile = 10;
uint8_t data[1024];
int size = 0;
in.encode(data, 1024, size);
cout << "Encoded data size: " << size << " bytes" << endl;

Example with parameters mask:

// Prepare params.
CameraParams in;
in.profile = 3;

// Prepare mask.
CameraParamsMask mask;
mask.profile = false; // Exclude profile. Others by default.

// Encode.
uint8_t data[1024];
int size = 0;
in.encode(data, 1024, size, &mask);
cout << "Encoded data size: " << size << " bytes" << endl;

Deserialize camera params

CameraParams class provides method decode(…) to deserialize camera params (fields of CameraParams class, see Table 4). Deserialization of camera params necessary in case when you need to receive params via communication channels. Method automatically recognizes which parameters were serialized by encode(…) method. Method doesn’t decode initString field. Method declaration:

bool decode(uint8_t* data, int dataSize);

Parameter	Value
data	Pointer to data buffer with serialized camera params.
dataSize	Size of command data.

Returns: TRUE if params decoded (deserialized) or FALSE if not.

Example:

// Encode data.
CameraParams in;
uint8_t data[1024];
int size = 0;
in.encode(data, 1024, size);
cout << "Encoded data size: " << size << " bytes" << endl;

// Decode data.
CameraParams out;
if (!out.decode(data, size))
    cout << "Can't decode data" << endl;

Read and write camera params to JSON file

Camera library depends on ConfigReader library which provides method to read params from JSON file and to write params to JSON file. Example of writing and reading params to JSON file:

// Write params to file.
cr::utils::ConfigReader inConfig;
inConfig.set(in, "cameraParams");
inConfig.writeToFile("TestCameraParams.json");

// Read params from file.
cr::utils::ConfigReader outConfig;
if(!outConfig.readFromFile("TestCameraParams.json"))
{
    cout << "Can't open config file" << endl;
    return false;
}

TestCameraParams.json will look like:

{
    "cameraParams": {
        "agcMode": 252,
        "alcGate": 125,
        "autoNucIntervalMsec": 47,
        "blackAndWhiteFilterMode": 68,
        "brightness": 67,
        "brightnessMode": 206,
        "changingLevel": 84.0,
        "changingMode": 239,
        "chromeLevel": 137,
        "contrast": 65,
        "custom1": 216.0,
        "custom2": 32.0,
        "custom3": 125.0,
        "ddeLevel": 25,
        "ddeMode": 221,
        "defogMode": 155,
        "dehazeMode": 239,
        "detail": 128,
        "digitalZoom": 47.0,
        "digitalZoomMode": 157,
        "displayMode": 2,
        "exposureCompensationMode": 213,
        "exposureCompensationPosition": 183,
        "exposureMode": 192,
        "exposureTime": 16,
        "filterMode": 251,
        "fps": 19.0,
        "gain": 111,
        "gainMode": 130,
        "height": 219,
        "imageFlip": 211,
        "initString": "dfhglsjirhuhjfb",
        "isoSensetivity": 32,
        "logMode": 252,
        "noiseReductionMode": 79,
        "nucMode": 228,
        "palette": 115,
        "profile": 108,
        "roiX0": 93,
        "roiX1": 135,
        "roiY0": 98,
        "roiY1": 206,
        "sceneMode": 195,
        "sensitivity": 70.0,
        "sharpening": 196,
        "sharpeningMode": 49,
        "shutterMode": 101,
        "shutterPos": 157,
        "shutterSpeed": 117,
        "stabilisationMode": 170,
        "type": 55,
        "videoOutput": 18,
        "whiteBalanceArea": 236,
        "whiteBalanceMode": 30,
        "wideDynamicRangeMode": 21,
        "width": 150
    }
}

Build and connect to your project

Typical commands to build FlirTau2Camera library:

cd FlirTau2Camera
mkdir build
cd build
cmake ..
make

If you want connect FlirTau2Camera library to your CMake project as source code you can make follow. For example, if your repository has structure:

CMakeLists.txt
src
    CMakeList.txt
    yourLib.h
    yourLib.cpp

Create folder 3rdparty and copy folder of FlirTau2Camera repository there. New structure of your repository:

CMakeLists.txt
src
    CMakeList.txt
    yourLib.h
    yourLib.cpp
3rdparty
    FlirTau2Camera

Create CMakeLists.txt file in 3rdparty folder. CMakeLists.txt should contain:

cmake_minimum_required(VERSION 3.13)

################################################################################
## 3RD-PARTY
## dependencies for the project
################################################################################
project(3rdparty LANGUAGES CXX)

################################################################################
## SETTINGS
## basic 3rd-party settings before use
################################################################################
# To inherit the top-level architecture when the project is used as a submodule.
SET(PARENT ${PARENT}_YOUR_PROJECT_3RDPARTY)
# Disable self-overwriting of parameters inside included subdirectories.
SET(${PARENT}_SUBMODULE_CACHE_OVERWRITE OFF CACHE BOOL "" FORCE)

################################################################################
## CONFIGURATION
## 3rd-party submodules configuration
################################################################################
SET(${PARENT}_SUBMODULE_FLIR_TAU2_CAMERA                ON  CACHE BOOL "" FORCE)
if (${PARENT}_SUBMODULE_FLIR_TAU2_CAMERA)
    SET(${PARENT}_FLIR_TAU2_CAMERA                      ON  CACHE BOOL "" FORCE)
    SET(${PARENT}_FLIR_TAU2_CAMERA_TEST                 OFF CACHE BOOL "" FORCE)
endif()

################################################################################
## INCLUDING SUBDIRECTORIES
## Adding subdirectories according to the 3rd-party configuration
################################################################################
if (${PARENT}_SUBMODULE_FLIR_TAU2_CAMERA)
    add_subdirectory(FlirTau2Camera)
endif()

File 3rdparty/CMakeLists.txt adds folder FlirTau2Camera to your project and excludes test application from compiling (by default test application is excluded from compiling if FlirTau2Camera is included as sub-repository). The new structure of your repository:

CMakeLists.txt
src
    CMakeList.txt
    yourLib.h
    yourLib.cpp
3rdparty
    CMakeLists.txt
    FlirTau2Camera

Next you need include folder 3rdparty in main CMakeLists.txt file of your repository. Add string at the end of your main CMakeLists.txt:

add_subdirectory(3rdparty)

Next you have to include Lens library in your src/CMakeLists.txt file:

target_link_libraries(${PROJECT_NAME} FlirTau2Camera)

Done!

Simple example

Simple example is application which initializes controller and provide few options to user to control camera.

#include <iostream>
#include "FlirTau2Camera.h"

int main(void)
{
    // Init camera controller.
    cr::camera::FlirTau2Camera controller;
    if (!controller.openCamera("/dev/ttyUSB0;57600"))
        return -1;

    while (true)
    {
        // Main dialog.
        int option = -1;
        std::cout << "Options (1: Brightness+1, 2: Brightness-1 " << std::endl;
        std::cin >> option;

        // Get all camera params.
        cr::camera::CameraParams cameraParams;
        controller.getParams(cameraParams);

        switch (option)
        {
        case 1:
            controller.setParam(cr::camera::CameraParam::BRIGHTNESS,
            cameraParams.brightness + 1);
            break;
        case 2:
            controller.setParam(cr::camera::CameraParam::BRIGHTNESS,
            cameraParams.brightness - 1);
            break;
        default:
            break;
        }
    }
    return 1;
}

Test application

FlirTau2Camera/test folder contains test application which demonstrates how to use FlirTau2Camera library. Test application allows to connect to camera and then set and get camera params. Test application can be used to test camera controller and to set/get camera params.

Test application will show introduction message and will ask to enter camera port name and baudrate. After that test application will connect to camera and will show main menu. Main menu allows to set and get camera params and execute commands.

Test application output will look like:

================================================
FlirTau2Camera tester v2.0.3
================================================

Enter serial port name: /dev/serial/by-id/usb-FTDI_USB-RS232_Cable_Tau_2-if00-port0

Enter serial port baudrate: 57600

Choose option:
1 - Set camera param
2 - Get camera param
3 - Execute camera command
-1 - Exit