WebSVN – seema-scanner – Diff – /src/camera/CameraPointGrey.cpp


#include "CameraPointGrey.h"
#include <cstring>
 
//#include <sys/ioctl.h>
//#include <linux/usbdevice_fs.h>
 
void PrintError(FlyCapture2::Error error){
    error.PrintErrorTrace();
}
 
vector<CameraInfo> CameraPointGrey::getCameraList(){
    
    FlyCapture2::Error error;
 
    FlyCapture2::BusManager busManager;
    unsigned int numCameras;
    error = busManager.GetNumOfCameras(&numCameras);
 
    vector<CameraInfo> ret;
 
    if (error != FlyCapture2::PGRERROR_OK){
        PrintError(error);
        return ret;
    }
 
    for (unsigned int i=0; i < numCameras; i++){
        FlyCapture2::PGRGuid guid;
        error = busManager.GetCameraFromIndex(i, &guid);
        if (error != FlyCapture2::PGRERROR_OK)
            PrintError(error);
 
        // Connect to camera
        FlyCapture2::Camera cam;
        error = cam.Connect(&guid);
        if (error != FlyCapture2::PGRERROR_OK)
            PrintError( error );
 
        // Get camera information
        FlyCapture2::CameraInfo camInfo;
        error = cam.GetCameraInfo(&camInfo);
        if (error != FlyCapture2::PGRERROR_OK)
            PrintError( error );
 
        CameraInfo camera;
        camera.vendor = "Point Grey";
        camera.model = camInfo.modelName;
        camera.busID = camInfo.nodeNumber;
        camera.serialNumber = camInfo.serialNumber;
 
        ret.push_back(camera);
    }
 
    return ret;
}
 
CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){
 
//    // Reset USB bus
//    std::cout << "Resetting USB device %s\n";
//    int rc = ioctl(fd, USBDEVFS_RESET, 0);
//    if (rc < 0)
//        perror("Error in ioctl");
//    else
//        printf("Reset successful\n");
 
 
    FlyCapture2::Error error;
 
    // Connect to camera
    FlyCapture2::BusManager busManager;
 
    FlyCapture2::PGRGuid camGuid;
 
    busManager.GetCameraFromIndex(camNum, &camGuid);
    error = cam.Connect(&camGuid);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
//    // Configure DCAM video mode and frame rate
//    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;
//    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;
//    error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);
//    if (error != FlyCapture2::PGRERROR_OK)
//        PrintError(error);
 
    // Configure Format7 mode
    FlyCapture2::Format7ImageSettings format7Settings;
    format7Settings.mode = FlyCapture2::MODE_0;
    format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;
    format7Settings.width = 3376;
    format7Settings.height = 2704;
    format7Settings.offsetX = 0;
    format7Settings.offsetY = 0;
 
//    format7Settings.width = 2496;
//    format7Settings.height = 1888;
//    format7Settings.offsetX = (3376-2496)/2;
//    format7Settings.offsetY = (2704-1888)/2;
 
    // Validate and set mode
    FlyCapture2::Format7PacketInfo packetInfo;
    bool valid;
    error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
    // packetsize configures maximum frame rate
    error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    // Configure general
    FlyCapture2::FC2Config config;
    config.numBuffers = 5;
    config.grabTimeout = 1000; // retrieveBuffer() timeout in ms
    config.grabMode = FlyCapture2::DROP_FRAMES;
    config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;
    config.highPerformanceRetrieveBuffer = true;
    //config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;
    error = cam.SetConfiguration(&config);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
 
    // Get the camera information
    FlyCapture2::CameraInfo camInfo;
    error = cam.GetCameraInfo(&camInfo);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    std::cout << camInfo.vendorName << "  " << camInfo.modelName << "  " << camInfo.serialNumber << std::endl;
 
    // Turn off auto settings
    FlyCapture2::Property property;
    property.type = FlyCapture2::AUTO_EXPOSURE;
    property.onOff = false;
    error = cam.SetProperty(&property);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    property.type = FlyCapture2::GAMMA;
    property.onOff = true;
    property.absControl = true;
    property.absValue = 1.0;
    error = cam.SetProperty(&property);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    // Set frame rate to 6
    property.type = FlyCapture2::FRAME_RATE;
    property.onOff = true;
    property.absControl = true;
    property.autoManualMode = false;
    property.absValue = 6.0;
    error = cam.SetProperty(&property);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    // Set white balance to match LED projector light
    property.type = FlyCapture2::WHITE_BALANCE;
    property.onOff = true;
    property.absControl = false;
    property.autoManualMode = false;
    property.valueA = 666; //red
    property.valueB = 777; //blue
    error = cam.SetProperty(&property);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    // Set reasonable default settings
    CameraSettings settings;
    //settings.shutter = 8.33;
    settings.shutter = 66.66;
    settings.gain = 0.0;
    this->setCameraSettings(settings);
 
    return;
}
 
CameraSettings CameraPointGrey::getCameraSettings(){
 
    FlyCapture2::Property property;
 
    // Get settings:
    CameraSettings settings;
 
    property.type = FlyCapture2::SHUTTER;
    cam.GetProperty(&property);
    settings.shutter = property.absValue;
 
    property.type = FlyCapture2::GAIN;
    cam.GetProperty(&property);
    settings.gain = property.absValue;
 
    return settings;
}
 
void CameraPointGrey::setCameraSettings(CameraSettings settings){
 
    FlyCapture2::Property property;
    property.onOff = true;
    property.absControl = true;
 
    property.type = FlyCapture2::SHUTTER;
    property.absValue = settings.shutter;
    cam.SetProperty(&property);
 
    property.type = FlyCapture2::GAIN;
    property.absValue = settings.gain;
    cam.SetProperty(&property);
 
}
 
void CameraPointGrey::startCapture(){
 
    FlyCapture2::Error error;
 
    CameraSettings settings = this->getCameraSettings();
    std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;
    std::cout << "\tGain: " << settings.gain << "dB" << std::endl;
 
    if(triggerMode == triggerModeHardware){
        // Configure for hardware trigger
        FlyCapture2::TriggerMode triggerMode;
        triggerMode.onOff = true;
        triggerMode.polarity = 0;
        triggerMode.source = 0;
        triggerMode.mode = 14;
        error = cam.SetTriggerMode(&triggerMode);
        if (error != FlyCapture2::PGRERROR_OK)
            PrintError(error);
 
    } else if(triggerMode == triggerModeSoftware){
        // Configure software trigger
        FlyCapture2::TriggerMode triggerMode;
        triggerMode.onOff = true;
        triggerMode.polarity = 0;
        triggerMode.source = 7; // software
        triggerMode.mode = 0;
        error = cam.SetTriggerMode(&triggerMode);
        if (error != FlyCapture2::PGRERROR_OK)
            PrintError(error);
    }
 
    // Set the trigger timeout to 1000 ms
    FlyCapture2::FC2Config config;
    config.grabTimeout = 1000;
    error = cam.SetConfiguration(&config);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    error = cam.StartCapture();
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    capturing = true;
}
 
void CameraPointGrey::stopCapture(){
 
    FlyCapture2::Error error = cam.StopCapture();
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    capturing = false;
}
 
void CameraPointGrey::trigger(){
 
    FlyCapture2::Error error;
 
    // Fire software trigger
    // broadcasting not supported on some platforms
    error = cam.FireSoftwareTrigger(false);
 
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
}
 
CameraFrame CameraPointGrey::getFrame(){
 
    FlyCapture2::Error error;
 
    // Retrieve the image
    FlyCapture2::Image rawImage;
    error = cam.RetrieveBuffer(&rawImage);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
//    rawImage.SetColorProcessing(FlyCapture2::IPP);
 
//    // de-Bayer
//    rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);
 
//    CameraFrame frame;
 
//    frame.timeStamp = currentImage.GetTimeStamp().cycleCount;
//    frame.height = currentImage.GetRows();
//    frame.width = currentImage.GetCols();
//    frame.bitDepth = 8;
//    frame.channels = 3;
//    frame.memory = (unsigned short*)currentImage.GetData();
 
    CameraFrame frame;
 
    frame.timeStamp = rawImage.GetTimeStamp().cycleCount;
    frame.height = rawImage.GetRows();
    frame.width = rawImage.GetCols();
    frame.bitDepth = 8;
    frame.channels = 1;
    frame.memory = rawImage.GetData();
 
    return frame;
}
 
 
size_t CameraPointGrey::getFrameSizeBytes(){
    
    FlyCapture2::Format7ImageSettings format7Settings;
    cam.GetFormat7Configuration(&format7Settings, NULL, NULL);
 
    return format7Settings.height*format7Settings.width*3*2;
}
 
size_t CameraPointGrey::getFrameWidth(){
 
    FlyCapture2::Format7ImageSettings format7Settings;
    unsigned int dummy1;
    float dummy2;
    FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    return format7Settings.width;
}
 
size_t CameraPointGrey::getFrameHeight(){
 
    FlyCapture2::Format7ImageSettings format7Settings;
    unsigned int dummy1;
    float dummy2;
    FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    return format7Settings.height;
 
 
}
 
 
CameraPointGrey::~CameraPointGrey(){
 
    if(capturing){
        // Stop camera transmission
        stopCapture();
    }
 
    // Gracefulle destruct the camera
    cam.Disconnect();
 
    std::cout << "Closed camera!" << std::endl << std::flush;
}
 
 
 
 

Rev 128	Rev 134
1	`#include "CameraPointGrey.h"`	1	`#include "CameraPointGrey.h"`
2	`#include <cstring>`	2	`#include <cstring>`
3		3
4	`//#include <sys/ioctl.h>`	4	`//#include <sys/ioctl.h>`
5	`//#include <linux/usbdevice_fs.h>`	5	`//#include <linux/usbdevice_fs.h>`
6		6
7	`void PrintError(FlyCapture2::Error error){`	7	`void PrintError(FlyCapture2::Error error){`
8	`error.PrintErrorTrace();`	8	`error.PrintErrorTrace();`
9	`}`	9	`}`
10		10
11	`vector<CameraInfo> CameraPointGrey::getCameraList(){`	11	`vector<CameraInfo> CameraPointGrey::getCameraList(){`
12		12
13	`FlyCapture2::Error error;`	13	`FlyCapture2::Error error;`
14		14
15	`FlyCapture2::BusManager busManager;`	15	`FlyCapture2::BusManager busManager;`
16	`unsigned int numCameras;`	16	`unsigned int numCameras;`
17	`error = busManager.GetNumOfCameras(&numCameras);`	17	`error = busManager.GetNumOfCameras(&numCameras);`
18		18
19	`vector<CameraInfo> ret;`	19	`vector<CameraInfo> ret;`
20		20
21	`if (error != FlyCapture2::PGRERROR_OK){`	21	`if (error != FlyCapture2::PGRERROR_OK){`
22	`PrintError(error);`	22	`PrintError(error);`
23	`return ret;`	23	`return ret;`
24	`}`	24	`}`
25		25
26	`for (unsigned int i=0; i < numCameras; i++){`	26	`for (unsigned int i=0; i < numCameras; i++){`
27	`FlyCapture2::PGRGuid guid;`	27	`FlyCapture2::PGRGuid guid;`
28	`error = busManager.GetCameraFromIndex(i, &guid);`	28	`error = busManager.GetCameraFromIndex(i, &guid);`
29	`if (error != FlyCapture2::PGRERROR_OK)`	29	`if (error != FlyCapture2::PGRERROR_OK)`
30	`PrintError(error);`	30	`PrintError(error);`
31		31
32	`// Connect to camera`	32	`// Connect to camera`
33	`FlyCapture2::Camera cam;`	33	`FlyCapture2::Camera cam;`
34	`error = cam.Connect(&guid);`	34	`error = cam.Connect(&guid);`
35	`if (error != FlyCapture2::PGRERROR_OK)`	35	`if (error != FlyCapture2::PGRERROR_OK)`
36	`PrintError( error );`	36	`PrintError( error );`
37		37
38	`// Get camera information`	38	`// Get camera information`
39	`FlyCapture2::CameraInfo camInfo;`	39	`FlyCapture2::CameraInfo camInfo;`
40	`error = cam.GetCameraInfo(&camInfo);`	40	`error = cam.GetCameraInfo(&camInfo);`
41	`if (error != FlyCapture2::PGRERROR_OK)`	41	`if (error != FlyCapture2::PGRERROR_OK)`
42	`PrintError( error );`	42	`PrintError( error );`
43		43
44	`CameraInfo camera;`	44	`CameraInfo camera;`
45	`camera.vendor = "Point Grey";`	45	`camera.vendor = "Point Grey";`
46	`camera.model = camInfo.modelName;`	46	`camera.model = camInfo.modelName;`
47	`camera.busID = camInfo.nodeNumber;`	47	`camera.busID = camInfo.nodeNumber;`
48	`camera.serialNumber = camInfo.serialNumber;`	48	`camera.serialNumber = camInfo.serialNumber;`
49		49
50	`ret.push_back(camera);`	50	`ret.push_back(camera);`
51	`}`	51	`}`
52		52
53	`return ret;`	53	`return ret;`
54	`}`	54	`}`
55		55
56	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`	56	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`
57		57
58	`// // Reset USB bus`	58	`// // Reset USB bus`
59	`// std::cout << "Resetting USB device %s\n";`	59	`// std::cout << "Resetting USB device %s\n";`
60	`// int rc = ioctl(fd, USBDEVFS_RESET, 0);`	60	`// int rc = ioctl(fd, USBDEVFS_RESET, 0);`
61	`// if (rc < 0)`	61	`// if (rc < 0)`
62	`// perror("Error in ioctl");`	62	`// perror("Error in ioctl");`
63	`// else`	63	`// else`
64	`// printf("Reset successful\n");`	64	`// printf("Reset successful\n");`
65		65
66		66
67	`FlyCapture2::Error error;`	67	`FlyCapture2::Error error;`
68		68
69	`// Connect to camera`	69	`// Connect to camera`
70	`FlyCapture2::BusManager busManager;`	70	`FlyCapture2::BusManager busManager;`
71		71
72	`FlyCapture2::PGRGuid camGuid;`	72	`FlyCapture2::PGRGuid camGuid;`
73		73
74	`busManager.GetCameraFromIndex(camNum, &camGuid);`	74	`busManager.GetCameraFromIndex(camNum, &camGuid);`
75	`error = cam.Connect(&camGuid);`	75	`error = cam.Connect(&camGuid);`
76	`if (error != FlyCapture2::PGRERROR_OK)`	76	`if (error != FlyCapture2::PGRERROR_OK)`
77	`PrintError(error);`	77	`PrintError(error);`
78		78
79	`// // Configure DCAM video mode and frame rate`	79	`// // Configure DCAM video mode and frame rate`
80	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`	80	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`
81	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`	81	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`
82	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`	82	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`
83	`// if (error != FlyCapture2::PGRERROR_OK)`	83	`// if (error != FlyCapture2::PGRERROR_OK)`
84	`// PrintError(error);`	84	`// PrintError(error);`
85		85
86	`// Configure Format7 mode`	86	`// Configure Format7 mode`
87	`FlyCapture2::Format7ImageSettings format7Settings;`	87	`FlyCapture2::Format7ImageSettings format7Settings;`
88	`format7Settings.mode = FlyCapture2::MODE_0;`	88	`format7Settings.mode = FlyCapture2::MODE_0;`
89	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;`	89	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;`
90	`format7Settings.width = 3376;`	90	`format7Settings.width = 3376;`
91	`format7Settings.height = 2704;`	91	`format7Settings.height = 2704;`
92	`format7Settings.offsetX = 0;`	92	`format7Settings.offsetX = 0;`
93	`format7Settings.offsetY = 0;`	93	`format7Settings.offsetY = 0;`
94		94
-		95	`// format7Settings.width = 2496;`
-		96	`// format7Settings.height = 1888;`
-		97	`// format7Settings.offsetX = (3376-2496)/2;`
-		98	`// format7Settings.offsetY = (2704-1888)/2;`
-		99
95	`// Validate and set mode`	100	`// Validate and set mode`
96	`FlyCapture2::Format7PacketInfo packetInfo;`	101	`FlyCapture2::Format7PacketInfo packetInfo;`
97	`bool valid;`	102	`bool valid;`
98	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`	103	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`
99	`if (error != FlyCapture2::PGRERROR_OK)`	104	`if (error != FlyCapture2::PGRERROR_OK)`
100	`PrintError(error);`	105	`PrintError(error);`
101	`// packetsize configures maximum frame rate`	106	`// packetsize configures maximum frame rate`
102	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`	107	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`
103	`if (error != FlyCapture2::PGRERROR_OK)`	108	`if (error != FlyCapture2::PGRERROR_OK)`
104	`PrintError(error);`	109	`PrintError(error);`
105		110
106	`// Configure general`	111	`// Configure general`
107	`FlyCapture2::FC2Config config;`	112	`FlyCapture2::FC2Config config;`
108	`config.numBuffers = 5;`	113	`config.numBuffers = 5;`
109	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`	114	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`
110	`config.grabMode = FlyCapture2::DROP_FRAMES;`	115	`config.grabMode = FlyCapture2::DROP_FRAMES;`
111	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	116	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
112	`config.highPerformanceRetrieveBuffer = true;`	117	`config.highPerformanceRetrieveBuffer = true;`
113	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	118	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
114	`error = cam.SetConfiguration(&config);`	119	`error = cam.SetConfiguration(&config);`
115	`if (error != FlyCapture2::PGRERROR_OK)`	120	`if (error != FlyCapture2::PGRERROR_OK)`
116	`PrintError(error);`	121	`PrintError(error);`
117		122
118		123
119	`// Get the camera information`	124	`// Get the camera information`
120	`FlyCapture2::CameraInfo camInfo;`	125	`FlyCapture2::CameraInfo camInfo;`
121	`error = cam.GetCameraInfo(&camInfo);`	126	`error = cam.GetCameraInfo(&camInfo);`
122	`if (error != FlyCapture2::PGRERROR_OK)`	127	`if (error != FlyCapture2::PGRERROR_OK)`
123	`PrintError(error);`	128	`PrintError(error);`
124		129
125	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`	130	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`
126		131
127	`// Turn off auto settings`	132	`// Turn off auto settings`
128	`FlyCapture2::Property property;`	133	`FlyCapture2::Property property;`
129	`property.type = FlyCapture2::AUTO_EXPOSURE;`	134	`property.type = FlyCapture2::AUTO_EXPOSURE;`
130	`property.onOff = false;`	135	`property.onOff = false;`
131	`error = cam.SetProperty(&property);`	136	`error = cam.SetProperty(&property);`
132	`if (error != FlyCapture2::PGRERROR_OK)`	137	`if (error != FlyCapture2::PGRERROR_OK)`
133	`PrintError(error);`	138	`PrintError(error);`
134		139
135	`property.type = FlyCapture2::GAMMA;`	140	`property.type = FlyCapture2::GAMMA;`
136	`property.onOff = true;`	141	`property.onOff = true;`
137	`property.absControl = true;`	142	`property.absControl = true;`
138	`property.absValue = 1.0;`	143	`property.absValue = 1.0;`
139	`error = cam.SetProperty(&property);`	144	`error = cam.SetProperty(&property);`
140	`if (error != FlyCapture2::PGRERROR_OK)`	145	`if (error != FlyCapture2::PGRERROR_OK)`
141	`PrintError(error);`	146	`PrintError(error);`
142		147
143	`// Set frame rate to 6`	148	`// Set frame rate to 6`
144	`property.type = FlyCapture2::FRAME_RATE;`	149	`property.type = FlyCapture2::FRAME_RATE;`
145	`property.onOff = true;`	150	`property.onOff = true;`
146	`property.absControl = true;`	151	`property.absControl = true;`
147	`property.autoManualMode = false;`	152	`property.autoManualMode = false;`
148	`property.absValue = 6.0;`	153	`property.absValue = 6.0;`
149	`error = cam.SetProperty(&property);`	154	`error = cam.SetProperty(&property);`
150	`if (error != FlyCapture2::PGRERROR_OK)`	155	`if (error != FlyCapture2::PGRERROR_OK)`
151	`PrintError(error);`	156	`PrintError(error);`
152		157
153	`// Set white balance to match LED projector light`	158	`// Set white balance to match LED projector light`
154	`property.type = FlyCapture2::WHITE_BALANCE;`	159	`property.type = FlyCapture2::WHITE_BALANCE;`
155	`property.onOff = true;`	160	`property.onOff = true;`
156	`property.absControl = false;`	161	`property.absControl = false;`
157	`property.autoManualMode = false;`	162	`property.autoManualMode = false;`
158	`property.valueA = 666; //red`	163	`property.valueA = 666; //red`
159	`property.valueB = 777; //blue`	164	`property.valueB = 777; //blue`
160	`error = cam.SetProperty(&property);`	165	`error = cam.SetProperty(&property);`
161	`if (error != FlyCapture2::PGRERROR_OK)`	166	`if (error != FlyCapture2::PGRERROR_OK)`
162	`PrintError(error);`	167	`PrintError(error);`
163		168
164	`// Set reasonable default settings`	169	`// Set reasonable default settings`
165	`CameraSettings settings;`	170	`CameraSettings settings;`
166	`//settings.shutter = 8.33;`	171	`//settings.shutter = 8.33;`
167	`settings.shutter = 66.66;`	172	`settings.shutter = 66.66;`
168	`settings.gain = 0.0;`	173	`settings.gain = 0.0;`
169	`this->setCameraSettings(settings);`	174	`this->setCameraSettings(settings);`
170		175
171	`return;`	176	`return;`
172	`}`	177	`}`
173		178
174	`CameraSettings CameraPointGrey::getCameraSettings(){`	179	`CameraSettings CameraPointGrey::getCameraSettings(){`
175		180
176	`FlyCapture2::Property property;`	181	`FlyCapture2::Property property;`
177		182
178	`// Get settings:`	183	`// Get settings:`
179	`CameraSettings settings;`	184	`CameraSettings settings;`
180		185
181	`property.type = FlyCapture2::SHUTTER;`	186	`property.type = FlyCapture2::SHUTTER;`
182	`cam.GetProperty(&property);`	187	`cam.GetProperty(&property);`
183	`settings.shutter = property.absValue;`	188	`settings.shutter = property.absValue;`
184		189
185	`property.type = FlyCapture2::GAIN;`	190	`property.type = FlyCapture2::GAIN;`
186	`cam.GetProperty(&property);`	191	`cam.GetProperty(&property);`
187	`settings.gain = property.absValue;`	192	`settings.gain = property.absValue;`
188		193
189	`return settings;`	194	`return settings;`
190	`}`	195	`}`
191		196
192	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`	197	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`
193		198
194	`FlyCapture2::Property property;`	199	`FlyCapture2::Property property;`
195	`property.onOff = true;`	200	`property.onOff = true;`
196	`property.absControl = true;`	201	`property.absControl = true;`
197		202
198	`property.type = FlyCapture2::SHUTTER;`	203	`property.type = FlyCapture2::SHUTTER;`
199	`property.absValue = settings.shutter;`	204	`property.absValue = settings.shutter;`
200	`cam.SetProperty(&property);`	205	`cam.SetProperty(&property);`
201		206
202	`property.type = FlyCapture2::GAIN;`	207	`property.type = FlyCapture2::GAIN;`
203	`property.absValue = settings.gain;`	208	`property.absValue = settings.gain;`
204	`cam.SetProperty(&property);`	209	`cam.SetProperty(&property);`
205		210
206	`}`	211	`}`
207		212
208	`void CameraPointGrey::startCapture(){`	213	`void CameraPointGrey::startCapture(){`
209		214
210	`FlyCapture2::Error error;`	215	`FlyCapture2::Error error;`
211		216
212	`CameraSettings settings = this->getCameraSettings();`	217	`CameraSettings settings = this->getCameraSettings();`
213	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`	218	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`
214	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`	219	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`
215		220
216	`if(triggerMode == triggerModeHardware){`	221	`if(triggerMode == triggerModeHardware){`
217	`// Configure for hardware trigger`	222	`// Configure for hardware trigger`
218	`FlyCapture2::TriggerMode triggerMode;`	223	`FlyCapture2::TriggerMode triggerMode;`
219	`triggerMode.onOff = true;`	224	`triggerMode.onOff = true;`
220	`triggerMode.polarity = 0;`	225	`triggerMode.polarity = 0;`
221	`triggerMode.source = 0;`	226	`triggerMode.source = 0;`
222	`triggerMode.mode = 14;`	227	`triggerMode.mode = 14;`
223	`error = cam.SetTriggerMode(&triggerMode);`	228	`error = cam.SetTriggerMode(&triggerMode);`
224	`if (error != FlyCapture2::PGRERROR_OK)`	229	`if (error != FlyCapture2::PGRERROR_OK)`
225	`PrintError(error);`	230	`PrintError(error);`
226		231
227	`} else if(triggerMode == triggerModeSoftware){`	232	`} else if(triggerMode == triggerModeSoftware){`
228	`// Configure software trigger`	233	`// Configure software trigger`
229	`FlyCapture2::TriggerMode triggerMode;`	234	`FlyCapture2::TriggerMode triggerMode;`
230	`triggerMode.onOff = true;`	235	`triggerMode.onOff = true;`
231	`triggerMode.polarity = 0;`	236	`triggerMode.polarity = 0;`
232	`triggerMode.source = 7; // software`	237	`triggerMode.source = 7; // software`
233	`triggerMode.mode = 0;`	238	`triggerMode.mode = 0;`
234	`error = cam.SetTriggerMode(&triggerMode);`	239	`error = cam.SetTriggerMode(&triggerMode);`
235	`if (error != FlyCapture2::PGRERROR_OK)`	240	`if (error != FlyCapture2::PGRERROR_OK)`
236	`PrintError(error);`	241	`PrintError(error);`
237	`}`	242	`}`
238		243
239	`// Set the trigger timeout to 1000 ms`	244	`// Set the trigger timeout to 1000 ms`
240	`FlyCapture2::FC2Config config;`	245	`FlyCapture2::FC2Config config;`
241	`config.grabTimeout = 1000;`	246	`config.grabTimeout = 1000;`
242	`error = cam.SetConfiguration(&config);`	247	`error = cam.SetConfiguration(&config);`
243	`if (error != FlyCapture2::PGRERROR_OK)`	248	`if (error != FlyCapture2::PGRERROR_OK)`
244	`PrintError(error);`	249	`PrintError(error);`
245		250
246	`error = cam.StartCapture();`	251	`error = cam.StartCapture();`
247	`if (error != FlyCapture2::PGRERROR_OK)`	252	`if (error != FlyCapture2::PGRERROR_OK)`
248	`PrintError(error);`	253	`PrintError(error);`
249		254
250	`capturing = true;`	255	`capturing = true;`
251	`}`	256	`}`
252		257
253	`void CameraPointGrey::stopCapture(){`	258	`void CameraPointGrey::stopCapture(){`
254		259
255	`FlyCapture2::Error error = cam.StopCapture();`	260	`FlyCapture2::Error error = cam.StopCapture();`
256	`if (error != FlyCapture2::PGRERROR_OK)`	261	`if (error != FlyCapture2::PGRERROR_OK)`
257	`PrintError(error);`	262	`PrintError(error);`
258		263
259	`capturing = false;`	264	`capturing = false;`
260	`}`	265	`}`
261		266
262	`void CameraPointGrey::trigger(){`	267	`void CameraPointGrey::trigger(){`
263		268
264	`FlyCapture2::Error error;`	269	`FlyCapture2::Error error;`
265		270
266	`// Fire software trigger`	271	`// Fire software trigger`
267	`// broadcasting not supported on some platforms`	272	`// broadcasting not supported on some platforms`
268	`error = cam.FireSoftwareTrigger(false);`	273	`error = cam.FireSoftwareTrigger(false);`
269		274
270	`if (error != FlyCapture2::PGRERROR_OK)`	275	`if (error != FlyCapture2::PGRERROR_OK)`
271	`PrintError(error);`	276	`PrintError(error);`
272		277
273	`}`	278	`}`
274		279
275	`CameraFrame CameraPointGrey::getFrame(){`	280	`CameraFrame CameraPointGrey::getFrame(){`
276		281
277	`FlyCapture2::Error error;`	282	`FlyCapture2::Error error;`
278		283
279	`// Retrieve the image`	284	`// Retrieve the image`
280	`FlyCapture2::Image rawImage;`	285	`FlyCapture2::Image rawImage;`
281	`error = cam.RetrieveBuffer(&rawImage);`	286	`error = cam.RetrieveBuffer(&rawImage);`
282	`if (error != FlyCapture2::PGRERROR_OK)`	287	`if (error != FlyCapture2::PGRERROR_OK)`
283	`PrintError(error);`	288	`PrintError(error);`
284		289
285	`// rawImage.SetColorProcessing(FlyCapture2::IPP);`	290	`// rawImage.SetColorProcessing(FlyCapture2::IPP);`
286		291
287	`// // de-Bayer`	292	`// // de-Bayer`
288	`// rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`	293	`// rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`
289		294
290	`// CameraFrame frame;`	295	`// CameraFrame frame;`
291		296
292	`// frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`	297	`// frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`
293	`// frame.height = currentImage.GetRows();`	298	`// frame.height = currentImage.GetRows();`
294	`// frame.width = currentImage.GetCols();`	299	`// frame.width = currentImage.GetCols();`
295	`// frame.bitDepth = 8;`	300	`// frame.bitDepth = 8;`
296	`// frame.channels = 3;`	301	`// frame.channels = 3;`
297	`// frame.memory = (unsigned short*)currentImage.GetData();`	302	`// frame.memory = (unsigned short*)currentImage.GetData();`
298		303
299	`CameraFrame frame;`	304	`CameraFrame frame;`
300		305
301	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`	306	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`
302	`frame.height = rawImage.GetRows();`	307	`frame.height = rawImage.GetRows();`
303	`frame.width = rawImage.GetCols();`	308	`frame.width = rawImage.GetCols();`
304	`frame.bitDepth = 16;`	309	`frame.bitDepth = 8;`
305	`frame.channels = 1;`	310	`frame.channels = 1;`
306	`frame.memory = rawImage.GetData();`	311	`frame.memory = rawImage.GetData();`
307		312
308	`return frame;`	313	`return frame;`
309	`}`	314	`}`
310		315
311		316
312	`size_t CameraPointGrey::getFrameSizeBytes(){`	317	`size_t CameraPointGrey::getFrameSizeBytes(){`
313		318
314	`FlyCapture2::Format7ImageSettings format7Settings;`	319	`FlyCapture2::Format7ImageSettings format7Settings;`
315	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	320	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
316		321
317	`return format7Settings.heightformat7Settings.width3*2;`	322	`return format7Settings.heightformat7Settings.width3*2;`
318	`}`	323	`}`
319		324
320	`size_t CameraPointGrey::getFrameWidth(){`	325	`size_t CameraPointGrey::getFrameWidth(){`
321		326
322	`FlyCapture2::Format7ImageSettings format7Settings;`	327	`FlyCapture2::Format7ImageSettings format7Settings;`
323	`unsigned int dummy1;`	328	`unsigned int dummy1;`
324	`float dummy2;`	329	`float dummy2;`
325	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`	330	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`
326	`if (error != FlyCapture2::PGRERROR_OK)`	331	`if (error != FlyCapture2::PGRERROR_OK)`
327	`PrintError(error);`	332	`PrintError(error);`
328		333
329	`return format7Settings.width;`	334	`return format7Settings.width;`
330	`}`	335	`}`
331		336
332	`size_t CameraPointGrey::getFrameHeight(){`	337	`size_t CameraPointGrey::getFrameHeight(){`
333		338
334	`FlyCapture2::Format7ImageSettings format7Settings;`	339	`FlyCapture2::Format7ImageSettings format7Settings;`
335	`unsigned int dummy1;`	340	`unsigned int dummy1;`
336	`float dummy2;`	341	`float dummy2;`
337	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`	342	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`
338	`if (error != FlyCapture2::PGRERROR_OK)`	343	`if (error != FlyCapture2::PGRERROR_OK)`
339	`PrintError(error);`	344	`PrintError(error);`
340		345
341	`return format7Settings.height;`	346	`return format7Settings.height;`
342		347
343		348
344	`}`	349	`}`
345		350
346		351
347	`CameraPointGrey::~CameraPointGrey(){`	352	`CameraPointGrey::~CameraPointGrey(){`
348		353
349	`if(capturing){`	354	`if(capturing){`
350	`// Stop camera transmission`	355	`// Stop camera transmission`
351	`stopCapture();`	356	`stopCapture();`
352	`}`	357	`}`
353		358
354	`// Gracefulle destruct the camera`	359	`// Gracefulle destruct the camera`
355	`cam.Disconnect();`	360	`cam.Disconnect();`
356		361
357	`std::cout << "Closed camera!" << std::endl << std::flush;`	362	`std::cout << "Closed camera!" << std::endl << std::flush;`
358	`}`	363	`}`
359		364
360		365
361		366
362		367

Subversion Repositories seema-scanner

(root)/src/camera/CameraPointGrey.cpp – Rev 128 → 134