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){
+CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){
     FlyCapture2::Error error;
     // Connect to camera
     FlyCapture2::BusManager busManager;
     FlyCapture2::PGRGuid camGuid;
-    busManager.GetCameraFromIndex(camID, &camGuid);
+    busManager.GetCameraFromIndex(camNum, &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::VideoMode videoMode = FlyCapture2::VIDEOMODE_640x480Y16;
-    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_30;
+    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_15;
     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 = 8.33;
     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;
+}
+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;
+    FlyCapture2::Error error;\
-    error = cam.StopCapture();
+    CameraSettings settings = this->getCameraSettings();
-    if (error != FlyCapture2::PGRERROR_OK)
+    std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;
-        PrintError(error);
+    std::cout << "\tGain: " << settings.gain << "dB" << std::endl;
+    if(triggerMode == triggerModeHardware){
-    // Configure for hardware trigger
+        // Configure for hardware trigger
-    FlyCapture2::TriggerMode triggerMode;
+        FlyCapture2::TriggerMode triggerMode;
-    triggerMode.onOff = true;
+        triggerMode.onOff = true;
-    triggerMode.polarity = 0;
+        triggerMode.polarity = 0;
-    triggerMode.source = 0;
+        triggerMode.source = 0;
-    triggerMode.mode = 14;
+        triggerMode.mode = 14;
+        error = cam.SetTriggerMode(&triggerMode);
+        if (error != FlyCapture2::PGRERROR_OK)
+            PrintError(error);
+        error = cam.StartCapture();
+        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);
+        error = cam.SetTriggerMode(&triggerMode);
-    if (error != FlyCapture2::PGRERROR_OK)
+        if (error != FlyCapture2::PGRERROR_OK)
-        PrintError(error);
+            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;
+    FlyCapture2::Error error = cam.StopCapture();
-    // 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;
+    capturing = false;
-}
-void CameraPointGrey::unlockFrame(){
+}
-CameraFrame CameraPointGrey::getSingleFrame(){
+CameraFrame CameraPointGrey::getFrame(){
     FlyCapture2::Error error;
+    if(triggerMode == triggerModeSoftware){
-    // Fire software trigger
+        // Fire software trigger
-    // broadcasting not supported on some platforms
+        // broadcasting not supported on some platforms
-    cam.FireSoftwareTrigger(false);
+        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.bitDepth = 16;
-    frame.memory = rawImage.GetData();
+    frame.memory = (unsigned short*)rawImage.GetData();
     return frame;
+}
 size_t CameraPointGrey::getFrameSizeBytes(){
     return 0;
+}
-void CameraPointGrey::getFrameWidthHeight(unsigned int *width, unsigned int *height){
+size_t CameraPointGrey::getFrameWidth(){
     // How do we poll this from the camera?
-    *width = 640;
+    return 640;
-    *height = 480;
+}
+size_t CameraPointGrey::getFrameHeight(){
-void CameraPointGrey::setCameraSettings(CameraSettings settings){
-    FlyCapture2::Property property;
+    // How do we poll this from the camera?
-    property.onOff = true;
+    return 480;
-    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;
+    if(capturing && triggerMode == triggerModeHardware){
+        // Stop camera transmission
+        cam.StopCapture();
+    }
     // Gracefulle destruct the camera
-   // cam.Disconnect();
+    cam.Disconnect();
-    std::cout << "Deleting Point Grey Camera 3" << std::endl << std::flush;
+}

Subversion Repositories seema-scanner

(root)/src/camera/CameraPointGrey.cpp – Rev 17 → 18