I3Camera C++ lib. Video capture and software controller for THERMAL EXPERT cameras.

class I3Camera : public VSource, public cr::camera::Camera 
{
public:
    /// Get version of the library.
    static std::string getVersion();

    /// Detect available cameras.
    static std::vector<std::string> detectAvailableCameras();

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

    // #######################################
    // VIDEO SOURCE INTERFACE
    // #######################################

    /// Open video source by initialization string.
    bool openVSource(std::string &initString) override;

    /// Init video source by parameters structure.
    bool initVSource(VSourceParams &params) override;

    /// Check if video source is open.
    bool isVSourceOpen() override;

    /// Close video source.
    void closeVSource() override;

    /// Get video source frame.
    bool getFrame(Frame &frame, int32_t timeoutMsec = 0) override;

    /// Set video source parameter.
    bool setParam(VSourceParam id, float value) override;

    /// Get video source parameter.
    float getParam(VSourceParam id) override;

    /// Get video source params.
    void getParams(VSourceParams &params) override;

    /// Execute video source command.
    bool executeCommand(VSourceCommand id) override;

    // #######################################
    // CAMERA CONTROL INTERFACE
    // #######################################

    /// Open camera controller by initialization string.
    bool openCamera(std::string initString) override;

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

    /// Close camera controller.
    void closeCamera() override;

    /// Check if camera controller is open.
    bool isCameraOpen() override;

    /// Check if camera controller is connected.
    bool isCameraConnected() override;

    /// Set camera parameter.
    bool setParam(cr::camera::CameraParam id, float value) override;

    /// Get camera parameter.
    float getParam(cr::camera::CameraParam id) override;

    /// Get camera params.
    void getParams(cr::camera::CameraParams &params) override;

    /// Execute camera command.
    bool executeCommand(cr::camera::CameraCommand id) override;
};

#include <iostream>
#include <opencv2/opencv.hpp>
#include "I3Camera.h"

int main()
{
    auto availableCameras = cr::video::I3Camera::detectAvailableCameras();

    std::string cameraId = availableCameras[0]; // Get first camera id.

    cr::video::I3Camera i3Camera;

    if (!i3Camera.openVSource(cameraId))
    {
        std::cerr << "Camera can't open." << std::endl;
        return -1;
    }

    if (!i3Camera.setParam(cr::video::VSourceParam::LOG_LEVEL, 0))
    {
        std::cerr << "Log level setting failed." << std::endl;
        return -1;
    }

    cr::video::Frame sourceFrame;

    while (true)
    {
        if (!i3Camera.getFrame(sourceFrame))
        {
            std::cerr << "No frame from camera." << std::endl;
            continue;
        }

        // Get frame time in us.
        float cycleTimeUs = i3Camera.getParam(cr::video::VSourceParam::CYCLE_TIME_MKS);
        float fps = 1000000.0f / cycleTimeUs;

        // Gray scale image.
        cv::Mat showFrame(sourceFrame.height, sourceFrame.width, CV_8UC1, sourceFrame.data);

        // Draw cycle time on the image.
        cv::putText(showFrame, "FPS : " + std::to_string(int(fps)), cv::Point(10, 20), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255, 255, 255), 1);

        // Display the grayscale image.
        cv::imshow("Gray Frame", showFrame);

        // Wait for a key press.
        cv::waitKey(33);
    }
    return 0;
}