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


#include "CameraPointGrey.h"
#include <cstring>
 
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 the camera information
        FlyCapture2::CameraInfo camInfo;
        error = cam.GetCameraInfo(&camInfo);
        if (error != FlyCapture2::PGRERROR_OK)
            PrintError( error );
 
        CameraInfo camera;
        camera.busID = camInfo.nodeNumber;
        camera.model = camInfo.modelName;
        camera.vendor = "Point Grey Research";
 
        ret.push_back(camera);
    }
 
    return ret;
}
 
CameraPointGrey::CameraPointGrey(unsigned int camID){
 
    FlyCapture2::Error error;
 
    // Connect to camera
    FlyCapture2::BusManager busManager;
    FlyCapture2::PGRGuid camGuid;
    busManager.GetCameraFromIndex(camID, &camGuid);
    error = cam.Connect(&camGuid);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    // 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);
 
    // Configure video mode and frame rate
    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_800x600Y8;
    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_30;
    cam.SetVideoModeAndFrameRate(videoMode, frameRate);
 
    // 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;
 
    // Set reasonable default settings
    CameraSettings settings;
    settings.shutter = 33.33;
    settings.gain = 0.0;
    this->setCameraSettings(settings);
 
    settings = this->getCameraSettings();
    std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;
    std::cout << "\tGain: " << settings.gain << "dB" << std::endl;
 
    // Start isochronous image transfer
    error = cam.StartCapture();
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    return;
}
    
void CameraPointGrey::startCapture(){
 
    FlyCapture2::Error error;
 
    error = cam.StopCapture();
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    // 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);
 
    // 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(){
 
    capturing = false;
}
 
CameraFrame CameraPointGrey::lockFrame(){
 
    FlyCapture2::Error error;
 
    // Retrieve image
    FlyCapture2::Image rawImage;
    error = cam.RetrieveBuffer( &rawImage );
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    CameraFrame frame;
 
    frame.timeStamp = rawImage.GetTimeStamp().cycleCount;
    frame.height = rawImage.GetCols();
    frame.width = rawImage.GetRows();
    frame.memory = rawImage.GetData();
 
    return frame;
}
 
void CameraPointGrey::unlockFrame(){
 
}
 
 
CameraFrame CameraPointGrey::getSingleFrame(){
 
    FlyCapture2::Error error;
 
    // Fire software trigger
    // broadcasting not supported on some platforms
    cam.FireSoftwareTrigger(false);
 
    // Retrieve the image
    FlyCapture2::Image rawImage;
    error = cam.RetrieveBuffer(&rawImage);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    CameraFrame frame;
 
    frame.timeStamp = rawImage.GetTimeStamp().cycleCount;
    frame.height = rawImage.GetRows();
    frame.width = rawImage.GetCols();
    frame.memory = rawImage.GetData();
 
    return frame;
}
 
 
size_t CameraPointGrey::getFrameSizeBytes(){
 
    
    return 0;
}
 
void CameraPointGrey::getFrameWidthHeight(unsigned int *width, unsigned int *height){
    // How do we poll this from the camera?
    *width = 640;
    *height = 480;
 
}
 
 
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);
 
}
 
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;
}
 
CameraPointGrey::~CameraPointGrey(){
    std::cout << "Deleting Point Grey Camera 1" << std::endl << std::flush;
 
    // Stop camera transmission
   // cam.StopCapture();
 
    std::cout << "Deleting Point Grey Camera 2" << std::endl << std::flush;
 
    // Gracefulle destruct the camera
   // cam.Disconnect();
 
    std::cout << "Deleting Point Grey Camera 3" << std::endl << std::flush;
}
 
 
 
 

Rev 4	Rev 17
1	`#include "CameraPointGrey.h"`	1	`#include "CameraPointGrey.h"`
2	`#include <cstring>`	2	`#include <cstring>`
3		3
4	`void PrintError(FlyCapture2::Error error){`	4	`void PrintError(FlyCapture2::Error error){`
5	`error.PrintErrorTrace();`	5	`error.PrintErrorTrace();`
6	`}`	6	`}`
7		7
8	`vector<CameraInfo> CameraPointGrey::getCameraList(){`	8	`vector<CameraInfo> CameraPointGrey::getCameraList(){`
9		9
10	`FlyCapture2::Error error;`	10	`FlyCapture2::Error error;`
11		11
12	`FlyCapture2::BusManager busManager;`	12	`FlyCapture2::BusManager busManager;`
13	`unsigned int numCameras;`	13	`unsigned int numCameras;`
14	`error = busManager.GetNumOfCameras(&numCameras);`	14	`error = busManager.GetNumOfCameras(&numCameras);`
15		15
16	`vector<CameraInfo> ret;`	16	`vector<CameraInfo> ret;`
17		17
18	`if (error != FlyCapture2::PGRERROR_OK){`	18	`if (error != FlyCapture2::PGRERROR_OK){`
19	`PrintError(error);`	19	`PrintError(error);`
20	`return ret;`	20	`return ret;`
21	`}`	21	`}`
22		22
23	`for (unsigned int i=0; i < numCameras; i++){`	23	`for (unsigned int i=0; i < numCameras; i++){`
24	`FlyCapture2::PGRGuid guid;`	24	`FlyCapture2::PGRGuid guid;`
25	`error = busManager.GetCameraFromIndex(i, &guid);`	25	`error = busManager.GetCameraFromIndex(i, &guid);`
26	`if (error != FlyCapture2::PGRERROR_OK)`	26	`if (error != FlyCapture2::PGRERROR_OK)`
27	`PrintError(error);`	27	`PrintError(error);`
28		28
29	`// Connect to camera`	29	`// Connect to camera`
30	`FlyCapture2::Camera cam;`	30	`FlyCapture2::Camera cam;`
31	`error = cam.Connect(&guid);`	31	`error = cam.Connect(&guid);`
32	`if (error != FlyCapture2::PGRERROR_OK)`	32	`if (error != FlyCapture2::PGRERROR_OK)`
33	`PrintError( error );`	33	`PrintError( error );`
34		34
35	`// Get the camera information`	35	`// Get the camera information`
36	`FlyCapture2::CameraInfo camInfo;`	36	`FlyCapture2::CameraInfo camInfo;`
37	`error = cam.GetCameraInfo(&camInfo);`	37	`error = cam.GetCameraInfo(&camInfo);`
38	`if (error != FlyCapture2::PGRERROR_OK)`	38	`if (error != FlyCapture2::PGRERROR_OK)`
39	`PrintError( error );`	39	`PrintError( error );`
40		40
41	`CameraInfo camera;`	41	`CameraInfo camera;`
42	`camera.busID = camInfo.nodeNumber;`	42	`camera.busID = camInfo.nodeNumber;`
43	`camera.model = camInfo.modelName;`	43	`camera.model = camInfo.modelName;`
44	`camera.vendor = "Point Grey Research";`	44	`camera.vendor = "Point Grey Research";`
45		45
46	`ret.push_back(camera);`	46	`ret.push_back(camera);`
47	`}`	47	`}`
48		48
49	`return ret;`	49	`return ret;`
50	`}`	50	`}`
51		51
52	`CameraPointGrey::CameraPointGrey(unsigned int camID){`	52	`CameraPointGrey::CameraPointGrey(unsigned int camID){`
53		53
54	`FlyCapture2::Error error;`	54	`FlyCapture2::Error error;`
55		55
56	`// Connect to camera`	56	`// Connect to camera`
57	`FlyCapture2::BusManager busManager;`	57	`FlyCapture2::BusManager busManager;`
58	`FlyCapture2::PGRGuid camGuid;`	58	`FlyCapture2::PGRGuid camGuid;`
59	`busManager.GetCameraFromIndex(camID, &camGuid);`	59	`busManager.GetCameraFromIndex(camID, &camGuid);`
60	`error = cam.Connect(&camGuid);`	60	`error = cam.Connect(&camGuid);`
61	`if (error != FlyCapture2::PGRERROR_OK)`	61	`if (error != FlyCapture2::PGRERROR_OK)`
62	`PrintError(error);`	62	`PrintError(error);`
63		63
64	`// Configure software trigger`	64	`// Configure software trigger`
65	`FlyCapture2::TriggerMode triggerMode;`	65	`FlyCapture2::TriggerMode triggerMode;`
66	`triggerMode.onOff = true;`	66	`triggerMode.onOff = true;`
67	`triggerMode.polarity = 0;`	67	`triggerMode.polarity = 0;`
68	`triggerMode.source = 7; // software`	68	`triggerMode.source = 7; // software`
69	`triggerMode.mode = 0;`	69	`triggerMode.mode = 0;`
70	`error = cam.SetTriggerMode(&triggerMode);`	70	`error = cam.SetTriggerMode(&triggerMode);`
71	`if (error != FlyCapture2::PGRERROR_OK)`	71	`if (error != FlyCapture2::PGRERROR_OK)`
72	`PrintError(error);`	72	`PrintError(error);`
73		73
74	`// Configure video mode and frame rate`	74	`// Configure video mode and frame rate`
75	`FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_640x480Y8;`	75	`FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_800x600Y8;`
76	`FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_15;`	76	`FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_30;`
77	`cam.SetVideoModeAndFrameRate(videoMode, frameRate);`	77	`cam.SetVideoModeAndFrameRate(videoMode, frameRate);`
78		78
79	`// Get the camera information`	79	`// Get the camera information`
80	`FlyCapture2::CameraInfo camInfo;`	80	`FlyCapture2::CameraInfo camInfo;`
81	`error = cam.GetCameraInfo(&camInfo);`	81	`error = cam.GetCameraInfo(&camInfo);`
82	`if (error != FlyCapture2::PGRERROR_OK)`	82	`if (error != FlyCapture2::PGRERROR_OK)`
83	`PrintError(error);`	83	`PrintError(error);`
84		84
85	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`	85	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`
86		86
87	`// Set reasonable default settings`	87	`// Set reasonable default settings`
88	`CameraSettings settings;`	88	`CameraSettings settings;`
89	`settings.shutter = 33.33;`	89	`settings.shutter = 33.33;`
90	`settings.gain = 0.0;`	90	`settings.gain = 0.0;`
91	`this->setCameraSettings(settings);`	91	`this->setCameraSettings(settings);`
92		92
93	`settings = this->getCameraSettings();`	93	`settings = this->getCameraSettings();`
94	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`	94	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`
95	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`	95	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`
96		96
97	`// Start isochronous image transfer`	97	`// Start isochronous image transfer`
98	`error = cam.StartCapture();`	98	`error = cam.StartCapture();`
99	`if (error != FlyCapture2::PGRERROR_OK)`	99	`if (error != FlyCapture2::PGRERROR_OK)`
100	`PrintError(error);`	100	`PrintError(error);`
101		101
102	`return;`	102	`return;`
103	`}`	103	`}`
104		104
105	`void CameraPointGrey::startCapture(){`	105	`void CameraPointGrey::startCapture(){`
106		106
107	`FlyCapture2::Error error;`	107	`FlyCapture2::Error error;`
108		108
109	`error = cam.StopCapture();`	109	`error = cam.StopCapture();`
110	`if (error != FlyCapture2::PGRERROR_OK)`	110	`if (error != FlyCapture2::PGRERROR_OK)`
111	`PrintError(error);`	111	`PrintError(error);`
112		112
113	`// Configure for hardware trigger`	113	`// Configure for hardware trigger`
114	`FlyCapture2::TriggerMode triggerMode;`	114	`FlyCapture2::TriggerMode triggerMode;`
115	`triggerMode.onOff = true;`	115	`triggerMode.onOff = true;`
116	`triggerMode.polarity = 0;`	116	`triggerMode.polarity = 0;`
117	`triggerMode.source = 0;`	117	`triggerMode.source = 0;`
118	`triggerMode.mode = 14;`	118	`triggerMode.mode = 14;`
119	`error = cam.SetTriggerMode(&triggerMode);`	119	`error = cam.SetTriggerMode(&triggerMode);`
120	`if (error != FlyCapture2::PGRERROR_OK)`	120	`if (error != FlyCapture2::PGRERROR_OK)`
121	`PrintError(error);`	121	`PrintError(error);`
122		122
123	`// Set the trigger timeout to 1000 ms`	123	`// Set the trigger timeout to 1000 ms`
124	`FlyCapture2::FC2Config config;`	124	`FlyCapture2::FC2Config config;`
125	`config.grabTimeout = 1000;`	125	`config.grabTimeout = 1000;`
126	`error = cam.SetConfiguration(&config);`	126	`error = cam.SetConfiguration(&config);`
127	`if (error != FlyCapture2::PGRERROR_OK)`	127	`if (error != FlyCapture2::PGRERROR_OK)`
128	`PrintError(error);`	128	`PrintError(error);`
129		129
130	`// error = cam.StartCapture();`	130	`// error = cam.StartCapture();`
131	`// if (error != FlyCapture2::PGRERROR_OK)`	131	`// if (error != FlyCapture2::PGRERROR_OK)`
132	`// PrintError(error);`	132	`// PrintError(error);`
133		133
134	`capturing = true;`	134	`capturing = true;`
135	`}`	135	`}`
136		136
137	`void CameraPointGrey::stopCapture(){`	137	`void CameraPointGrey::stopCapture(){`
138		138
139	`capturing = false;`	139	`capturing = false;`
140	`}`	140	`}`
141		141
142	`CameraFrame CameraPointGrey::lockFrame(){`	142	`CameraFrame CameraPointGrey::lockFrame(){`
143		143
144	`FlyCapture2::Error error;`	144	`FlyCapture2::Error error;`
145		145
146	`// Retrieve image`	146	`// Retrieve image`
147	`FlyCapture2::Image rawImage;`	147	`FlyCapture2::Image rawImage;`
148	`error = cam.RetrieveBuffer( &rawImage );`	148	`error = cam.RetrieveBuffer( &rawImage );`
149	`if (error != FlyCapture2::PGRERROR_OK)`	149	`if (error != FlyCapture2::PGRERROR_OK)`
150	`PrintError(error);`	150	`PrintError(error);`
151		151
152	`CameraFrame frame;`	152	`CameraFrame frame;`
153		153
154	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`	154	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`
155	`frame.height = rawImage.GetCols();`	155	`frame.height = rawImage.GetCols();`
156	`frame.width = rawImage.GetRows();`	156	`frame.width = rawImage.GetRows();`
157	`frame.memory = rawImage.GetData();`	157	`frame.memory = rawImage.GetData();`
158		158
159	`return frame;`	159	`return frame;`
160	`}`	160	`}`
161		161
162	`void CameraPointGrey::unlockFrame(){`	162	`void CameraPointGrey::unlockFrame(){`
163		163
164	`}`	164	`}`
165		165
166		166
167	`CameraFrame CameraPointGrey::getSingleFrame(){`	167	`CameraFrame CameraPointGrey::getSingleFrame(){`
168		168
169	`FlyCapture2::Error error;`	169	`FlyCapture2::Error error;`
170		170
171	`// Fire software trigger`	171	`// Fire software trigger`
172	`// broadcasting not supported on some platforms`	172	`// broadcasting not supported on some platforms`
173	`cam.FireSoftwareTrigger(false);`	173	`cam.FireSoftwareTrigger(false);`
174		174
175	`// Retrieve the image`	175	`// Retrieve the image`
176	`FlyCapture2::Image rawImage;`	176	`FlyCapture2::Image rawImage;`
177	`error = cam.RetrieveBuffer(&rawImage);`	177	`error = cam.RetrieveBuffer(&rawImage);`
178	`if (error != FlyCapture2::PGRERROR_OK)`	178	`if (error != FlyCapture2::PGRERROR_OK)`
179	`PrintError(error);`	179	`PrintError(error);`
180		180
181	`CameraFrame frame;`	181	`CameraFrame frame;`
182		182
183	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`	183	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`
184	`frame.height = rawImage.GetRows();`	184	`frame.height = rawImage.GetRows();`
185	`frame.width = rawImage.GetCols();`	185	`frame.width = rawImage.GetCols();`
186	`frame.memory = rawImage.GetData();`	186	`frame.memory = rawImage.GetData();`
187		187
188	`return frame;`	188	`return frame;`
189	`}`	189	`}`
190		190
191		191
192	`size_t CameraPointGrey::getFrameSizeBytes(){`	192	`size_t CameraPointGrey::getFrameSizeBytes(){`
193		193
194		194
195	`return 0;`	195	`return 0;`
196	`}`	196	`}`
197		197
198	`void CameraPointGrey::getFrameWidthHeight(unsigned int width, unsigned int height){`	198	`void CameraPointGrey::getFrameWidthHeight(unsigned int width, unsigned int height){`
199	`// How do we poll this from the camera?`	199	`// How do we poll this from the camera?`
200	`*width = 640;`	200	`*width = 640;`
201	`*height = 480;`	201	`*height = 480;`
202		202
203	`}`	203	`}`
204		204
205		205
206	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`	206	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`
207		207
208	`FlyCapture2::Property property;`	208	`FlyCapture2::Property property;`
209	`property.onOff = true;`	209	`property.onOff = true;`
210	`property.absControl = true;`	210	`property.absControl = true;`
211		211
212	`property.type = FlyCapture2::SHUTTER;`	212	`property.type = FlyCapture2::SHUTTER;`
213	`property.absValue = settings.shutter;`	213	`property.absValue = settings.shutter;`
214	`cam.SetProperty(&property);`	214	`cam.SetProperty(&property);`
215		215
216	`property.type = FlyCapture2::GAIN;`	216	`property.type = FlyCapture2::GAIN;`
217	`property.absValue = settings.gain;`	217	`property.absValue = settings.gain;`
218	`cam.SetProperty(&property);`	218	`cam.SetProperty(&property);`
219		219
220	`}`	220	`}`
221		221
222	`CameraSettings CameraPointGrey::getCameraSettings(){`	222	`CameraSettings CameraPointGrey::getCameraSettings(){`
223		223
224	`FlyCapture2::Property property;`	224	`FlyCapture2::Property property;`
225		225
226	`// Get settings:`	226	`// Get settings:`
227	`CameraSettings settings;`	227	`CameraSettings settings;`
228		228
229	`property.type = FlyCapture2::SHUTTER;`	229	`property.type = FlyCapture2::SHUTTER;`
230	`cam.GetProperty(&property);`	230	`cam.GetProperty(&property);`
231	`settings.shutter = property.absValue;`	231	`settings.shutter = property.absValue;`
232		232
233	`property.type = FlyCapture2::GAIN;`	233	`property.type = FlyCapture2::GAIN;`
234	`cam.GetProperty(&property);`	234	`cam.GetProperty(&property);`
235	`settings.gain = property.absValue;`	235	`settings.gain = property.absValue;`
236		236
237	`return settings;`	237	`return settings;`
238	`}`	238	`}`
239		239
240	`CameraPointGrey::~CameraPointGrey(){`	240	`CameraPointGrey::~CameraPointGrey(){`
241	`std::cout << "Deleting Point Grey Camera 1" << std::endl << std::flush;`	241	`std::cout << "Deleting Point Grey Camera 1" << std::endl << std::flush;`
242		242
243	`// Stop camera transmission`	243	`// Stop camera transmission`
244	`// cam.StopCapture();`	244	`// cam.StopCapture();`
245		245
246	`std::cout << "Deleting Point Grey Camera 2" << std::endl << std::flush;`	246	`std::cout << "Deleting Point Grey Camera 2" << std::endl << std::flush;`
247		247
248	`// Gracefulle destruct the camera`	248	`// Gracefulle destruct the camera`
249	`// cam.Disconnect();`	249	`// cam.Disconnect();`
250		250
251	`std::cout << "Deleting Point Grey Camera 3" << std::endl << std::flush;`	251	`std::cout << "Deleting Point Grey Camera 3" << std::endl << std::flush;`
252	`}`	252	`}`
253		253
254		254
255		255
256		256

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(root)/src/camera/CameraPointGrey.cpp – Rev 4 → 17