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 white balance appropriate for LED projector
    FlyCapture2::Property property;
    property.onOff = true;
    property.absControl = false;
    property.autoManualMode = false;
    property.type = FlyCapture2::WHITE_BALANCE;
    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 = 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(){
    
    FlyCapture2::Format7ImageSettings format7Settings;
    cam.GetFormat7Configuration(&format7Settings, NULL, NULL);
 
    return format7Settings.height*format7Settings.width*3;
}
 
size_t CameraPointGrey::getFrameWidth(){
 
    FlyCapture2::Format7ImageSettings format7Settings;
    cam.GetFormat7Configuration(&format7Settings, NULL, NULL);
 
    return format7Settings.width;
}
 
size_t CameraPointGrey::getFrameHeight(){
 
    FlyCapture2::Format7ImageSettings format7Settings;
    cam.GetFormat7Configuration(&format7Settings, NULL, NULL);
 
    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 28	Rev 45
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		70
71	`FlyCapture2::PGRGuid camGuid;`	71	`FlyCapture2::PGRGuid camGuid;`
72		72
73	`busManager.GetCameraFromIndex(camNum, &camGuid);`	73	`busManager.GetCameraFromIndex(camNum, &camGuid);`
74	`error = cam.Connect(&camGuid);`	74	`error = cam.Connect(&camGuid);`
75	`if (error != FlyCapture2::PGRERROR_OK)`	75	`if (error != FlyCapture2::PGRERROR_OK)`
76	`PrintError(error);`	76	`PrintError(error);`
77		77
78	`// // Configure DCAM video mode and frame rate`	78	`// // Configure DCAM video mode and frame rate`
79	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`	79	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`
80	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`	80	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`
81	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`	81	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`
82	`// if (error != FlyCapture2::PGRERROR_OK)`	82	`// if (error != FlyCapture2::PGRERROR_OK)`
83	`// PrintError(error);`	83	`// PrintError(error);`
84		84
85	`// Configure Format7 mode`	85	`// Configure Format7 mode`
86	`FlyCapture2::Format7ImageSettings format7Settings;`	86	`FlyCapture2::Format7ImageSettings format7Settings;`
87	`format7Settings.mode = FlyCapture2::MODE_0;`	87	`format7Settings.mode = FlyCapture2::MODE_0;`
88	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW16;`	88	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW16;`
89	`format7Settings.width = 3376;`	89	`format7Settings.width = 3376;`
90	`format7Settings.height = 2704;`	90	`format7Settings.height = 2704;`
91	`format7Settings.offsetX = 0;`	91	`format7Settings.offsetX = 0;`
92	`format7Settings.offsetY = 0;`	92	`format7Settings.offsetY = 0;`
93		93
94	`// Validate and set mode`	94	`// Validate and set mode`
95	`FlyCapture2::Format7PacketInfo packetInfo;`	95	`FlyCapture2::Format7PacketInfo packetInfo;`
96	`bool valid;`	96	`bool valid;`
97	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`	97	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`
98	`if (error != FlyCapture2::PGRERROR_OK)`	98	`if (error != FlyCapture2::PGRERROR_OK)`
99	`PrintError(error);`	99	`PrintError(error);`
100	`// packetsize indirectly configures frame rate`	100	`// packetsize indirectly configures frame rate`
101	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`	101	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`
102	`if (error != FlyCapture2::PGRERROR_OK)`	102	`if (error != FlyCapture2::PGRERROR_OK)`
103	`PrintError(error);`	103	`PrintError(error);`
104		104
105	`// Configure general`	105	`// Configure general`
106	`FlyCapture2::FC2Config config;`	106	`FlyCapture2::FC2Config config;`
107	`config.numBuffers = 5;`	107	`config.numBuffers = 5;`
108	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`	108	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`
109	`config.grabMode = FlyCapture2::DROP_FRAMES;`	109	`config.grabMode = FlyCapture2::DROP_FRAMES;`
110	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	110	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
111	`config.highPerformanceRetrieveBuffer = true;`	111	`config.highPerformanceRetrieveBuffer = true;`
112	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	112	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
113	`error = cam.SetConfiguration(&config);`	113	`error = cam.SetConfiguration(&config);`
114	`if (error != FlyCapture2::PGRERROR_OK)`	114	`if (error != FlyCapture2::PGRERROR_OK)`
115	`PrintError(error);`	115	`PrintError(error);`
116		116
117		117
118	`// Get the camera information`	118	`// Get the camera information`
119	`FlyCapture2::CameraInfo camInfo;`	119	`FlyCapture2::CameraInfo camInfo;`
120	`error = cam.GetCameraInfo(&camInfo);`	120	`error = cam.GetCameraInfo(&camInfo);`
121	`if (error != FlyCapture2::PGRERROR_OK)`	121	`if (error != FlyCapture2::PGRERROR_OK)`
122	`PrintError(error);`	122	`PrintError(error);`
123		123
124	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`	124	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`
125		125
-		126	`// Set white balance appropriate for LED projector`
-		127	`FlyCapture2::Property property;`
-		128	`property.onOff = true;`
-		129	`property.absControl = false;`
-		130	`property.autoManualMode = false;`
-		131	`property.type = FlyCapture2::WHITE_BALANCE;`
-		132	`property.valueA = 666; //red`
-		133	`property.valueB = 777; //blue`
-		134	`error = cam.SetProperty(&property);`
-		135	`if (error != FlyCapture2::PGRERROR_OK)`
-		136	`PrintError(error);`
-		137
126	`// Set reasonable default settings`	138	`// Set reasonable default settings`
127	`CameraSettings settings;`	139	`CameraSettings settings;`
128	`//settings.shutter = 8.33;`	140	`//settings.shutter = 8.33;`
129	`settings.shutter = 33.33;`	141	`settings.shutter = 33.33;`
130	`settings.gain = 0.0;`	142	`settings.gain = 0.0;`
131	`this->setCameraSettings(settings);`	143	`this->setCameraSettings(settings);`
132		144
133	`return;`	145	`return;`
134	`}`	146	`}`
135		147
136	`CameraSettings CameraPointGrey::getCameraSettings(){`	148	`CameraSettings CameraPointGrey::getCameraSettings(){`
137		149
138	`FlyCapture2::Property property;`	150	`FlyCapture2::Property property;`
139		151
140	`// Get settings:`	152	`// Get settings:`
141	`CameraSettings settings;`	153	`CameraSettings settings;`
142		154
143	`property.type = FlyCapture2::SHUTTER;`	155	`property.type = FlyCapture2::SHUTTER;`
144	`cam.GetProperty(&property);`	156	`cam.GetProperty(&property);`
145	`settings.shutter = property.absValue;`	157	`settings.shutter = property.absValue;`
146		158
147	`property.type = FlyCapture2::GAIN;`	159	`property.type = FlyCapture2::GAIN;`
148	`cam.GetProperty(&property);`	160	`cam.GetProperty(&property);`
149	`settings.gain = property.absValue;`	161	`settings.gain = property.absValue;`
150		162
151	`return settings;`	163	`return settings;`
152	`}`	164	`}`
153		165
154	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`	166	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`
155		167
156	`FlyCapture2::Property property;`	168	`FlyCapture2::Property property;`
157	`property.onOff = true;`	169	`property.onOff = true;`
158	`property.absControl = true;`	170	`property.absControl = true;`
159		171
160	`property.type = FlyCapture2::SHUTTER;`	172	`property.type = FlyCapture2::SHUTTER;`
161	`property.absValue = settings.shutter;`	173	`property.absValue = settings.shutter;`
162	`cam.SetProperty(&property);`	174	`cam.SetProperty(&property);`
163		175
164	`property.type = FlyCapture2::GAIN;`	176	`property.type = FlyCapture2::GAIN;`
165	`property.absValue = settings.gain;`	177	`property.absValue = settings.gain;`
166	`cam.SetProperty(&property);`	178	`cam.SetProperty(&property);`
167		179
168	`}`	180	`}`
169		181
170	`void CameraPointGrey::startCapture(){`	182	`void CameraPointGrey::startCapture(){`
171		183
172	`FlyCapture2::Error error;`	184	`FlyCapture2::Error error;`
173		185
174	`CameraSettings settings = this->getCameraSettings();`	186	`CameraSettings settings = this->getCameraSettings();`
175	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`	187	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`
176	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`	188	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`
177		189
178	`if(triggerMode == triggerModeHardware){`	190	`if(triggerMode == triggerModeHardware){`
179	`// Configure for hardware trigger`	191	`// Configure for hardware trigger`
180	`FlyCapture2::TriggerMode triggerMode;`	192	`FlyCapture2::TriggerMode triggerMode;`
181	`triggerMode.onOff = true;`	193	`triggerMode.onOff = true;`
182	`triggerMode.polarity = 0;`	194	`triggerMode.polarity = 0;`
183	`triggerMode.source = 0;`	195	`triggerMode.source = 0;`
184	`triggerMode.mode = 14;`	196	`triggerMode.mode = 14;`
185	`error = cam.SetTriggerMode(&triggerMode);`	197	`error = cam.SetTriggerMode(&triggerMode);`
186	`if (error != FlyCapture2::PGRERROR_OK)`	198	`if (error != FlyCapture2::PGRERROR_OK)`
187	`PrintError(error);`	199	`PrintError(error);`
188		200
189	`} else if(triggerMode == triggerModeSoftware){`	201	`} else if(triggerMode == triggerModeSoftware){`
190	`// Configure software trigger`	202	`// Configure software trigger`
191	`FlyCapture2::TriggerMode triggerMode;`	203	`FlyCapture2::TriggerMode triggerMode;`
192	`triggerMode.onOff = true;`	204	`triggerMode.onOff = true;`
193	`triggerMode.polarity = 0;`	205	`triggerMode.polarity = 0;`
194	`triggerMode.source = 7; // software`	206	`triggerMode.source = 7; // software`
195	`triggerMode.mode = 0;`	207	`triggerMode.mode = 0;`
196	`error = cam.SetTriggerMode(&triggerMode);`	208	`error = cam.SetTriggerMode(&triggerMode);`
197	`if (error != FlyCapture2::PGRERROR_OK)`	209	`if (error != FlyCapture2::PGRERROR_OK)`
198	`PrintError(error);`	210	`PrintError(error);`
199	`}`	211	`}`
200		212
201	`// Set the trigger timeout to 1000 ms`	213	`// Set the trigger timeout to 1000 ms`
202	`FlyCapture2::FC2Config config;`	214	`FlyCapture2::FC2Config config;`
203	`config.grabTimeout = 1000;`	215	`config.grabTimeout = 1000;`
204	`error = cam.SetConfiguration(&config);`	216	`error = cam.SetConfiguration(&config);`
205	`if (error != FlyCapture2::PGRERROR_OK)`	217	`if (error != FlyCapture2::PGRERROR_OK)`
206	`PrintError(error);`	218	`PrintError(error);`
207		219
208	`error = cam.StartCapture();`	220	`error = cam.StartCapture();`
209	`if (error != FlyCapture2::PGRERROR_OK)`	221	`if (error != FlyCapture2::PGRERROR_OK)`
210	`PrintError(error);`	222	`PrintError(error);`
211		223
212	`capturing = true;`	224	`capturing = true;`
213	`}`	225	`}`
214		226
215	`void CameraPointGrey::stopCapture(){`	227	`void CameraPointGrey::stopCapture(){`
216		228
217	`FlyCapture2::Error error = cam.StopCapture();`	229	`FlyCapture2::Error error = cam.StopCapture();`
218	`if (error != FlyCapture2::PGRERROR_OK)`	230	`if (error != FlyCapture2::PGRERROR_OK)`
219	`PrintError(error);`	231	`PrintError(error);`
220		232
221	`capturing = false;`	233	`capturing = false;`
222	`}`	234	`}`
223		235
224	`void CameraPointGrey::trigger(){`	236	`void CameraPointGrey::trigger(){`
225		237
226	`FlyCapture2::Error error;`	238	`FlyCapture2::Error error;`
227		239
228	`// Fire software trigger`	240	`// Fire software trigger`
229	`// broadcasting not supported on some platforms`	241	`// broadcasting not supported on some platforms`
230	`error = cam.FireSoftwareTrigger(false);`	242	`error = cam.FireSoftwareTrigger(false);`
231		243
232	`if (error != FlyCapture2::PGRERROR_OK)`	244	`if (error != FlyCapture2::PGRERROR_OK)`
233	`PrintError(error);`	245	`PrintError(error);`
234		246
235	`}`	247	`}`
236		248
237	`CameraFrame CameraPointGrey::getFrame(){`	249	`CameraFrame CameraPointGrey::getFrame(){`
238		250
239	`FlyCapture2::Error error;`	251	`FlyCapture2::Error error;`
240		252
241	`// Retrieve the image`	253	`// Retrieve the image`
242	`FlyCapture2::Image rawImage;`	254	`FlyCapture2::Image rawImage;`
243	`error = cam.RetrieveBuffer(&rawImage);`	255	`error = cam.RetrieveBuffer(&rawImage);`
244	`if (error != FlyCapture2::PGRERROR_OK)`	256	`if (error != FlyCapture2::PGRERROR_OK)`
245	`PrintError(error);`	257	`PrintError(error);`
246		258
247	`rawImage.SetColorProcessing(FlyCapture2::IPP);`	259	`rawImage.SetColorProcessing(FlyCapture2::IPP);`
248		260
249	`// de-Bayer`	261	`// de-Bayer`
250	`rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`	262	`rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`
251		263
252	`CameraFrame frame;`	264	`CameraFrame frame;`
253		265
254	`frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`	266	`frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`
255	`frame.height = currentImage.GetRows();`	267	`frame.height = currentImage.GetRows();`
256	`frame.width = currentImage.GetCols();`	268	`frame.width = currentImage.GetCols();`
257	`frame.bitDepth = 8;`	269	`frame.bitDepth = 8;`
258	`frame.channels = 3;`	270	`frame.channels = 3;`
259	`frame.memory = (unsigned short*)currentImage.GetData();`	271	`frame.memory = (unsigned short*)currentImage.GetData();`
260		272
261	`return frame;`	273	`return frame;`
262	`}`	274	`}`
263		275
264		276
265	`size_t CameraPointGrey::getFrameSizeBytes(){`	277	`size_t CameraPointGrey::getFrameSizeBytes(){`
266		278
267	`FlyCapture2::Format7ImageSettings format7Settings;`	279	`FlyCapture2::Format7ImageSettings format7Settings;`
268	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	280	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
269		281
270	`return format7Settings.heightformat7Settings.width3;`	282	`return format7Settings.heightformat7Settings.width3;`
271	`}`	283	`}`
272		284
273	`size_t CameraPointGrey::getFrameWidth(){`	285	`size_t CameraPointGrey::getFrameWidth(){`
274		286
275	`FlyCapture2::Format7ImageSettings format7Settings;`	287	`FlyCapture2::Format7ImageSettings format7Settings;`
276	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	288	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
277		289
278	`return format7Settings.width;`	290	`return format7Settings.width;`
279	`}`	291	`}`
280		292
281	`size_t CameraPointGrey::getFrameHeight(){`	293	`size_t CameraPointGrey::getFrameHeight(){`
282		294
283	`FlyCapture2::Format7ImageSettings format7Settings;`	295	`FlyCapture2::Format7ImageSettings format7Settings;`
284	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	296	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
285		297
286	`return format7Settings.height;`	298	`return format7Settings.height;`
287		299
288	`}`	300	`}`
289		301
290		302
291	`CameraPointGrey::~CameraPointGrey(){`	303	`CameraPointGrey::~CameraPointGrey(){`
292		304
293	`if(capturing){`	305	`if(capturing){`
294	`// Stop camera transmission`	306	`// Stop camera transmission`
295	`stopCapture();`	307	`stopCapture();`
296	`}`	308	`}`
297		309
298	`// Gracefulle destruct the camera`	310	`// Gracefulle destruct the camera`
299	`cam.Disconnect();`	311	`cam.Disconnect();`
300		312
301	`std::cout << "Closed camera!" << std::endl << std::flush;`	313	`std::cout << "Closed camera!" << std::endl << std::flush;`
302	`}`	314	`}`
303		315
304		316
305		317
306		318

Subversion Repositories seema-scanner

(root)/src/camera/CameraPointGrey.cpp – Rev 28 → 45