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 );
 
    //    // 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 = 1296;
        format7Settings.height = 964;
        format7Settings.offsetX = 0;
        format7Settings.offsetY = 0;
 
        // Validate and set mode
        FlyCapture2::Format7PacketInfo packetInfo;
        bool valid;
        cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);
        // packetsize indirectly configures frame rate
        error = cam.SetFormat7Configuration(&format7Settings, packetInfo.unitBytesPerPacket*3);
        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 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 camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){
 
    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 video mode and frame rate
    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_640x480Y16;
    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);
 
    // 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;\
 
    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);
 
        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);
        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);
 
    capturing = true;
}
 
void CameraPointGrey::stopCapture(){
 
    FlyCapture2::Error error = cam.StopCapture();
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    capturing = false;
}
 
CameraFrame CameraPointGrey::getFrame(){
 
    FlyCapture2::Error error;
 
    if(triggerMode == triggerModeSoftware){
        // 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.bitDepth = 16;
    frame.memory = (unsigned short*)rawImage.GetData();
 
    return frame;
}
 
 
size_t CameraPointGrey::getFrameSizeBytes(){
    
    return 0;
}
 
size_t CameraPointGrey::getFrameWidth(){
 
    // How do we poll this from the camera?
    return 640;
 
}
 
size_t CameraPointGrey::getFrameHeight(){
 
    // How do we poll this from the camera?
    return 480;
 
}
 
 
CameraPointGrey::~CameraPointGrey(){
 
    if(capturing && triggerMode == triggerModeHardware){
        // Stop camera transmission
        cam.StopCapture();
    }
 
    // Gracefulle destruct the camera
    cam.Disconnect();
 
}
 
 
 
 

Rev 18	Rev 19
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	`// // Configure DCAM video mode and frame rate`
-		36	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`
-		37	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`
-		38	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`
-		39	`// if (error != FlyCapture2::PGRERROR_OK)`
-		40	`// PrintError(error);`
-		41
-		42	`// Configure Format7 mode`
-		43	`FlyCapture2::Format7ImageSettings format7Settings;`
-		44	`format7Settings.mode = FlyCapture2::MODE_0;`
-		45	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;`
-		46	`format7Settings.width = 1296;`
-		47	`format7Settings.height = 964;`
-		48	`format7Settings.offsetX = 0;`
-		49	`format7Settings.offsetY = 0;`
-		50
-		51	`// Validate and set mode`
-		52	`FlyCapture2::Format7PacketInfo packetInfo;`
-		53	`bool valid;`
-		54	`cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`
-		55	`// packetsize indirectly configures frame rate`
-		56	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.unitBytesPerPacket*3);`
-		57	`if (error != FlyCapture2::PGRERROR_OK)`
-		58	`PrintError(error);`
-		59
-		60	`// Configure general`
-		61	`FlyCapture2::FC2Config config;`
-		62	`config.numBuffers = 5;`
-		63	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`
-		64	`config.grabMode = FlyCapture2::DROP_FRAMES;`
-		65	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
-		66	`config.highPerformanceRetrieveBuffer = true;`
-		67	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
-		68	`error = cam.SetConfiguration(&config);`
-		69	`if (error != FlyCapture2::PGRERROR_OK)`
-		70	`PrintError(error);`
-		71
35	`// Get the camera information`	72	`// Get camera information`
36	`FlyCapture2::CameraInfo camInfo;`	73	`FlyCapture2::CameraInfo camInfo;`
37	`error = cam.GetCameraInfo(&camInfo);`	74	`error = cam.GetCameraInfo(&camInfo);`
38	`if (error != FlyCapture2::PGRERROR_OK)`	75	`if (error != FlyCapture2::PGRERROR_OK)`
39	`PrintError( error );`	76	`PrintError( error );`
40		77
41	`CameraInfo camera;`	78	`CameraInfo camera;`
42	`camera.busID = camInfo.nodeNumber;`	79	`camera.busID = camInfo.nodeNumber;`
43	`camera.model = camInfo.modelName;`	80	`camera.model = camInfo.modelName;`
44	`camera.vendor = "Point Grey Research";`	81	`camera.vendor = "Point Grey Research";`
45		82
46	`ret.push_back(camera);`	83	`ret.push_back(camera);`
47	`}`	84	`}`
48		85
49	`return ret;`	86	`return ret;`
50	`}`	87	`}`
51		88
52	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`	89	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`
53		90
54	`FlyCapture2::Error error;`	91	`FlyCapture2::Error error;`
55		92
56	`// Connect to camera`	93	`// Connect to camera`
57	`FlyCapture2::BusManager busManager;`	94	`FlyCapture2::BusManager busManager;`
58	`FlyCapture2::PGRGuid camGuid;`	95	`FlyCapture2::PGRGuid camGuid;`
59	`busManager.GetCameraFromIndex(camNum, &camGuid);`	96	`busManager.GetCameraFromIndex(camNum, &camGuid);`
60	`error = cam.Connect(&camGuid);`	97	`error = cam.Connect(&camGuid);`
61	`if (error != FlyCapture2::PGRERROR_OK)`	98	`if (error != FlyCapture2::PGRERROR_OK)`
62	`PrintError(error);`	99	`PrintError(error);`
63		100
64	`// Configure video mode and frame rate`	101	`// Configure video mode and frame rate`
65	`FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_640x480Y16;`	102	`FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_640x480Y16;`
66	`FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_15;`	103	`FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_15;`
67	`cam.SetVideoModeAndFrameRate(videoMode, frameRate);`	104	`cam.SetVideoModeAndFrameRate(videoMode, frameRate);`
68		105
69	`// Get the camera information`	106	`// Get the camera information`
70	`FlyCapture2::CameraInfo camInfo;`	107	`FlyCapture2::CameraInfo camInfo;`
71	`error = cam.GetCameraInfo(&camInfo);`	108	`error = cam.GetCameraInfo(&camInfo);`
72	`if (error != FlyCapture2::PGRERROR_OK)`	109	`if (error != FlyCapture2::PGRERROR_OK)`
73	`PrintError(error);`	110	`PrintError(error);`
74		111
75	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`	112	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`
76		113
77	`// Set reasonable default settings`	114	`// Set reasonable default settings`
78	`CameraSettings settings;`	115	`CameraSettings settings;`
79	`//settings.shutter = 8.33;`	116	`//settings.shutter = 8.33;`
80	`settings.shutter = 33.33;`	117	`settings.shutter = 33.33;`
81	`settings.gain = 0.0;`	118	`settings.gain = 0.0;`
82	`this->setCameraSettings(settings);`	119	`this->setCameraSettings(settings);`
83		120
84	`// Start isochronous image transfer`	121	`// Start isochronous image transfer`
85	`error = cam.StartCapture();`	122	`error = cam.StartCapture();`
86	`if (error != FlyCapture2::PGRERROR_OK)`	123	`if (error != FlyCapture2::PGRERROR_OK)`
87	`PrintError(error);`	124	`PrintError(error);`
88		125
89	`return;`	126	`return;`
90	`}`	127	`}`
91		128
92	`CameraSettings CameraPointGrey::getCameraSettings(){`	129	`CameraSettings CameraPointGrey::getCameraSettings(){`
93		130
94	`FlyCapture2::Property property;`	131	`FlyCapture2::Property property;`
95		132
96	`// Get settings:`	133	`// Get settings:`
97	`CameraSettings settings;`	134	`CameraSettings settings;`
98		135
99	`property.type = FlyCapture2::SHUTTER;`	136	`property.type = FlyCapture2::SHUTTER;`
100	`cam.GetProperty(&property);`	137	`cam.GetProperty(&property);`
101	`settings.shutter = property.absValue;`	138	`settings.shutter = property.absValue;`
102		139
103	`property.type = FlyCapture2::GAIN;`	140	`property.type = FlyCapture2::GAIN;`
104	`cam.GetProperty(&property);`	141	`cam.GetProperty(&property);`
105	`settings.gain = property.absValue;`	142	`settings.gain = property.absValue;`
106		143
107	`return settings;`	144	`return settings;`
108	`}`	145	`}`
109		146
110	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`	147	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`
111		148
112	`FlyCapture2::Property property;`	149	`FlyCapture2::Property property;`
113	`property.onOff = true;`	150	`property.onOff = true;`
114	`property.absControl = true;`	151	`property.absControl = true;`
115		152
116	`property.type = FlyCapture2::SHUTTER;`	153	`property.type = FlyCapture2::SHUTTER;`
117	`property.absValue = settings.shutter;`	154	`property.absValue = settings.shutter;`
118	`cam.SetProperty(&property);`	155	`cam.SetProperty(&property);`
119		156
120	`property.type = FlyCapture2::GAIN;`	157	`property.type = FlyCapture2::GAIN;`
121	`property.absValue = settings.gain;`	158	`property.absValue = settings.gain;`
122	`cam.SetProperty(&property);`	159	`cam.SetProperty(&property);`
123		160
124	`}`	161	`}`
125		162
126	`void CameraPointGrey::startCapture(){`	163	`void CameraPointGrey::startCapture(){`
127		164
128	`FlyCapture2::Error error;\`	165	`FlyCapture2::Error error;\`
129		166
130	`CameraSettings settings = this->getCameraSettings();`	167	`CameraSettings settings = this->getCameraSettings();`
131	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`	168	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`
132	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`	169	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`
133		170
134	`if(triggerMode == triggerModeHardware){`	171	`if(triggerMode == triggerModeHardware){`
135	`// Configure for hardware trigger`	172	`// Configure for hardware trigger`
136	`FlyCapture2::TriggerMode triggerMode;`	173	`FlyCapture2::TriggerMode triggerMode;`
137	`triggerMode.onOff = true;`	174	`triggerMode.onOff = true;`
138	`triggerMode.polarity = 0;`	175	`triggerMode.polarity = 0;`
139	`triggerMode.source = 0;`	176	`triggerMode.source = 0;`
140	`triggerMode.mode = 14;`	177	`triggerMode.mode = 14;`
141	`error = cam.SetTriggerMode(&triggerMode);`	178	`error = cam.SetTriggerMode(&triggerMode);`
142	`if (error != FlyCapture2::PGRERROR_OK)`	179	`if (error != FlyCapture2::PGRERROR_OK)`
143	`PrintError(error);`	180	`PrintError(error);`
144		181
145	`error = cam.StartCapture();`	182	`error = cam.StartCapture();`
146	`if (error != FlyCapture2::PGRERROR_OK)`	183	`if (error != FlyCapture2::PGRERROR_OK)`
147	`PrintError(error);`	184	`PrintError(error);`
148		185
149	`} else if(triggerMode == triggerModeSoftware){`	186	`} else if(triggerMode == triggerModeSoftware){`
150	`// Configure software trigger`	187	`// Configure software trigger`
151	`FlyCapture2::TriggerMode triggerMode;`	188	`FlyCapture2::TriggerMode triggerMode;`
152	`triggerMode.onOff = true;`	189	`triggerMode.onOff = true;`
153	`triggerMode.polarity = 0;`	190	`triggerMode.polarity = 0;`
154	`triggerMode.source = 7; // software`	191	`triggerMode.source = 7; // software`
155	`triggerMode.mode = 0;`	192	`triggerMode.mode = 0;`
156	`error = cam.SetTriggerMode(&triggerMode);`	193	`error = cam.SetTriggerMode(&triggerMode);`
157	`if (error != FlyCapture2::PGRERROR_OK)`	194	`if (error != FlyCapture2::PGRERROR_OK)`
158	`PrintError(error);`	195	`PrintError(error);`
159	`}`	196	`}`
160		197
161	`// Set the trigger timeout to 1000 ms`	198	`// Set the trigger timeout to 1000 ms`
162	`FlyCapture2::FC2Config config;`	199	`FlyCapture2::FC2Config config;`
163	`config.grabTimeout = 1000;`	200	`config.grabTimeout = 1000;`
164	`error = cam.SetConfiguration(&config);`	201	`error = cam.SetConfiguration(&config);`
165	`if (error != FlyCapture2::PGRERROR_OK)`	202	`if (error != FlyCapture2::PGRERROR_OK)`
166	`PrintError(error);`	203	`PrintError(error);`
167		204
168	`capturing = true;`	205	`capturing = true;`
169	`}`	206	`}`
170		207
171	`void CameraPointGrey::stopCapture(){`	208	`void CameraPointGrey::stopCapture(){`
172		209
173	`FlyCapture2::Error error = cam.StopCapture();`	210	`FlyCapture2::Error error = cam.StopCapture();`
174	`if (error != FlyCapture2::PGRERROR_OK)`	211	`if (error != FlyCapture2::PGRERROR_OK)`
175	`PrintError(error);`	212	`PrintError(error);`
176		213
177	`capturing = false;`	214	`capturing = false;`
178	`}`	215	`}`
179		216
180	`CameraFrame CameraPointGrey::getFrame(){`	217	`CameraFrame CameraPointGrey::getFrame(){`
181		218
182	`FlyCapture2::Error error;`	219	`FlyCapture2::Error error;`
183		220
184	`if(triggerMode == triggerModeSoftware){`	221	`if(triggerMode == triggerModeSoftware){`
185	`// Fire software trigger`	222	`// Fire software trigger`
186	`// broadcasting not supported on some platforms`	223	`// broadcasting not supported on some platforms`
187	`cam.FireSoftwareTrigger(false);`	224	`cam.FireSoftwareTrigger(false);`
188	`}`	225	`}`
189		226
190	`// Retrieve the image`	227	`// Retrieve the image`
191	`FlyCapture2::Image rawImage;`	228	`FlyCapture2::Image rawImage;`
192	`error = cam.RetrieveBuffer(&rawImage);`	229	`error = cam.RetrieveBuffer(&rawImage);`
193	`if (error != FlyCapture2::PGRERROR_OK)`	230	`if (error != FlyCapture2::PGRERROR_OK)`
194	`PrintError(error);`	231	`PrintError(error);`
195		232
196	`CameraFrame frame;`	233	`CameraFrame frame;`
197		234
198	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`	235	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`
199	`frame.height = rawImage.GetRows();`	236	`frame.height = rawImage.GetRows();`
200	`frame.width = rawImage.GetCols();`	237	`frame.width = rawImage.GetCols();`
201	`frame.bitDepth = 16;`	238	`frame.bitDepth = 16;`
202	`frame.memory = (unsigned short*)rawImage.GetData();`	239	`frame.memory = (unsigned short*)rawImage.GetData();`
203		240
204	`return frame;`	241	`return frame;`
205	`}`	242	`}`
206		243
207		244
208	`size_t CameraPointGrey::getFrameSizeBytes(){`	245	`size_t CameraPointGrey::getFrameSizeBytes(){`
209		246
210	`return 0;`	247	`return 0;`
211	`}`	248	`}`
212		249
213	`size_t CameraPointGrey::getFrameWidth(){`	250	`size_t CameraPointGrey::getFrameWidth(){`
214		251
215	`// How do we poll this from the camera?`	252	`// How do we poll this from the camera?`
216	`return 640;`	253	`return 640;`
217		254
218	`}`	255	`}`
219		256
220	`size_t CameraPointGrey::getFrameHeight(){`	257	`size_t CameraPointGrey::getFrameHeight(){`
221		258
222	`// How do we poll this from the camera?`	259	`// How do we poll this from the camera?`
223	`return 480;`	260	`return 480;`
224		261
225	`}`	262	`}`
226		263
227		264
228	`CameraPointGrey::~CameraPointGrey(){`	265	`CameraPointGrey::~CameraPointGrey(){`
229		266
230	`if(capturing && triggerMode == triggerModeHardware){`	267	`if(capturing && triggerMode == triggerModeHardware){`
231	`// Stop camera transmission`	268	`// Stop camera transmission`
232	`cam.StopCapture();`	269	`cam.StopCapture();`
233	`}`	270	`}`
234		271
235	`// Gracefulle destruct the camera`	272	`// Gracefulle destruct the camera`
236	`cam.Disconnect();`	273	`cam.Disconnect();`
237		274
238	`}`	275	`}`
239		276
240		277
241		278
242		279

Subversion Repositories seema-scanner

(root)/src/camera/CameraPointGrey.cpp – Rev 18 → 19