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;
 
    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 156	Rev 157
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;`	95	`// format7Settings.width = 2496;`
96	`// format7Settings.height = 1888;`	96	`// format7Settings.height = 1888;`
97	`// format7Settings.offsetX = (3376-2496)/2;`	97	`// format7Settings.offsetX = (3376-2496)/2;`
98	`// format7Settings.offsetY = (2704-1888)/2;`	98	`// format7Settings.offsetY = (2704-1888)/2;`
99		99
100	`// Validate and set mode`	100	`// Validate and set mode`
101	`FlyCapture2::Format7PacketInfo packetInfo;`	101	`FlyCapture2::Format7PacketInfo packetInfo;`
102	`bool valid;`	102	`bool valid;`
103	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`	103	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`
104	`if (error != FlyCapture2::PGRERROR_OK)`	104	`if (error != FlyCapture2::PGRERROR_OK)`
105	`PrintError(error);`	105	`PrintError(error);`
106	`// packetsize configures maximum frame rate`	106	`// packetsize configures maximum frame rate`
107	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`	107	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`
108	`if (error != FlyCapture2::PGRERROR_OK)`	108	`if (error != FlyCapture2::PGRERROR_OK)`
109	`PrintError(error);`	109	`PrintError(error);`
110		110
111	`// Configure general`	111	`// Configure general`
112	`FlyCapture2::FC2Config config;`	112	`FlyCapture2::FC2Config config;`
113	`config.numBuffers = 5;`	113	`config.numBuffers = 5;`
114	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`	114	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`
115	`config.grabMode = FlyCapture2::DROP_FRAMES;`	115	`config.grabMode = FlyCapture2::DROP_FRAMES;`
116	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	116	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
117	`config.highPerformanceRetrieveBuffer = true;`	117	`config.highPerformanceRetrieveBuffer = true;`
118	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	118	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
119	`error = cam.SetConfiguration(&config);`	119	`error = cam.SetConfiguration(&config);`
120	`if (error != FlyCapture2::PGRERROR_OK)`	120	`if (error != FlyCapture2::PGRERROR_OK)`
121	`PrintError(error);`	121	`PrintError(error);`
122		122
123		123
124	`// Get the camera information`	124	`// Get the camera information`
125	`FlyCapture2::CameraInfo camInfo;`	125	`FlyCapture2::CameraInfo camInfo;`
126	`error = cam.GetCameraInfo(&camInfo);`	126	`error = cam.GetCameraInfo(&camInfo);`
127	`if (error != FlyCapture2::PGRERROR_OK)`	127	`if (error != FlyCapture2::PGRERROR_OK)`
128	`PrintError(error);`	128	`PrintError(error);`
129		129
130	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`	130	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`
131		131
132	`// Turn off auto settings`	132	`// Turn off auto settings`
133	`FlyCapture2::Property property;`	133	`FlyCapture2::Property property;`
134	`property.type = FlyCapture2::AUTO_EXPOSURE;`	134	`property.type = FlyCapture2::AUTO_EXPOSURE;`
135	`property.onOff = false;`	135	`property.onOff = false;`
136	`error = cam.SetProperty(&property);`	136	`error = cam.SetProperty(&property);`
137	`if (error != FlyCapture2::PGRERROR_OK)`	137	`if (error != FlyCapture2::PGRERROR_OK)`
138	`PrintError(error);`	138	`PrintError(error);`
139		139
140	`property.type = FlyCapture2::GAMMA;`	140	`property.type = FlyCapture2::GAMMA;`
141	`property.onOff = true;`	141	`property.onOff = true;`
142	`property.absControl = true;`	142	`property.absControl = true;`
143	`property.absValue = 1.0;`	143	`property.absValue = 1.0;`
144	`error = cam.SetProperty(&property);`	144	`error = cam.SetProperty(&property);`
145	`if (error != FlyCapture2::PGRERROR_OK)`	145	`if (error != FlyCapture2::PGRERROR_OK)`
146	`PrintError(error);`	146	`PrintError(error);`
147		147
148	`// Set frame rate to 6`	148	`// Set frame rate to 6`
149	`property.type = FlyCapture2::FRAME_RATE;`	149	`property.type = FlyCapture2::FRAME_RATE;`
150	`property.onOff = true;`	150	`property.onOff = true;`
151	`property.absControl = true;`	151	`property.absControl = true;`
152	`property.autoManualMode = false;`	152	`property.autoManualMode = false;`
153	`property.absValue = 6.0;`	153	`property.absValue = 6.0;`
154	`error = cam.SetProperty(&property);`	154	`error = cam.SetProperty(&property);`
155	`if (error != FlyCapture2::PGRERROR_OK)`	155	`if (error != FlyCapture2::PGRERROR_OK)`
156	`PrintError(error);`	156	`PrintError(error);`
157		157
158	`// Set white balance to match LED projector light`	158	`// Set white balance to match LED projector light`
159	`property.type = FlyCapture2::WHITE_BALANCE;`	159	`property.type = FlyCapture2::WHITE_BALANCE;`
160	`property.onOff = true;`	160	`property.onOff = true;`
161	`property.absControl = false;`	161	`property.absControl = false;`
162	`property.autoManualMode = false;`	162	`property.autoManualMode = false;`
163	`property.valueA = 666; //red`	163	`property.valueA = 666; //red`
164	`property.valueB = 777; //blue`	164	`property.valueB = 777; //blue`
165	`error = cam.SetProperty(&property);`	165	`error = cam.SetProperty(&property);`
166	`if (error != FlyCapture2::PGRERROR_OK)`	166	`if (error != FlyCapture2::PGRERROR_OK)`
167	`PrintError(error);`	167	`PrintError(error);`
168		168
169	`// Set reasonable default settings`	169	`// Set reasonable default settings`
170	`CameraSettings settings;`	170	`CameraSettings settings;`
171	`//settings.shutter = 8.33;`	171	`//settings.shutter = 8.33;`
172	`settings.shutter = 66.66;`	172	`settings.shutter = 66.66;`
173	`settings.gain = 0.0;`	173	`settings.gain = 0.0;`
174	`this->setCameraSettings(settings);`	174	`this->setCameraSettings(settings);`
175		175
176	`return;`	176	`return;`
177	`}`	177	`}`
178		178
179	`CameraSettings CameraPointGrey::getCameraSettings(){`	179	`CameraSettings CameraPointGrey::getCameraSettings(){`
180		180
181	`FlyCapture2::Property property;`	181	`FlyCapture2::Property property;`
182		182
183	`// Get settings:`	183	`// Get settings:`
184	`CameraSettings settings;`	184	`CameraSettings settings;`
185		185
186	`property.type = FlyCapture2::SHUTTER;`	186	`property.type = FlyCapture2::SHUTTER;`
187	`cam.GetProperty(&property);`	187	`cam.GetProperty(&property);`
188	`settings.shutter = property.absValue;`	188	`settings.shutter = property.absValue;`
189		189
190	`property.type = FlyCapture2::GAIN;`	190	`property.type = FlyCapture2::GAIN;`
191	`cam.GetProperty(&property);`	191	`cam.GetProperty(&property);`
192	`settings.gain = property.absValue;`	192	`settings.gain = property.absValue;`
193		193
194	`return settings;`	194	`return settings;`
195	`}`	195	`}`
196		196
197	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`	197	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`
198		198
199	`FlyCapture2::Property property;`	199	`FlyCapture2::Property property;`
200	`property.onOff = true;`	200	`property.onOff = true;`
201	`property.absControl = true;`	201	`property.absControl = true;`
202		202
203	`property.type = FlyCapture2::SHUTTER;`	203	`property.type = FlyCapture2::SHUTTER;`
204	`property.absValue = settings.shutter;`	204	`property.absValue = settings.shutter;`
205	`cam.SetProperty(&property);`	205	`cam.SetProperty(&property);`
206		206
207	`property.type = FlyCapture2::GAIN;`	207	`property.type = FlyCapture2::GAIN;`
208	`property.absValue = settings.gain;`	208	`property.absValue = settings.gain;`
209	`cam.SetProperty(&property);`	209	`cam.SetProperty(&property);`
210		210
211	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`	-
212	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`	-
213		-
214	`}`	211	`}`
215		212
216	`void CameraPointGrey::startCapture(){`	213	`void CameraPointGrey::startCapture(){`
217		214
218	`FlyCapture2::Error error;`	215	`FlyCapture2::Error error;`
219		216
220	`if(triggerMode == triggerModeHardware){`	217	`if(triggerMode == triggerModeHardware){`
221	`// Configure for hardware trigger`	218	`// Configure for hardware trigger`
222	`FlyCapture2::TriggerMode triggerMode;`	219	`FlyCapture2::TriggerMode triggerMode;`
223	`triggerMode.onOff = true;`	220	`triggerMode.onOff = true;`
224	`triggerMode.polarity = 0;`	221	`triggerMode.polarity = 0;`
225	`triggerMode.source = 0;`	222	`triggerMode.source = 0;`
226	`triggerMode.mode = 14;`	223	`triggerMode.mode = 14;`
227	`error = cam.SetTriggerMode(&triggerMode);`	224	`error = cam.SetTriggerMode(&triggerMode);`
228	`if (error != FlyCapture2::PGRERROR_OK)`	225	`if (error != FlyCapture2::PGRERROR_OK)`
229	`PrintError(error);`	226	`PrintError(error);`
230		227
231	`} else if(triggerMode == triggerModeSoftware){`	228	`} else if(triggerMode == triggerModeSoftware){`
232	`// Configure software trigger`	229	`// Configure software trigger`
233	`FlyCapture2::TriggerMode triggerMode;`	230	`FlyCapture2::TriggerMode triggerMode;`
234	`triggerMode.onOff = true;`	231	`triggerMode.onOff = true;`
235	`triggerMode.polarity = 0;`	232	`triggerMode.polarity = 0;`
236	`triggerMode.source = 7; // software`	233	`triggerMode.source = 7; // software`
237	`triggerMode.mode = 0;`	234	`triggerMode.mode = 0;`
238	`error = cam.SetTriggerMode(&triggerMode);`	235	`error = cam.SetTriggerMode(&triggerMode);`
239	`if (error != FlyCapture2::PGRERROR_OK)`	236	`if (error != FlyCapture2::PGRERROR_OK)`
240	`PrintError(error);`	237	`PrintError(error);`
241	`}`	238	`}`
242		239
243	`// Set the trigger timeout to 1000 ms`	240	`// Set the trigger timeout to 1000 ms`
244	`FlyCapture2::FC2Config config;`	241	`FlyCapture2::FC2Config config;`
245	`config.grabTimeout = 1000;`	242	`config.grabTimeout = 1000;`
246	`error = cam.SetConfiguration(&config);`	243	`error = cam.SetConfiguration(&config);`
247	`if (error != FlyCapture2::PGRERROR_OK)`	244	`if (error != FlyCapture2::PGRERROR_OK)`
248	`PrintError(error);`	245	`PrintError(error);`
249		246
250	`error = cam.StartCapture();`	247	`error = cam.StartCapture();`
251	`if (error != FlyCapture2::PGRERROR_OK)`	248	`if (error != FlyCapture2::PGRERROR_OK)`
252	`PrintError(error);`	249	`PrintError(error);`
253		250
254	`capturing = true;`	251	`capturing = true;`
255	`}`	252	`}`
256		253
257	`void CameraPointGrey::stopCapture(){`	254	`void CameraPointGrey::stopCapture(){`
258		255
259	`FlyCapture2::Error error = cam.StopCapture();`	256	`FlyCapture2::Error error = cam.StopCapture();`
260	`if (error != FlyCapture2::PGRERROR_OK)`	257	`if (error != FlyCapture2::PGRERROR_OK)`
261	`PrintError(error);`	258	`PrintError(error);`
262		259
263	`capturing = false;`	260	`capturing = false;`
264	`}`	261	`}`
265		262
266	`void CameraPointGrey::trigger(){`	263	`void CameraPointGrey::trigger(){`
267		264
268	`FlyCapture2::Error error;`	265	`FlyCapture2::Error error;`
269		266
270	`// Fire software trigger`	267	`// Fire software trigger`
271	`// broadcasting not supported on some platforms`	268	`// broadcasting not supported on some platforms`
272	`error = cam.FireSoftwareTrigger(false);`	269	`error = cam.FireSoftwareTrigger(false);`
273		270
274	`if (error != FlyCapture2::PGRERROR_OK)`	271	`if (error != FlyCapture2::PGRERROR_OK)`
275	`PrintError(error);`	272	`PrintError(error);`
276		273
277	`}`	274	`}`
278		275
279	`CameraFrame CameraPointGrey::getFrame(){`	276	`CameraFrame CameraPointGrey::getFrame(){`
280		277
281	`FlyCapture2::Error error;`	278	`FlyCapture2::Error error;`
282		279
283	`// Retrieve the image`	280	`// Retrieve the image`
284	`FlyCapture2::Image rawImage;`	281	`FlyCapture2::Image rawImage;`
285	`error = cam.RetrieveBuffer(&rawImage);`	282	`error = cam.RetrieveBuffer(&rawImage);`
286	`if (error != FlyCapture2::PGRERROR_OK)`	283	`if (error != FlyCapture2::PGRERROR_OK)`
287	`PrintError(error);`	284	`PrintError(error);`
288		285
289	`// rawImage.SetColorProcessing(FlyCapture2::IPP);`	286	`// rawImage.SetColorProcessing(FlyCapture2::IPP);`
290		287
291	`// // de-Bayer`	288	`// // de-Bayer`
292	`// rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`	289	`// rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`
293		290
294	`// CameraFrame frame;`	291	`// CameraFrame frame;`
295		292
296	`// frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`	293	`// frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`
297	`// frame.height = currentImage.GetRows();`	294	`// frame.height = currentImage.GetRows();`
298	`// frame.width = currentImage.GetCols();`	295	`// frame.width = currentImage.GetCols();`
299	`// frame.bitDepth = 8;`	296	`// frame.bitDepth = 8;`
300	`// frame.channels = 3;`	297	`// frame.channels = 3;`
301	`// frame.memory = (unsigned short*)currentImage.GetData();`	298	`// frame.memory = (unsigned short*)currentImage.GetData();`
302		299
303	`CameraFrame frame;`	300	`CameraFrame frame;`
304		301
305	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`	302	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`
306	`frame.height = rawImage.GetRows();`	303	`frame.height = rawImage.GetRows();`
307	`frame.width = rawImage.GetCols();`	304	`frame.width = rawImage.GetCols();`
308	`frame.bitDepth = 8;`	305	`frame.bitDepth = 8;`
309	`frame.channels = 1;`	306	`frame.channels = 1;`
310	`frame.memory = rawImage.GetData();`	307	`frame.memory = rawImage.GetData();`
311		308
312	`return frame;`	309	`return frame;`
313	`}`	310	`}`
314		311
315		312
316	`size_t CameraPointGrey::getFrameSizeBytes(){`	313	`size_t CameraPointGrey::getFrameSizeBytes(){`
317		314
318	`FlyCapture2::Format7ImageSettings format7Settings;`	315	`FlyCapture2::Format7ImageSettings format7Settings;`
319	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	316	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
320		317
321	`return format7Settings.heightformat7Settings.width3*2;`	318	`return format7Settings.heightformat7Settings.width3*2;`
322	`}`	319	`}`
323		320
324	`size_t CameraPointGrey::getFrameWidth(){`	321	`size_t CameraPointGrey::getFrameWidth(){`
325		322
326	`FlyCapture2::Format7ImageSettings format7Settings;`	323	`FlyCapture2::Format7ImageSettings format7Settings;`
327	`unsigned int dummy1;`	324	`unsigned int dummy1;`
328	`float dummy2;`	325	`float dummy2;`
329	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`	326	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`
330	`if (error != FlyCapture2::PGRERROR_OK)`	327	`if (error != FlyCapture2::PGRERROR_OK)`
331	`PrintError(error);`	328	`PrintError(error);`
332		329
333	`return format7Settings.width;`	330	`return format7Settings.width;`
334	`}`	331	`}`
335		332
336	`size_t CameraPointGrey::getFrameHeight(){`	333	`size_t CameraPointGrey::getFrameHeight(){`
337		334
338	`FlyCapture2::Format7ImageSettings format7Settings;`	335	`FlyCapture2::Format7ImageSettings format7Settings;`
339	`unsigned int dummy1;`	336	`unsigned int dummy1;`
340	`float dummy2;`	337	`float dummy2;`
341	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`	338	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`
342	`if (error != FlyCapture2::PGRERROR_OK)`	339	`if (error != FlyCapture2::PGRERROR_OK)`
343	`PrintError(error);`	340	`PrintError(error);`
344		341
345	`return format7Settings.height;`	342	`return format7Settings.height;`
346		343
347		344
348	`}`	345	`}`
349		346
350		347
351	`CameraPointGrey::~CameraPointGrey(){`	348	`CameraPointGrey::~CameraPointGrey(){`
352		349
353	`if(capturing){`	350	`if(capturing){`
354	`// Stop camera transmission`	351	`// Stop camera transmission`
355	`stopCapture();`	352	`stopCapture();`
356	`}`	353	`}`
357		354
358	`// Gracefulle destruct the camera`	355	`// Gracefulle destruct the camera`
359	`cam.Disconnect();`	356	`cam.Disconnect();`
360		357
361	`std::cout << "Closed camera!" << std::endl << std::flush;`	358	`std::cout << "Closed camera!" << std::endl << std::flush;`
362	`}`	359	`}`
363		360
364		361
365		362
366		363

Subversion Repositories seema-scanner

(root)/src/camera/CameraPointGrey.cpp – Rev 156 → 157