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.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){
 
//    // 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_RAW16;
    format7Settings.width = 3376;
    format7Settings.height = 2704;
    format7Settings.offsetX = 0;
    format7Settings.offsetY = 0;
 
    // Validate and set mode
    FlyCapture2::Format7PacketInfo packetInfo;
    bool valid;
    error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);
    if (error != FlyCapture2::PGRERROR_OK)
        PrintError(error);
    // packetsize indirectly configures 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;
 
    // Set reasonable default settings
    CameraSettings settings;
    //settings.shutter = 8.33;
    settings.shutter = 33.33;
    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;
 
    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);
 
    } 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();
 
    return frame;
}
 
 
size_t CameraPointGrey::getFrameSizeBytes(){
    
    return 3376*2704*3;
}
 
size_t CameraPointGrey::getFrameWidth(){
 
    // How do we poll this from the camera?
    return 3376;
 
}
 
size_t CameraPointGrey::getFrameHeight(){
 
    // How do we poll this from the camera?
    return 2704;
 
}
 
 
CameraPointGrey::~CameraPointGrey(){
 
    if(capturing){
        // Stop camera transmission
        stopCapture();
    }
 
    // Gracefulle destruct the camera
    cam.Disconnect();
 
    std::cout << "Closed camera!" << std::endl << std::flush;
}
 
 
 
 

Rev 26	Rev 27
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.busID = camInfo.nodeNumber;`	45	`camera.busID = camInfo.nodeNumber;`
46	`camera.model = camInfo.modelName;`	46	`camera.model = camInfo.modelName;`
47	`camera.vendor = "Point Grey Research";`	47	`camera.vendor = "Point Grey Research";`
48		48
49	`ret.push_back(camera);`	49	`ret.push_back(camera);`
50	`}`	50	`}`
51		51
52	`return ret;`	52	`return ret;`
53	`}`	53	`}`
54		54
55	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`	55	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`
56		56
57	`// // Reset USB bus`	57	`// // Reset USB bus`
58	`// std::cout << "Resetting USB device %s\n";`	58	`// std::cout << "Resetting USB device %s\n";`
59	`// int rc = ioctl(fd, USBDEVFS_RESET, 0);`	59	`// int rc = ioctl(fd, USBDEVFS_RESET, 0);`
60	`// if (rc < 0)`	60	`// if (rc < 0)`
61	`// perror("Error in ioctl");`	61	`// perror("Error in ioctl");`
62	`// else`	62	`// else`
63	`// printf("Reset successful\n");`	63	`// printf("Reset successful\n");`
64		64
65		65
66	`FlyCapture2::Error error;`	66	`FlyCapture2::Error error;`
67		67
68	`// Connect to camera`	68	`// Connect to camera`
69	`FlyCapture2::BusManager busManager;`	69	`FlyCapture2::BusManager busManager;`
70	`busManager.RescanBus();`	-
71		70
72	`FlyCapture2::PGRGuid camGuid;`	71	`FlyCapture2::PGRGuid camGuid;`
73		72
74	`busManager.GetCameraFromIndex(camNum, &camGuid);`	73	`busManager.GetCameraFromIndex(camNum, &camGuid);`
75	`error = cam.Connect(&camGuid);`	74	`error = cam.Connect(&camGuid);`
76	`if (error != FlyCapture2::PGRERROR_OK)`	75	`if (error != FlyCapture2::PGRERROR_OK)`
77	`PrintError(error);`	76	`PrintError(error);`
78		77
79	`// // Configure DCAM video mode and frame rate`	78	`// // Configure DCAM video mode and frame rate`
80	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`	79	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`
81	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`	80	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`
82	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`	81	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`
83	`// if (error != FlyCapture2::PGRERROR_OK)`	82	`// if (error != FlyCapture2::PGRERROR_OK)`
84	`// PrintError(error);`	83	`// PrintError(error);`
85		84
86	`// Configure Format7 mode`	85	`// Configure Format7 mode`
87	`FlyCapture2::Format7ImageSettings format7Settings;`	86	`FlyCapture2::Format7ImageSettings format7Settings;`
88	`format7Settings.mode = FlyCapture2::MODE_0;`	87	`format7Settings.mode = FlyCapture2::MODE_0;`
89	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW16;`	88	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW16;`
90	`format7Settings.width = 3376;`	89	`format7Settings.width = 3376;`
91	`format7Settings.height = 2704;`	90	`format7Settings.height = 2704;`
92	`format7Settings.offsetX = 0;`	91	`format7Settings.offsetX = 0;`
93	`format7Settings.offsetY = 0;`	92	`format7Settings.offsetY = 0;`
94		93
95	`// Validate and set mode`	94	`// Validate and set mode`
96	`FlyCapture2::Format7PacketInfo packetInfo;`	95	`FlyCapture2::Format7PacketInfo packetInfo;`
97	`bool valid;`	96	`bool valid;`
98	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`	97	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`
99	`if (error != FlyCapture2::PGRERROR_OK)`	98	`if (error != FlyCapture2::PGRERROR_OK)`
100	`PrintError(error);`	99	`PrintError(error);`
101	`// packetsize indirectly configures frame rate`	100	`// packetsize indirectly configures frame rate`
102	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`	101	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`
103	`if (error != FlyCapture2::PGRERROR_OK)`	102	`if (error != FlyCapture2::PGRERROR_OK)`
104	`PrintError(error);`	103	`PrintError(error);`
105		104
106	`// Configure general`	105	`// Configure general`
107	`FlyCapture2::FC2Config config;`	106	`FlyCapture2::FC2Config config;`
108	`config.numBuffers = 5;`	107	`config.numBuffers = 5;`
109	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`	108	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`
110	`config.grabMode = FlyCapture2::DROP_FRAMES;`	109	`config.grabMode = FlyCapture2::DROP_FRAMES;`
111	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	110	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
112	`config.highPerformanceRetrieveBuffer = true;`	111	`config.highPerformanceRetrieveBuffer = true;`
113	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	112	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
114	`error = cam.SetConfiguration(&config);`	113	`error = cam.SetConfiguration(&config);`
115	`if (error != FlyCapture2::PGRERROR_OK)`	114	`if (error != FlyCapture2::PGRERROR_OK)`
116	`PrintError(error);`	115	`PrintError(error);`
117		116
118		117
119	`// Get the camera information`	118	`// Get the camera information`
120	`FlyCapture2::CameraInfo camInfo;`	119	`FlyCapture2::CameraInfo camInfo;`
121	`error = cam.GetCameraInfo(&camInfo);`	120	`error = cam.GetCameraInfo(&camInfo);`
122	`if (error != FlyCapture2::PGRERROR_OK)`	121	`if (error != FlyCapture2::PGRERROR_OK)`
123	`PrintError(error);`	122	`PrintError(error);`
124		123
125	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`	124	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`
126		125
127	`// Set reasonable default settings`	126	`// Set reasonable default settings`
128	`CameraSettings settings;`	127	`CameraSettings settings;`
129	`//settings.shutter = 8.33;`	128	`//settings.shutter = 8.33;`
130	`settings.shutter = 33.33;`	129	`settings.shutter = 33.33;`
131	`settings.gain = 0.0;`	130	`settings.gain = 0.0;`
132	`this->setCameraSettings(settings);`	131	`this->setCameraSettings(settings);`
133		132
134	`return;`	133	`return;`
135	`}`	134	`}`
136		135
137	`CameraSettings CameraPointGrey::getCameraSettings(){`	136	`CameraSettings CameraPointGrey::getCameraSettings(){`
138		137
139	`FlyCapture2::Property property;`	138	`FlyCapture2::Property property;`
140		139
141	`// Get settings:`	140	`// Get settings:`
142	`CameraSettings settings;`	141	`CameraSettings settings;`
143		142
144	`property.type = FlyCapture2::SHUTTER;`	143	`property.type = FlyCapture2::SHUTTER;`
145	`cam.GetProperty(&property);`	144	`cam.GetProperty(&property);`
146	`settings.shutter = property.absValue;`	145	`settings.shutter = property.absValue;`
147		146
148	`property.type = FlyCapture2::GAIN;`	147	`property.type = FlyCapture2::GAIN;`
149	`cam.GetProperty(&property);`	148	`cam.GetProperty(&property);`
150	`settings.gain = property.absValue;`	149	`settings.gain = property.absValue;`
151		150
152	`return settings;`	151	`return settings;`
153	`}`	152	`}`
154		153
155	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`	154	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`
156		155
157	`FlyCapture2::Property property;`	156	`FlyCapture2::Property property;`
158	`property.onOff = true;`	157	`property.onOff = true;`
159	`property.absControl = true;`	158	`property.absControl = true;`
160		159
161	`property.type = FlyCapture2::SHUTTER;`	160	`property.type = FlyCapture2::SHUTTER;`
162	`property.absValue = settings.shutter;`	161	`property.absValue = settings.shutter;`
163	`cam.SetProperty(&property);`	162	`cam.SetProperty(&property);`
164		163
165	`property.type = FlyCapture2::GAIN;`	164	`property.type = FlyCapture2::GAIN;`
166	`property.absValue = settings.gain;`	165	`property.absValue = settings.gain;`
167	`cam.SetProperty(&property);`	166	`cam.SetProperty(&property);`
168		167
169	`}`	168	`}`
170		169
171	`void CameraPointGrey::startCapture(){`	170	`void CameraPointGrey::startCapture(){`
172		171
173	`FlyCapture2::Error error;`	172	`FlyCapture2::Error error;`
174		173
175	`CameraSettings settings = this->getCameraSettings();`	174	`CameraSettings settings = this->getCameraSettings();`
176	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`	175	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`
177	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`	176	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`
178		177
179	`if(triggerMode == triggerModeHardware){`	178	`if(triggerMode == triggerModeHardware){`
180	`// Configure for hardware trigger`	179	`// Configure for hardware trigger`
181	`FlyCapture2::TriggerMode triggerMode;`	180	`FlyCapture2::TriggerMode triggerMode;`
182	`triggerMode.onOff = true;`	181	`triggerMode.onOff = true;`
183	`triggerMode.polarity = 0;`	182	`triggerMode.polarity = 0;`
184	`triggerMode.source = 0;`	183	`triggerMode.source = 0;`
185	`triggerMode.mode = 14;`	184	`triggerMode.mode = 14;`
186	`error = cam.SetTriggerMode(&triggerMode);`	185	`error = cam.SetTriggerMode(&triggerMode);`
187	`if (error != FlyCapture2::PGRERROR_OK)`	186	`if (error != FlyCapture2::PGRERROR_OK)`
188	`PrintError(error);`	187	`PrintError(error);`
189		188
190	`} else if(triggerMode == triggerModeSoftware){`	189	`} else if(triggerMode == triggerModeSoftware){`
191	`// Configure software trigger`	190	`// Configure software trigger`
192	`FlyCapture2::TriggerMode triggerMode;`	191	`FlyCapture2::TriggerMode triggerMode;`
193	`triggerMode.onOff = true;`	192	`triggerMode.onOff = true;`
194	`triggerMode.polarity = 0;`	193	`triggerMode.polarity = 0;`
195	`triggerMode.source = 7; // software`	194	`triggerMode.source = 7; // software`
196	`triggerMode.mode = 0;`	195	`triggerMode.mode = 0;`
197	`error = cam.SetTriggerMode(&triggerMode);`	196	`error = cam.SetTriggerMode(&triggerMode);`
198	`if (error != FlyCapture2::PGRERROR_OK)`	197	`if (error != FlyCapture2::PGRERROR_OK)`
199	`PrintError(error);`	198	`PrintError(error);`
200	`}`	199	`}`
201		200
202	`// Set the trigger timeout to 1000 ms`	201	`// Set the trigger timeout to 1000 ms`
203	`FlyCapture2::FC2Config config;`	202	`FlyCapture2::FC2Config config;`
204	`config.grabTimeout = 1000;`	203	`config.grabTimeout = 1000;`
205	`error = cam.SetConfiguration(&config);`	204	`error = cam.SetConfiguration(&config);`
206	`if (error != FlyCapture2::PGRERROR_OK)`	205	`if (error != FlyCapture2::PGRERROR_OK)`
207	`PrintError(error);`	206	`PrintError(error);`
208		207
209	`error = cam.StartCapture();`	208	`error = cam.StartCapture();`
210	`if (error != FlyCapture2::PGRERROR_OK)`	209	`if (error != FlyCapture2::PGRERROR_OK)`
211	`PrintError(error);`	210	`PrintError(error);`
212		211
213	`capturing = true;`	212	`capturing = true;`
214	`}`	213	`}`
215		214
216	`void CameraPointGrey::stopCapture(){`	215	`void CameraPointGrey::stopCapture(){`
217		216
218	`FlyCapture2::Error error = cam.StopCapture();`	217	`FlyCapture2::Error error = cam.StopCapture();`
219	`if (error != FlyCapture2::PGRERROR_OK)`	218	`if (error != FlyCapture2::PGRERROR_OK)`
220	`PrintError(error);`	219	`PrintError(error);`
221		220
222	`capturing = false;`	221	`capturing = false;`
223	`}`	222	`}`
224		223
225	`void CameraPointGrey::trigger(){`	224	`void CameraPointGrey::trigger(){`
226		225
227	`FlyCapture2::Error error;`	226	`FlyCapture2::Error error;`
228		227
229	`// Fire software trigger`	228	`// Fire software trigger`
230	`// broadcasting not supported on some platforms`	229	`// broadcasting not supported on some platforms`
231	`error = cam.FireSoftwareTrigger(false);`	230	`error = cam.FireSoftwareTrigger(false);`
232		231
233	`if (error != FlyCapture2::PGRERROR_OK)`	232	`if (error != FlyCapture2::PGRERROR_OK)`
234	`PrintError(error);`	233	`PrintError(error);`
235		234
236	`}`	235	`}`
237		236
238	`CameraFrame CameraPointGrey::getFrame(){`	237	`CameraFrame CameraPointGrey::getFrame(){`
239		238
240	`FlyCapture2::Error error;`	239	`FlyCapture2::Error error;`
241		240
242	`// Retrieve the image`	241	`// Retrieve the image`
243	`FlyCapture2::Image rawImage;`	242	`FlyCapture2::Image rawImage;`
244	`error = cam.RetrieveBuffer(&rawImage);`	243	`error = cam.RetrieveBuffer(&rawImage);`
245	`if (error != FlyCapture2::PGRERROR_OK)`	244	`if (error != FlyCapture2::PGRERROR_OK)`
246	`PrintError(error);`	245	`PrintError(error);`
247		246
248	`rawImage.SetColorProcessing(FlyCapture2::IPP);`	247	`rawImage.SetColorProcessing(FlyCapture2::IPP);`
249		248
250	`// de-Bayer`	249	`// de-Bayer`
251	`rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`	250	`rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`
252		251
253	`CameraFrame frame;`	252	`CameraFrame frame;`
254		253
255	`frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`	254	`frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`
256	`frame.height = currentImage.GetRows();`	255	`frame.height = currentImage.GetRows();`
257	`frame.width = currentImage.GetCols();`	256	`frame.width = currentImage.GetCols();`
258	`frame.bitDepth = 8;`	257	`frame.bitDepth = 8;`
259	`frame.channels = 3;`	258	`frame.channels = 3;`
260	`frame.memory = (unsigned short*)currentImage.GetData();`	259	`frame.memory = (unsigned short*)currentImage.GetData();`
261		260
262	`return frame;`	261	`return frame;`
263	`}`	262	`}`
264		263
265		264
266	`size_t CameraPointGrey::getFrameSizeBytes(){`	265	`size_t CameraPointGrey::getFrameSizeBytes(){`
267		266
268	`return 337627043;`	267	`return 337627043;`
269	`}`	268	`}`
270		269
271	`size_t CameraPointGrey::getFrameWidth(){`	270	`size_t CameraPointGrey::getFrameWidth(){`
272		271
273	`// How do we poll this from the camera?`	272	`// How do we poll this from the camera?`
274	`return 3376;`	273	`return 3376;`
275		274
276	`}`	275	`}`
277		276
278	`size_t CameraPointGrey::getFrameHeight(){`	277	`size_t CameraPointGrey::getFrameHeight(){`
279		278
280	`// How do we poll this from the camera?`	279	`// How do we poll this from the camera?`
281	`return 2704;`	280	`return 2704;`
282		281
283	`}`	282	`}`
284		283
285		284
286	`CameraPointGrey::~CameraPointGrey(){`	285	`CameraPointGrey::~CameraPointGrey(){`
287		286
288	`if(capturing){`	287	`if(capturing){`
289	`// Stop camera transmission`	288	`// Stop camera transmission`
290	`stopCapture();`	289	`stopCapture();`
291	`}`	290	`}`
292		291
293	`// Gracefulle destruct the camera`	292	`// Gracefulle destruct the camera`
294	`cam.Disconnect();`	293	`cam.Disconnect();`
295		294
296	`std::cout << "Closed camera!" << std::endl << std::flush;`	295	`std::cout << "Closed camera!" << std::endl << std::flush;`
297	`}`	296	`}`
298		297
299		298
300		299
301		300

Subversion Repositories seema-scanner

(root)/src/camera/CameraPointGrey.cpp – Rev 26 → 27