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


#include "CameraPointGrey.h"
#include <cstring>
#include <assert.h>
 
//#include <sys/ioctl.h>
//#include <linux/usbdevice_fs.h>
 
void PrintError(FlyCapture2::Error error){
    //TODOassert(false);
    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 = 5000; // 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 = 5000;
    error = cam.SetConfiguration(&config);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
 
    // TODO this segfaults if another instance is running
    if(!capturing)
        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 207	Rev 255
1	`#include "CameraPointGrey.h"`	1	`#include "CameraPointGrey.h"`
2	`#include <cstring>`	2	`#include <cstring>`
3	`#include <assert.h>`	3	`#include <assert.h>`
4		4
5	`//#include <sys/ioctl.h>`	5	`//#include <sys/ioctl.h>`
6	`//#include <linux/usbdevice_fs.h>`	6	`//#include <linux/usbdevice_fs.h>`
7		7
8	`void PrintError(FlyCapture2::Error error){`	8	`void PrintError(FlyCapture2::Error error){`
9	`//TODOassert(false);`	9	`//TODOassert(false);`
10	`error.PrintErrorTrace();`	10	`error.PrintErrorTrace();`
11	`}`	11	`}`
12		12
13	`vector<CameraInfo> CameraPointGrey::getCameraList(){`	13	`vector<CameraInfo> CameraPointGrey::getCameraList(){`
14		14
15	`FlyCapture2::Error error;`	15	`FlyCapture2::Error error;`
16		16
17	`FlyCapture2::BusManager busManager;`	17	`FlyCapture2::BusManager busManager;`
18	`unsigned int numCameras;`	18	`unsigned int numCameras;`
19	`error = busManager.GetNumOfCameras(&numCameras);`	19	`error = busManager.GetNumOfCameras(&numCameras);`
20		20
21	`vector<CameraInfo> ret;`	21	`vector<CameraInfo> ret;`
22		22
23	`if (error != FlyCapture2::PGRERROR_OK){`	23	`if (error != FlyCapture2::PGRERROR_OK){`
24	`PrintError(error);`	24	`PrintError(error);`
25	`return ret;`	25	`return ret;`
26	`}`	26	`}`
27		27
28	`for (unsigned int i=0; i < numCameras; i++){`	28	`for (unsigned int i=0; i < numCameras; i++){`
29	`FlyCapture2::PGRGuid guid;`	29	`FlyCapture2::PGRGuid guid;`
30	`error = busManager.GetCameraFromIndex(i, &guid);`	30	`error = busManager.GetCameraFromIndex(i, &guid);`
31	`if (error != FlyCapture2::PGRERROR_OK)`	31	`if (error != FlyCapture2::PGRERROR_OK)`
32	`PrintError(error);`	32	`PrintError(error);`
33		33
34	`// Connect to camera`	34	`// Connect to camera`
35	`FlyCapture2::Camera cam;`	35	`FlyCapture2::Camera cam;`
36	`error = cam.Connect(&guid);`	36	`error = cam.Connect(&guid);`
37	`if (error != FlyCapture2::PGRERROR_OK)`	37	`if (error != FlyCapture2::PGRERROR_OK)`
38	`PrintError( error );`	38	`PrintError( error );`
39		39
40	`// Get camera information`	40	`// Get camera information`
41	`FlyCapture2::CameraInfo camInfo;`	41	`FlyCapture2::CameraInfo camInfo;`
42	`error = cam.GetCameraInfo(&camInfo);`	42	`error = cam.GetCameraInfo(&camInfo);`
43	`if (error != FlyCapture2::PGRERROR_OK)`	43	`if (error != FlyCapture2::PGRERROR_OK)`
44	`PrintError( error );`	44	`PrintError( error );`
45		45
46	`CameraInfo camera;`	46	`CameraInfo camera;`
47	`camera.vendor = "Point Grey";`	47	`camera.vendor = "Point Grey";`
48	`camera.model = camInfo.modelName;`	48	`camera.model = camInfo.modelName;`
49	`camera.busID = camInfo.nodeNumber;`	49	`camera.busID = camInfo.nodeNumber;`
50	`camera.serialNumber = camInfo.serialNumber;`	50	`camera.serialNumber = camInfo.serialNumber;`
51		51
52	`ret.push_back(camera);`	52	`ret.push_back(camera);`
53	`}`	53	`}`
54		54
55	`return ret;`	55	`return ret;`
56	`}`	56	`}`
57		57
58	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`	58	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`
59		59
60	`// // Reset USB bus`	60	`// // Reset USB bus`
61	`// std::cout << "Resetting USB device %s\n";`	61	`// std::cout << "Resetting USB device %s\n";`
62	`// int rc = ioctl(fd, USBDEVFS_RESET, 0);`	62	`// int rc = ioctl(fd, USBDEVFS_RESET, 0);`
63	`// if (rc < 0)`	63	`// if (rc < 0)`
64	`// perror("Error in ioctl");`	64	`// perror("Error in ioctl");`
65	`// else`	65	`// else`
66	`// printf("Reset successful\n");`	66	`// printf("Reset successful\n");`
67		67
68		68
69	`FlyCapture2::Error error;`	69	`FlyCapture2::Error error;`
70		70
71	`// Connect to camera`	71	`// Connect to camera`
72	`FlyCapture2::BusManager busManager;`	72	`FlyCapture2::BusManager busManager;`
73		73
74	`FlyCapture2::PGRGuid camGuid;`	74	`FlyCapture2::PGRGuid camGuid;`
75		75
76	`busManager.GetCameraFromIndex(camNum, &camGuid);`	76	`busManager.GetCameraFromIndex(camNum, &camGuid);`
77	`error = cam.Connect(&camGuid);`	77	`error = cam.Connect(&camGuid);`
78	`if (error != FlyCapture2::PGRERROR_OK)`	78	`if (error != FlyCapture2::PGRERROR_OK)`
79	`PrintError(error);`	79	`PrintError(error);`
80		80
81	`// // Configure DCAM video mode and frame rate`	81	`// // Configure DCAM video mode and frame rate`
82	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`	82	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`
83	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`	83	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`
84	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`	84	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`
85	`// if (error != FlyCapture2::PGRERROR_OK)`	85	`// if (error != FlyCapture2::PGRERROR_OK)`
86	`// PrintError(error);`	86	`// PrintError(error);`
87		87
88	`// Configure Format7 mode`	88	`// Configure Format7 mode`
89	`FlyCapture2::Format7ImageSettings format7Settings;`	89	`FlyCapture2::Format7ImageSettings format7Settings;`
90	`format7Settings.mode = FlyCapture2::MODE_0;`	90	`format7Settings.mode = FlyCapture2::MODE_0;`
91	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;`	91	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;`
92	`format7Settings.width = 3376;`	92	`format7Settings.width = 3376;`
93	`format7Settings.height = 2704;`	93	`format7Settings.height = 2704;`
94	`format7Settings.offsetX = 0;`	94	`format7Settings.offsetX = 0;`
95	`format7Settings.offsetY = 0;`	95	`format7Settings.offsetY = 0;`
96		96
97	`// format7Settings.width = 2496;`	97	`// format7Settings.width = 2496;`
98	`// format7Settings.height = 1888;`	98	`// format7Settings.height = 1888;`
99	`// format7Settings.offsetX = (3376-2496)/2;`	99	`// format7Settings.offsetX = (3376-2496)/2;`
100	`// format7Settings.offsetY = (2704-1888)/2;`	100	`// format7Settings.offsetY = (2704-1888)/2;`
101		101
102	`// Validate and set mode`	102	`// Validate and set mode`
103	`FlyCapture2::Format7PacketInfo packetInfo;`	103	`FlyCapture2::Format7PacketInfo packetInfo;`
104	`bool valid;`	104	`bool valid;`
105	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`	105	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`
106	`if (error != FlyCapture2::PGRERROR_OK)`	106	`if (error != FlyCapture2::PGRERROR_OK)`
107	`PrintError(error);`	107	`PrintError(error);`
108	`// packetsize configures maximum frame rate`	108	`// packetsize configures maximum frame rate`
109	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`	109	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`
110	`if (error != FlyCapture2::PGRERROR_OK)`	110	`if (error != FlyCapture2::PGRERROR_OK)`
111	`PrintError(error);`	111	`PrintError(error);`
112		112
113	`// Configure general`	113	`// Configure general`
114	`FlyCapture2::FC2Config config;`	114	`FlyCapture2::FC2Config config;`
115	`config.numBuffers = 5;`	115	`config.numBuffers = 5;`
116	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`	116	`config.grabTimeout = 5000; // retrieveBuffer() timeout in ms`
117	`config.grabMode = FlyCapture2::DROP_FRAMES;`	117	`config.grabMode = FlyCapture2::DROP_FRAMES;`
118	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	118	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
119	`config.highPerformanceRetrieveBuffer = true;`	119	`config.highPerformanceRetrieveBuffer = true;`
120	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	120	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
121	`error = cam.SetConfiguration(&config);`	121	`error = cam.SetConfiguration(&config);`
122	`if (error != FlyCapture2::PGRERROR_OK)`	122	`if (error != FlyCapture2::PGRERROR_OK)`
123	`PrintError(error);`	123	`PrintError(error);`
124		124
125		125
126	`// Get the camera information`	126	`// Get the camera information`
127	`FlyCapture2::CameraInfo camInfo;`	127	`FlyCapture2::CameraInfo camInfo;`
128	`error = cam.GetCameraInfo(&camInfo);`	128	`error = cam.GetCameraInfo(&camInfo);`
129	`if (error != FlyCapture2::PGRERROR_OK)`	129	`if (error != FlyCapture2::PGRERROR_OK)`
130	`PrintError(error);`	130	`PrintError(error);`
131		131
132	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`	132	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`
133		133
134	`// Turn off auto settings`	134	`// Turn off auto settings`
135	`FlyCapture2::Property property;`	135	`FlyCapture2::Property property;`
136	`property.type = FlyCapture2::AUTO_EXPOSURE;`	136	`property.type = FlyCapture2::AUTO_EXPOSURE;`
137	`property.onOff = false;`	137	`property.onOff = false;`
138	`error = cam.SetProperty(&property);`	138	`error = cam.SetProperty(&property);`
139	`if (error != FlyCapture2::PGRERROR_OK)`	139	`if (error != FlyCapture2::PGRERROR_OK)`
140	`PrintError(error);`	140	`PrintError(error);`
141		141
142	`property.type = FlyCapture2::GAMMA;`	142	`property.type = FlyCapture2::GAMMA;`
143	`property.onOff = true;`	143	`property.onOff = true;`
144	`property.absControl = true;`	144	`property.absControl = true;`
145	`property.absValue = 1.0;`	145	`property.absValue = 1.0;`
146	`error = cam.SetProperty(&property);`	146	`error = cam.SetProperty(&property);`
147	`if (error != FlyCapture2::PGRERROR_OK)`	147	`if (error != FlyCapture2::PGRERROR_OK)`
148	`PrintError(error);`	148	`PrintError(error);`
149		149
150	`// Set frame rate to 6`	150	`// Set frame rate to 6`
151	`property.type = FlyCapture2::FRAME_RATE;`	151	`property.type = FlyCapture2::FRAME_RATE;`
152	`property.onOff = true;`	152	`property.onOff = true;`
153	`property.absControl = true;`	153	`property.absControl = true;`
154	`property.autoManualMode = false;`	154	`property.autoManualMode = false;`
155	`property.absValue = 6.0;`	155	`property.absValue = 6.0;`
156	`error = cam.SetProperty(&property);`	156	`error = cam.SetProperty(&property);`
157	`if (error != FlyCapture2::PGRERROR_OK)`	157	`if (error != FlyCapture2::PGRERROR_OK)`
158	`PrintError(error);`	158	`PrintError(error);`
159		159
160	`// Set white balance to match LED projector light`	160	`// Set white balance to match LED projector light`
161	`property.type = FlyCapture2::WHITE_BALANCE;`	161	`property.type = FlyCapture2::WHITE_BALANCE;`
162	`property.onOff = true;`	162	`property.onOff = true;`
163	`property.absControl = false;`	163	`property.absControl = false;`
164	`property.autoManualMode = false;`	164	`property.autoManualMode = false;`
165	`property.valueA = 666; //red`	165	`property.valueA = 666; //red`
166	`property.valueB = 777; //blue`	166	`property.valueB = 777; //blue`
167	`error = cam.SetProperty(&property);`	167	`error = cam.SetProperty(&property);`
168	`if (error != FlyCapture2::PGRERROR_OK)`	168	`if (error != FlyCapture2::PGRERROR_OK)`
169	`PrintError(error);`	169	`PrintError(error);`
170		170
171	`// Set reasonable default settings`	171	`// Set reasonable default settings`
172	`CameraSettings settings;`	172	`CameraSettings settings;`
173	`//settings.shutter = 8.33;`	173	`//settings.shutter = 8.33;`
174	`settings.shutter = 66.66;`	174	`settings.shutter = 66.66;`
175	`settings.gain = 0.0;`	175	`settings.gain = 0.0;`
176	`this->setCameraSettings(settings);`	176	`this->setCameraSettings(settings);`
177		177
178	`return;`	178	`return;`
179	`}`	179	`}`
180		180
181	`CameraSettings CameraPointGrey::getCameraSettings(){`	181	`CameraSettings CameraPointGrey::getCameraSettings(){`
182		182
183	`FlyCapture2::Property property;`	183	`FlyCapture2::Property property;`
184		184
185	`// Get settings:`	185	`// Get settings:`
186	`CameraSettings settings;`	186	`CameraSettings settings;`
187		187
188	`property.type = FlyCapture2::SHUTTER;`	188	`property.type = FlyCapture2::SHUTTER;`
189	`cam.GetProperty(&property);`	189	`cam.GetProperty(&property);`
190	`settings.shutter = property.absValue;`	190	`settings.shutter = property.absValue;`
191		191
192	`property.type = FlyCapture2::GAIN;`	192	`property.type = FlyCapture2::GAIN;`
193	`cam.GetProperty(&property);`	193	`cam.GetProperty(&property);`
194	`settings.gain = property.absValue;`	194	`settings.gain = property.absValue;`
195		195
196	`return settings;`	196	`return settings;`
197	`}`	197	`}`
198		198
199	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`	199	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`
200		200
201	`FlyCapture2::Property property;`	201	`FlyCapture2::Property property;`
202	`property.onOff = true;`	202	`property.onOff = true;`
203	`property.absControl = true;`	203	`property.absControl = true;`
204		204
205	`property.type = FlyCapture2::SHUTTER;`	205	`property.type = FlyCapture2::SHUTTER;`
206	`property.absValue = settings.shutter;`	206	`property.absValue = settings.shutter;`
207	`cam.SetProperty(&property);`	207	`cam.SetProperty(&property);`
208		208
209	`property.type = FlyCapture2::GAIN;`	209	`property.type = FlyCapture2::GAIN;`
210	`property.absValue = settings.gain;`	210	`property.absValue = settings.gain;`
211	`cam.SetProperty(&property);`	211	`cam.SetProperty(&property);`
212		212
213	`}`	213	`}`
214		214
215	`void CameraPointGrey::startCapture(){`	215	`void CameraPointGrey::startCapture(){`
216		216
217	`FlyCapture2::Error error;`	217	`FlyCapture2::Error error;`
218		218
219	`if(triggerMode == triggerModeHardware){`	219	`if(triggerMode == triggerModeHardware){`
220	`// Configure for hardware trigger`	220	`// Configure for hardware trigger`
221	`FlyCapture2::TriggerMode triggerMode;`	221	`FlyCapture2::TriggerMode triggerMode;`
222	`triggerMode.onOff = true;`	222	`triggerMode.onOff = true;`
223	`triggerMode.polarity = 0;`	223	`triggerMode.polarity = 0;`
224	`triggerMode.source = 0;`	224	`triggerMode.source = 0;`
225	`triggerMode.mode = 14;`	225	`triggerMode.mode = 14;`
226	`error = cam.SetTriggerMode(&triggerMode);`	226	`error = cam.SetTriggerMode(&triggerMode);`
227	`if (error != FlyCapture2::PGRERROR_OK)`	227	`if (error != FlyCapture2::PGRERROR_OK)`
228	`PrintError(error);`	228	`PrintError(error);`
229		229
230	`} else if(triggerMode == triggerModeSoftware){`	230	`} else if(triggerMode == triggerModeSoftware){`
231	`// Configure software trigger`	231	`// Configure software trigger`
232	`FlyCapture2::TriggerMode triggerMode;`	232	`FlyCapture2::TriggerMode triggerMode;`
233	`triggerMode.onOff = true;`	233	`triggerMode.onOff = true;`
234	`triggerMode.polarity = 0;`	234	`triggerMode.polarity = 0;`
235	`triggerMode.source = 7; // software`	235	`triggerMode.source = 7; // software`
236	`triggerMode.mode = 0;`	236	`triggerMode.mode = 0;`
237	`error = cam.SetTriggerMode(&triggerMode);`	237	`error = cam.SetTriggerMode(&triggerMode);`
238	`if (error != FlyCapture2::PGRERROR_OK)`	238	`if (error != FlyCapture2::PGRERROR_OK)`
239	`PrintError(error);`	239	`PrintError(error);`
240	`}`	240	`}`
241		241
242	`// Set the trigger timeout to 1000 ms`	242	`// Set the trigger timeout to 1000 ms`
243	`FlyCapture2::FC2Config config;`	243	`FlyCapture2::FC2Config config;`
244	`config.grabTimeout = 1000;`	244	`config.grabTimeout = 5000;`
245	`error = cam.SetConfiguration(&config);`	245	`error = cam.SetConfiguration(&config);`
246	`if (error != FlyCapture2::PGRERROR_OK)`	246	`if (error != FlyCapture2::PGRERROR_OK)`
247	`PrintError(error);`	247	`PrintError(error);`
248		248
249	`// TODO this segfaults if another instance is running`	249	`// TODO this segfaults if another instance is running`
250	`if(!capturing)`	250	`if(!capturing)`
251	`error = cam.StartCapture();`	251	`error = cam.StartCapture();`
252	`if (error != FlyCapture2::PGRERROR_OK)`	252	`if (error != FlyCapture2::PGRERROR_OK)`
253	`PrintError(error);`	253	`PrintError(error);`
254		254
255	`capturing = true;`	255	`capturing = true;`
256	`}`	256	`}`
257		257
258	`void CameraPointGrey::stopCapture(){`	258	`void CameraPointGrey::stopCapture(){`
259		259
260	`FlyCapture2::Error error = cam.StopCapture();`	260	`FlyCapture2::Error error = cam.StopCapture();`
261	`if (error != FlyCapture2::PGRERROR_OK)`	261	`if (error != FlyCapture2::PGRERROR_OK)`
262	`PrintError(error);`	262	`PrintError(error);`
263		263
264	`capturing = false;`	264	`capturing = false;`
265	`}`	265	`}`
266		266
267	`void CameraPointGrey::trigger(){`	267	`void CameraPointGrey::trigger(){`
268		268
269	`FlyCapture2::Error error;`	269	`FlyCapture2::Error error;`
270		270
271	`// Fire software trigger`	271	`// Fire software trigger`
272	`// broadcasting not supported on some platforms`	272	`// broadcasting not supported on some platforms`
273	`error = cam.FireSoftwareTrigger(false);`	273	`error = cam.FireSoftwareTrigger(false);`
274		274
275	`if (error != FlyCapture2::PGRERROR_OK)`	275	`if (error != FlyCapture2::PGRERROR_OK)`
276	`PrintError(error);`	276	`PrintError(error);`
277		277
278	`}`	278	`}`
279		279
280	`CameraFrame CameraPointGrey::getFrame(){`	280	`CameraFrame CameraPointGrey::getFrame(){`
281		281
282	`FlyCapture2::Error error;`	282	`FlyCapture2::Error error;`
283		283
284	`// Retrieve the image`	284	`// Retrieve the image`
285	`FlyCapture2::Image rawImage;`	285	`FlyCapture2::Image rawImage;`
286	`error = cam.RetrieveBuffer(&rawImage);`	286	`error = cam.RetrieveBuffer(&rawImage);`
287	`if (error != FlyCapture2::PGRERROR_OK)`	287	`if (error != FlyCapture2::PGRERROR_OK)`
288	`PrintError(error);`	288	`PrintError(error);`
289		289
290	`// rawImage.SetColorProcessing(FlyCapture2::IPP);`	290	`// rawImage.SetColorProcessing(FlyCapture2::IPP);`
291		291
292	`// // de-Bayer`	292	`// // de-Bayer`
293	`// rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`	293	`// rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`
294		294
295	`// CameraFrame frame;`	295	`// CameraFrame frame;`
296		296
297	`// frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`	297	`// frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`
298	`// frame.height = currentImage.GetRows();`	298	`// frame.height = currentImage.GetRows();`
299	`// frame.width = currentImage.GetCols();`	299	`// frame.width = currentImage.GetCols();`
300	`// frame.bitDepth = 8;`	300	`// frame.bitDepth = 8;`
301	`// frame.channels = 3;`	301	`// frame.channels = 3;`
302	`// frame.memory = (unsigned short*)currentImage.GetData();`	302	`// frame.memory = (unsigned short*)currentImage.GetData();`
303		303
304	`CameraFrame frame;`	304	`CameraFrame frame;`
305		305
306	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`	306	`frame.timeStamp = rawImage.GetTimeStamp().cycleCount;`
307	`frame.height = rawImage.GetRows();`	307	`frame.height = rawImage.GetRows();`
308	`frame.width = rawImage.GetCols();`	308	`frame.width = rawImage.GetCols();`
309	`frame.bitDepth = 8;`	309	`frame.bitDepth = 8;`
310	`frame.channels = 1;`	310	`frame.channels = 1;`
311	`frame.memory = rawImage.GetData();`	311	`frame.memory = rawImage.GetData();`
312		312
313	`return frame;`	313	`return frame;`
314	`}`	314	`}`
315		315
316		316
317	`size_t CameraPointGrey::getFrameSizeBytes(){`	317	`size_t CameraPointGrey::getFrameSizeBytes(){`
318		318
319	`FlyCapture2::Format7ImageSettings format7Settings;`	319	`FlyCapture2::Format7ImageSettings format7Settings;`
320	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	320	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
321		321
322	`return format7Settings.heightformat7Settings.width3*2;`	322	`return format7Settings.heightformat7Settings.width3*2;`
323	`}`	323	`}`
324		324
325	`size_t CameraPointGrey::getFrameWidth(){`	325	`size_t CameraPointGrey::getFrameWidth(){`
326		326
327	`FlyCapture2::Format7ImageSettings format7Settings;`	327	`FlyCapture2::Format7ImageSettings format7Settings;`
328	`unsigned int dummy1;`	328	`unsigned int dummy1;`
329	`float dummy2;`	329	`float dummy2;`
330	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`	330	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`
331	`if (error != FlyCapture2::PGRERROR_OK)`	331	`if (error != FlyCapture2::PGRERROR_OK)`
332	`PrintError(error);`	332	`PrintError(error);`
333		333
334	`return format7Settings.width;`	334	`return format7Settings.width;`
335	`}`	335	`}`
336		336
337	`size_t CameraPointGrey::getFrameHeight(){`	337	`size_t CameraPointGrey::getFrameHeight(){`
338		338
339	`FlyCapture2::Format7ImageSettings format7Settings;`	339	`FlyCapture2::Format7ImageSettings format7Settings;`
340	`unsigned int dummy1;`	340	`unsigned int dummy1;`
341	`float dummy2;`	341	`float dummy2;`
342	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`	342	`FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);`
343	`if (error != FlyCapture2::PGRERROR_OK)`	343	`if (error != FlyCapture2::PGRERROR_OK)`
344	`PrintError(error);`	344	`PrintError(error);`
345		345
346	`return format7Settings.height;`	346	`return format7Settings.height;`
347		347
348		348
349	`}`	349	`}`
350		350
351		351
352	`CameraPointGrey::~CameraPointGrey(){`	352	`CameraPointGrey::~CameraPointGrey(){`
353		353
354	`if(capturing){`	354	`if(capturing){`
355	`// Stop camera transmission`	355	`// Stop camera transmission`
356	`stopCapture();`	356	`stopCapture();`
357	`}`	357	`}`
358		358
359	`// Gracefulle destruct the camera`	359	`// Gracefulle destruct the camera`
360	`cam.Disconnect();`	360	`cam.Disconnect();`
361		361
362	`std::cout << "Closed camera!" << std::endl << std::flush;`	362	`std::cout << "Closed camera!" << std::endl << std::flush;`
363	`}`	363	`}`
364		364
365		365
366		366
367		367

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(root)/src/camera/CameraPointGrey.cpp – Rev 207 → 255