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.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_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;
}
 
 
 
 

Subversion Repositories seema-scanner

(root)/src/camera/CameraPointGrey.cpp – Rev 45 → 53

Rev 45		Rev 53
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.vendor = "Point Grey";`
46	`camera.model = camInfo.modelName;`	46	`camera.model = camInfo.modelName;`
47	`camera.vendor = "Point Grey Research";`	47	`camera.busID = camInfo.nodeNumber;`
-		48	`camera.serialNumber = camInfo.serialNumber;`
48		49
49	`ret.push_back(camera);`	50	`ret.push_back(camera);`
50	`}`	51	`}`
51		52
52	`return ret;`	53	`return ret;`
53	`}`	54	`}`
54		55
55	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`	56	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`
56		57
57	`// // Reset USB bus`	58	`// // Reset USB bus`
58	`// std::cout << "Resetting USB device %s\n";`	59	`// std::cout << "Resetting USB device %s\n";`
59	`// int rc = ioctl(fd, USBDEVFS_RESET, 0);`	60	`// int rc = ioctl(fd, USBDEVFS_RESET, 0);`
60	`// if (rc < 0)`	61	`// if (rc < 0)`
61	`// perror("Error in ioctl");`	62	`// perror("Error in ioctl");`
62	`// else`	63	`// else`
63	`// printf("Reset successful\n");`	64	`// printf("Reset successful\n");`
64		65
65		66
66	`FlyCapture2::Error error;`	67	`FlyCapture2::Error error;`
67		68
68	`// Connect to camera`	69	`// Connect to camera`
69	`FlyCapture2::BusManager busManager;`	70	`FlyCapture2::BusManager busManager;`
70		71
71	`FlyCapture2::PGRGuid camGuid;`	72	`FlyCapture2::PGRGuid camGuid;`
72		73
73	`busManager.GetCameraFromIndex(camNum, &camGuid);`	74	`busManager.GetCameraFromIndex(camNum, &camGuid);`
74	`error = cam.Connect(&camGuid);`	75	`error = cam.Connect(&camGuid);`
75	`if (error != FlyCapture2::PGRERROR_OK)`	76	`if (error != FlyCapture2::PGRERROR_OK)`
76	`PrintError(error);`	77	`PrintError(error);`
77		78
78	`// // Configure DCAM video mode and frame rate`	79	`// // Configure DCAM video mode and frame rate`
79	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`	80	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`
80	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`	81	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`
81	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`	82	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`
82	`// if (error != FlyCapture2::PGRERROR_OK)`	83	`// if (error != FlyCapture2::PGRERROR_OK)`
83	`// PrintError(error);`	84	`// PrintError(error);`
84		85
85	`// Configure Format7 mode`	86	`// Configure Format7 mode`
86	`FlyCapture2::Format7ImageSettings format7Settings;`	87	`FlyCapture2::Format7ImageSettings format7Settings;`
87	`format7Settings.mode = FlyCapture2::MODE_0;`	88	`format7Settings.mode = FlyCapture2::MODE_0;`
88	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW16;`	89	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW16;`
89	`format7Settings.width = 3376;`	90	`format7Settings.width = 3376;`
90	`format7Settings.height = 2704;`	91	`format7Settings.height = 2704;`
91	`format7Settings.offsetX = 0;`	92	`format7Settings.offsetX = 0;`
92	`format7Settings.offsetY = 0;`	93	`format7Settings.offsetY = 0;`
93		94
94	`// Validate and set mode`	95	`// Validate and set mode`
95	`FlyCapture2::Format7PacketInfo packetInfo;`	96	`FlyCapture2::Format7PacketInfo packetInfo;`
96	`bool valid;`	97	`bool valid;`
97	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`	98	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`
98	`if (error != FlyCapture2::PGRERROR_OK)`	99	`if (error != FlyCapture2::PGRERROR_OK)`
99	`PrintError(error);`	100	`PrintError(error);`
100	`// packetsize indirectly configures frame rate`	101	`// packetsize indirectly configures frame rate`
101	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`	102	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`
102	`if (error != FlyCapture2::PGRERROR_OK)`	103	`if (error != FlyCapture2::PGRERROR_OK)`
103	`PrintError(error);`	104	`PrintError(error);`
104		105
105	`// Configure general`	106	`// Configure general`
106	`FlyCapture2::FC2Config config;`	107	`FlyCapture2::FC2Config config;`
107	`config.numBuffers = 5;`	108	`config.numBuffers = 5;`
108	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`	109	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`
109	`config.grabMode = FlyCapture2::DROP_FRAMES;`	110	`config.grabMode = FlyCapture2::DROP_FRAMES;`
110	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	111	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
111	`config.highPerformanceRetrieveBuffer = true;`	112	`config.highPerformanceRetrieveBuffer = true;`
112	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	113	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
113	`error = cam.SetConfiguration(&config);`	114	`error = cam.SetConfiguration(&config);`
114	`if (error != FlyCapture2::PGRERROR_OK)`	115	`if (error != FlyCapture2::PGRERROR_OK)`
115	`PrintError(error);`	116	`PrintError(error);`
116		117
117		118
118	`// Get the camera information`	119	`// Get the camera information`
119	`FlyCapture2::CameraInfo camInfo;`	120	`FlyCapture2::CameraInfo camInfo;`
120	`error = cam.GetCameraInfo(&camInfo);`	121	`error = cam.GetCameraInfo(&camInfo);`
121	`if (error != FlyCapture2::PGRERROR_OK)`	122	`if (error != FlyCapture2::PGRERROR_OK)`
122	`PrintError(error);`	123	`PrintError(error);`
123		124
124	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`	125	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`
125		126
126	`// Set white balance appropriate for LED projector`	127	`// Set white balance appropriate for LED projector`
127	`FlyCapture2::Property property;`	128	`FlyCapture2::Property property;`
128	`property.onOff = true;`	129	`property.onOff = true;`
129	`property.absControl = false;`	130	`property.absControl = false;`
130	`property.autoManualMode = false;`	131	`property.autoManualMode = false;`
131	`property.type = FlyCapture2::WHITE_BALANCE;`	132	`property.type = FlyCapture2::WHITE_BALANCE;`
132	`property.valueA = 666; //red`	133	`property.valueA = 666; //red`
133	`property.valueB = 777; //blue`	134	`property.valueB = 777; //blue`
134	`error = cam.SetProperty(&property);`	135	`error = cam.SetProperty(&property);`
135	`if (error != FlyCapture2::PGRERROR_OK)`	136	`if (error != FlyCapture2::PGRERROR_OK)`
136	`PrintError(error);`	137	`PrintError(error);`
137		138
138	`// Set reasonable default settings`	139	`// Set reasonable default settings`
139	`CameraSettings settings;`	140	`CameraSettings settings;`
140	`//settings.shutter = 8.33;`	141	`//settings.shutter = 8.33;`
141	`settings.shutter = 33.33;`	142	`settings.shutter = 33.33;`
142	`settings.gain = 0.0;`	143	`settings.gain = 0.0;`
143	`this->setCameraSettings(settings);`	144	`this->setCameraSettings(settings);`
144		145
145	`return;`	146	`return;`
146	`}`	147	`}`
147		148
148	`CameraSettings CameraPointGrey::getCameraSettings(){`	149	`CameraSettings CameraPointGrey::getCameraSettings(){`
149		150
150	`FlyCapture2::Property property;`	151	`FlyCapture2::Property property;`
151		152
152	`// Get settings:`	153	`// Get settings:`
153	`CameraSettings settings;`	154	`CameraSettings settings;`
154		155
155	`property.type = FlyCapture2::SHUTTER;`	156	`property.type = FlyCapture2::SHUTTER;`
156	`cam.GetProperty(&property);`	157	`cam.GetProperty(&property);`
157	`settings.shutter = property.absValue;`	158	`settings.shutter = property.absValue;`
158		159
159	`property.type = FlyCapture2::GAIN;`	160	`property.type = FlyCapture2::GAIN;`
160	`cam.GetProperty(&property);`	161	`cam.GetProperty(&property);`
161	`settings.gain = property.absValue;`	162	`settings.gain = property.absValue;`
162		163
163	`return settings;`	164	`return settings;`
164	`}`	165	`}`
165		166
166	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`	167	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`
167		168
168	`FlyCapture2::Property property;`	169	`FlyCapture2::Property property;`
169	`property.onOff = true;`	170	`property.onOff = true;`
170	`property.absControl = true;`	171	`property.absControl = true;`
171		172
172	`property.type = FlyCapture2::SHUTTER;`	173	`property.type = FlyCapture2::SHUTTER;`
173	`property.absValue = settings.shutter;`	174	`property.absValue = settings.shutter;`
174	`cam.SetProperty(&property);`	175	`cam.SetProperty(&property);`
175		176
176	`property.type = FlyCapture2::GAIN;`	177	`property.type = FlyCapture2::GAIN;`
177	`property.absValue = settings.gain;`	178	`property.absValue = settings.gain;`
178	`cam.SetProperty(&property);`	179	`cam.SetProperty(&property);`
179		180
180	`}`	181	`}`
181		182
182	`void CameraPointGrey::startCapture(){`	183	`void CameraPointGrey::startCapture(){`
183		184
184	`FlyCapture2::Error error;`	185	`FlyCapture2::Error error;`
185		186
186	`CameraSettings settings = this->getCameraSettings();`	187	`CameraSettings settings = this->getCameraSettings();`
187	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`	188	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`
188	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`	189	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`
189		190
190	`if(triggerMode == triggerModeHardware){`	191	`if(triggerMode == triggerModeHardware){`
191	`// Configure for hardware trigger`	192	`// Configure for hardware trigger`
192	`FlyCapture2::TriggerMode triggerMode;`	193	`FlyCapture2::TriggerMode triggerMode;`
193	`triggerMode.onOff = true;`	194	`triggerMode.onOff = true;`
194	`triggerMode.polarity = 0;`	195	`triggerMode.polarity = 0;`
195	`triggerMode.source = 0;`	196	`triggerMode.source = 0;`
196	`triggerMode.mode = 14;`	197	`triggerMode.mode = 14;`
197	`error = cam.SetTriggerMode(&triggerMode);`	198	`error = cam.SetTriggerMode(&triggerMode);`
198	`if (error != FlyCapture2::PGRERROR_OK)`	199	`if (error != FlyCapture2::PGRERROR_OK)`
199	`PrintError(error);`	200	`PrintError(error);`
200		201
201	`} else if(triggerMode == triggerModeSoftware){`	202	`} else if(triggerMode == triggerModeSoftware){`
202	`// Configure software trigger`	203	`// Configure software trigger`
203	`FlyCapture2::TriggerMode triggerMode;`	204	`FlyCapture2::TriggerMode triggerMode;`
204	`triggerMode.onOff = true;`	205	`triggerMode.onOff = true;`
205	`triggerMode.polarity = 0;`	206	`triggerMode.polarity = 0;`
206	`triggerMode.source = 7; // software`	207	`triggerMode.source = 7; // software`
207	`triggerMode.mode = 0;`	208	`triggerMode.mode = 0;`
208	`error = cam.SetTriggerMode(&triggerMode);`	209	`error = cam.SetTriggerMode(&triggerMode);`
209	`if (error != FlyCapture2::PGRERROR_OK)`	210	`if (error != FlyCapture2::PGRERROR_OK)`
210	`PrintError(error);`	211	`PrintError(error);`
211	`}`	212	`}`
212		213
213	`// Set the trigger timeout to 1000 ms`	214	`// Set the trigger timeout to 1000 ms`
214	`FlyCapture2::FC2Config config;`	215	`FlyCapture2::FC2Config config;`
215	`config.grabTimeout = 1000;`	216	`config.grabTimeout = 1000;`
216	`error = cam.SetConfiguration(&config);`	217	`error = cam.SetConfiguration(&config);`
217	`if (error != FlyCapture2::PGRERROR_OK)`	218	`if (error != FlyCapture2::PGRERROR_OK)`
218	`PrintError(error);`	219	`PrintError(error);`
219		220
220	`error = cam.StartCapture();`	221	`error = cam.StartCapture();`
221	`if (error != FlyCapture2::PGRERROR_OK)`	222	`if (error != FlyCapture2::PGRERROR_OK)`
222	`PrintError(error);`	223	`PrintError(error);`
223		224
224	`capturing = true;`	225	`capturing = true;`
225	`}`	226	`}`
226		227
227	`void CameraPointGrey::stopCapture(){`	228	`void CameraPointGrey::stopCapture(){`
228		229
229	`FlyCapture2::Error error = cam.StopCapture();`	230	`FlyCapture2::Error error = cam.StopCapture();`
230	`if (error != FlyCapture2::PGRERROR_OK)`	231	`if (error != FlyCapture2::PGRERROR_OK)`
231	`PrintError(error);`	232	`PrintError(error);`
232		233
233	`capturing = false;`	234	`capturing = false;`
234	`}`	235	`}`
235		236
236	`void CameraPointGrey::trigger(){`	237	`void CameraPointGrey::trigger(){`
237		238
238	`FlyCapture2::Error error;`	239	`FlyCapture2::Error error;`
239		240
240	`// Fire software trigger`	241	`// Fire software trigger`
241	`// broadcasting not supported on some platforms`	242	`// broadcasting not supported on some platforms`
242	`error = cam.FireSoftwareTrigger(false);`	243	`error = cam.FireSoftwareTrigger(false);`
243		244
244	`if (error != FlyCapture2::PGRERROR_OK)`	245	`if (error != FlyCapture2::PGRERROR_OK)`
245	`PrintError(error);`	246	`PrintError(error);`
246		247
247	`}`	248	`}`
248		249
249	`CameraFrame CameraPointGrey::getFrame(){`	250	`CameraFrame CameraPointGrey::getFrame(){`
250		251
251	`FlyCapture2::Error error;`	252	`FlyCapture2::Error error;`
252		253
253	`// Retrieve the image`	254	`// Retrieve the image`
254	`FlyCapture2::Image rawImage;`	255	`FlyCapture2::Image rawImage;`
255	`error = cam.RetrieveBuffer(&rawImage);`	256	`error = cam.RetrieveBuffer(&rawImage);`
256	`if (error != FlyCapture2::PGRERROR_OK)`	257	`if (error != FlyCapture2::PGRERROR_OK)`
257	`PrintError(error);`	258	`PrintError(error);`
258		259
259	`rawImage.SetColorProcessing(FlyCapture2::IPP);`	260	`rawImage.SetColorProcessing(FlyCapture2::IPP);`
260		261
261	`// de-Bayer`	262	`// de-Bayer`
262	`rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`	263	`rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`
263		264
264	`CameraFrame frame;`	265	`CameraFrame frame;`
265		266
266	`frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`	267	`frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`
267	`frame.height = currentImage.GetRows();`	268	`frame.height = currentImage.GetRows();`
268	`frame.width = currentImage.GetCols();`	269	`frame.width = currentImage.GetCols();`
269	`frame.bitDepth = 8;`	270	`frame.bitDepth = 8;`
270	`frame.channels = 3;`	271	`frame.channels = 3;`
271	`frame.memory = (unsigned short*)currentImage.GetData();`	272	`frame.memory = (unsigned short*)currentImage.GetData();`
272		273
273	`return frame;`	274	`return frame;`
274	`}`	275	`}`
275		276
276		277
277	`size_t CameraPointGrey::getFrameSizeBytes(){`	278	`size_t CameraPointGrey::getFrameSizeBytes(){`
278		279
279	`FlyCapture2::Format7ImageSettings format7Settings;`	280	`FlyCapture2::Format7ImageSettings format7Settings;`
280	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	281	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
281		282
282	`return format7Settings.heightformat7Settings.width3;`	283	`return format7Settings.heightformat7Settings.width3;`
283	`}`	284	`}`
284		285
285	`size_t CameraPointGrey::getFrameWidth(){`	286	`size_t CameraPointGrey::getFrameWidth(){`
286		287
287	`FlyCapture2::Format7ImageSettings format7Settings;`	288	`FlyCapture2::Format7ImageSettings format7Settings;`
288	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	289	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
289		290
290	`return format7Settings.width;`	291	`return format7Settings.width;`
291	`}`	292	`}`
292		293
293	`size_t CameraPointGrey::getFrameHeight(){`	294	`size_t CameraPointGrey::getFrameHeight(){`
294		295
295	`FlyCapture2::Format7ImageSettings format7Settings;`	296	`FlyCapture2::Format7ImageSettings format7Settings;`
296	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	297	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
297		298
298	`return format7Settings.height;`	299	`return format7Settings.height;`
299		300
300	`}`	301	`}`
301		302
302		303
303	`CameraPointGrey::~CameraPointGrey(){`	304	`CameraPointGrey::~CameraPointGrey(){`
304		305
305	`if(capturing){`	306	`if(capturing){`
306	`// Stop camera transmission`	307	`// Stop camera transmission`
307	`stopCapture();`	308	`stopCapture();`
308	`}`	309	`}`
309		310
310	`// Gracefulle destruct the camera`	311	`// Gracefulle destruct the camera`
311	`cam.Disconnect();`	312	`cam.Disconnect();`
312		313
313	`std::cout << "Closed camera!" << std::endl << std::flush;`	314	`std::cout << "Closed camera!" << std::endl << std::flush;`
314	`}`	315	`}`
315		316
316		317
317		318
318		319