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;
 
    // 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 white balance appropriate for LED projector
    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 = 16.66;
    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;
 
    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 53	Rev 74
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.vendor = "Point Grey";`	45	`camera.vendor = "Point Grey";`
46	`camera.model = camInfo.modelName;`	46	`camera.model = camInfo.modelName;`
47	`camera.busID = camInfo.nodeNumber;`	47	`camera.busID = camInfo.nodeNumber;`
48	`camera.serialNumber = camInfo.serialNumber;`	48	`camera.serialNumber = camInfo.serialNumber;`
49		49
50	`ret.push_back(camera);`	50	`ret.push_back(camera);`
51	`}`	51	`}`
52		52
53	`return ret;`	53	`return ret;`
54	`}`	54	`}`
55		55
56	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`	56	`CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){`
57		57
58	`// // Reset USB bus`	58	`// // Reset USB bus`
59	`// std::cout << "Resetting USB device %s\n";`	59	`// std::cout << "Resetting USB device %s\n";`
60	`// int rc = ioctl(fd, USBDEVFS_RESET, 0);`	60	`// int rc = ioctl(fd, USBDEVFS_RESET, 0);`
61	`// if (rc < 0)`	61	`// if (rc < 0)`
62	`// perror("Error in ioctl");`	62	`// perror("Error in ioctl");`
63	`// else`	63	`// else`
64	`// printf("Reset successful\n");`	64	`// printf("Reset successful\n");`
65		65
66		66
67	`FlyCapture2::Error error;`	67	`FlyCapture2::Error error;`
68		68
69	`// Connect to camera`	69	`// Connect to camera`
70	`FlyCapture2::BusManager busManager;`	70	`FlyCapture2::BusManager busManager;`
71		71
72	`FlyCapture2::PGRGuid camGuid;`	72	`FlyCapture2::PGRGuid camGuid;`
73		73
74	`busManager.GetCameraFromIndex(camNum, &camGuid);`	74	`busManager.GetCameraFromIndex(camNum, &camGuid);`
75	`error = cam.Connect(&camGuid);`	75	`error = cam.Connect(&camGuid);`
76	`if (error != FlyCapture2::PGRERROR_OK)`	76	`if (error != FlyCapture2::PGRERROR_OK)`
77	`PrintError(error);`	77	`PrintError(error);`
78		78
79	`// // Configure DCAM video mode and frame rate`	79	`// // Configure DCAM video mode and frame rate`
80	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`	80	`// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;`
81	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`	81	`// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;`
82	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`	82	`// error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);`
83	`// if (error != FlyCapture2::PGRERROR_OK)`	83	`// if (error != FlyCapture2::PGRERROR_OK)`
84	`// PrintError(error);`	84	`// PrintError(error);`
85		85
86	`// Configure Format7 mode`	86	`// Configure Format7 mode`
87	`FlyCapture2::Format7ImageSettings format7Settings;`	87	`FlyCapture2::Format7ImageSettings format7Settings;`
88	`format7Settings.mode = FlyCapture2::MODE_0;`	88	`format7Settings.mode = FlyCapture2::MODE_0;`
89	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW16;`	89	`format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW16;`
90	`format7Settings.width = 3376;`	90	`format7Settings.width = 3376;`
91	`format7Settings.height = 2704;`	91	`format7Settings.height = 2704;`
92	`format7Settings.offsetX = 0;`	92	`format7Settings.offsetX = 0;`
93	`format7Settings.offsetY = 0;`	93	`format7Settings.offsetY = 0;`
94		94
95	`// Validate and set mode`	95	`// Validate and set mode`
96	`FlyCapture2::Format7PacketInfo packetInfo;`	96	`FlyCapture2::Format7PacketInfo packetInfo;`
97	`bool valid;`	97	`bool valid;`
98	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`	98	`error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);`
99	`if (error != FlyCapture2::PGRERROR_OK)`	99	`if (error != FlyCapture2::PGRERROR_OK)`
100	`PrintError(error);`	100	`PrintError(error);`
101	`// packetsize indirectly configures frame rate`	101	`// packetsize indirectly configures frame rate`
102	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`	102	`error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);`
103	`if (error != FlyCapture2::PGRERROR_OK)`	103	`if (error != FlyCapture2::PGRERROR_OK)`
104	`PrintError(error);`	104	`PrintError(error);`
105		105
106	`// Configure general`	106	`// Configure general`
107	`FlyCapture2::FC2Config config;`	107	`FlyCapture2::FC2Config config;`
108	`config.numBuffers = 5;`	108	`config.numBuffers = 5;`
109	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`	109	`config.grabTimeout = 1000; // retrieveBuffer() timeout in ms`
110	`config.grabMode = FlyCapture2::DROP_FRAMES;`	110	`config.grabMode = FlyCapture2::DROP_FRAMES;`
111	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	111	`config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
112	`config.highPerformanceRetrieveBuffer = true;`	112	`config.highPerformanceRetrieveBuffer = true;`
113	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`	113	`//config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;`
114	`error = cam.SetConfiguration(&config);`	114	`error = cam.SetConfiguration(&config);`
115	`if (error != FlyCapture2::PGRERROR_OK)`	115	`if (error != FlyCapture2::PGRERROR_OK)`
116	`PrintError(error);`	116	`PrintError(error);`
117		117
118		118
119	`// Get the camera information`	119	`// Get the camera information`
120	`FlyCapture2::CameraInfo camInfo;`	120	`FlyCapture2::CameraInfo camInfo;`
121	`error = cam.GetCameraInfo(&camInfo);`	121	`error = cam.GetCameraInfo(&camInfo);`
122	`if (error != FlyCapture2::PGRERROR_OK)`	122	`if (error != FlyCapture2::PGRERROR_OK)`
123	`PrintError(error);`	123	`PrintError(error);`
124		124
125	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`	125	`std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;`
126		126
127	`// Set white balance appropriate for LED projector`	127	`// Turn off auto settings`
128	`FlyCapture2::Property property;`	128	`FlyCapture2::Property property;`
-		129	`property.type = FlyCapture2::AUTO_EXPOSURE;`
-		130	`property.onOff = false;`
-		131	`error = cam.SetProperty(&property);`
-		132	`if (error != FlyCapture2::PGRERROR_OK)`
-		133	`PrintError(error);`
-		134
-		135	`property.type = FlyCapture2::GAMMA;`
-		136	`property.onOff = true;`
-		137	`property.absControl = true;`
-		138	`property.absValue = 1.0;`
-		139	`error = cam.SetProperty(&property);`
-		140	`if (error != FlyCapture2::PGRERROR_OK)`
-		141	`PrintError(error);`
-		142
-		143	`// Set white balance appropriate for LED projector`
-		144	`property.type = FlyCapture2::WHITE_BALANCE;`
129	`property.onOff = true;`	145	`property.onOff = true;`
130	`property.absControl = false;`	146	`property.absControl = false;`
131	`property.autoManualMode = false;`	147	`property.autoManualMode = false;`
132	`property.type = FlyCapture2::WHITE_BALANCE;`	-
133	`property.valueA = 666; //red`	148	`property.valueA = 666; //red`
134	`property.valueB = 777; //blue`	149	`property.valueB = 777; //blue`
135	`error = cam.SetProperty(&property);`	150	`error = cam.SetProperty(&property);`
136	`if (error != FlyCapture2::PGRERROR_OK)`	151	`if (error != FlyCapture2::PGRERROR_OK)`
137	`PrintError(error);`	152	`PrintError(error);`
138		153
139	`// Set reasonable default settings`	154	`// Set reasonable default settings`
140	`CameraSettings settings;`	155	`CameraSettings settings;`
141	`//settings.shutter = 8.33;`	156	`//settings.shutter = 8.33;`
142	`settings.shutter = 33.33;`	157	`settings.shutter = 16.66;`
143	`settings.gain = 0.0;`	158	`settings.gain = 0.0;`
144	`this->setCameraSettings(settings);`	159	`this->setCameraSettings(settings);`
145		160
146	`return;`	161	`return;`
147	`}`	162	`}`
148		163
149	`CameraSettings CameraPointGrey::getCameraSettings(){`	164	`CameraSettings CameraPointGrey::getCameraSettings(){`
150		165
151	`FlyCapture2::Property property;`	166	`FlyCapture2::Property property;`
152		167
153	`// Get settings:`	168	`// Get settings:`
154	`CameraSettings settings;`	169	`CameraSettings settings;`
155		170
156	`property.type = FlyCapture2::SHUTTER;`	171	`property.type = FlyCapture2::SHUTTER;`
157	`cam.GetProperty(&property);`	172	`cam.GetProperty(&property);`
158	`settings.shutter = property.absValue;`	173	`settings.shutter = property.absValue;`
159		174
160	`property.type = FlyCapture2::GAIN;`	175	`property.type = FlyCapture2::GAIN;`
161	`cam.GetProperty(&property);`	176	`cam.GetProperty(&property);`
162	`settings.gain = property.absValue;`	177	`settings.gain = property.absValue;`
163		178
164	`return settings;`	179	`return settings;`
165	`}`	180	`}`
166		181
167	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`	182	`void CameraPointGrey::setCameraSettings(CameraSettings settings){`
168		183
169	`FlyCapture2::Property property;`	184	`FlyCapture2::Property property;`
170	`property.onOff = true;`	185	`property.onOff = true;`
171	`property.absControl = true;`	186	`property.absControl = true;`
172		187
173	`property.type = FlyCapture2::SHUTTER;`	188	`property.type = FlyCapture2::SHUTTER;`
174	`property.absValue = settings.shutter;`	189	`property.absValue = settings.shutter;`
175	`cam.SetProperty(&property);`	190	`cam.SetProperty(&property);`
176		191
177	`property.type = FlyCapture2::GAIN;`	192	`property.type = FlyCapture2::GAIN;`
178	`property.absValue = settings.gain;`	193	`property.absValue = settings.gain;`
179	`cam.SetProperty(&property);`	194	`cam.SetProperty(&property);`
180		195
181	`}`	196	`}`
182		197
183	`void CameraPointGrey::startCapture(){`	198	`void CameraPointGrey::startCapture(){`
184		199
185	`FlyCapture2::Error error;`	200	`FlyCapture2::Error error;`
186		201
187	`CameraSettings settings = this->getCameraSettings();`	202	`CameraSettings settings = this->getCameraSettings();`
188	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`	203	`std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;`
189	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`	204	`std::cout << "\tGain: " << settings.gain << "dB" << std::endl;`
190		205
191	`if(triggerMode == triggerModeHardware){`	206	`if(triggerMode == triggerModeHardware){`
192	`// Configure for hardware trigger`	207	`// Configure for hardware trigger`
193	`FlyCapture2::TriggerMode triggerMode;`	208	`FlyCapture2::TriggerMode triggerMode;`
194	`triggerMode.onOff = true;`	209	`triggerMode.onOff = true;`
195	`triggerMode.polarity = 0;`	210	`triggerMode.polarity = 0;`
196	`triggerMode.source = 0;`	211	`triggerMode.source = 0;`
197	`triggerMode.mode = 14;`	212	`triggerMode.mode = 14;`
198	`error = cam.SetTriggerMode(&triggerMode);`	213	`error = cam.SetTriggerMode(&triggerMode);`
199	`if (error != FlyCapture2::PGRERROR_OK)`	214	`if (error != FlyCapture2::PGRERROR_OK)`
200	`PrintError(error);`	215	`PrintError(error);`
201		216
202	`} else if(triggerMode == triggerModeSoftware){`	217	`} else if(triggerMode == triggerModeSoftware){`
203	`// Configure software trigger`	218	`// Configure software trigger`
204	`FlyCapture2::TriggerMode triggerMode;`	219	`FlyCapture2::TriggerMode triggerMode;`
205	`triggerMode.onOff = true;`	220	`triggerMode.onOff = true;`
206	`triggerMode.polarity = 0;`	221	`triggerMode.polarity = 0;`
207	`triggerMode.source = 7; // software`	222	`triggerMode.source = 7; // software`
208	`triggerMode.mode = 0;`	223	`triggerMode.mode = 0;`
209	`error = cam.SetTriggerMode(&triggerMode);`	224	`error = cam.SetTriggerMode(&triggerMode);`
210	`if (error != FlyCapture2::PGRERROR_OK)`	225	`if (error != FlyCapture2::PGRERROR_OK)`
211	`PrintError(error);`	226	`PrintError(error);`
212	`}`	227	`}`
213		228
214	`// Set the trigger timeout to 1000 ms`	229	`// Set the trigger timeout to 1000 ms`
215	`FlyCapture2::FC2Config config;`	230	`FlyCapture2::FC2Config config;`
216	`config.grabTimeout = 1000;`	231	`config.grabTimeout = 1000;`
217	`error = cam.SetConfiguration(&config);`	232	`error = cam.SetConfiguration(&config);`
218	`if (error != FlyCapture2::PGRERROR_OK)`	233	`if (error != FlyCapture2::PGRERROR_OK)`
219	`PrintError(error);`	234	`PrintError(error);`
220		235
221	`error = cam.StartCapture();`	236	`error = cam.StartCapture();`
222	`if (error != FlyCapture2::PGRERROR_OK)`	237	`if (error != FlyCapture2::PGRERROR_OK)`
223	`PrintError(error);`	238	`PrintError(error);`
224		239
225	`capturing = true;`	240	`capturing = true;`
226	`}`	241	`}`
227		242
228	`void CameraPointGrey::stopCapture(){`	243	`void CameraPointGrey::stopCapture(){`
229		244
230	`FlyCapture2::Error error = cam.StopCapture();`	245	`FlyCapture2::Error error = cam.StopCapture();`
231	`if (error != FlyCapture2::PGRERROR_OK)`	246	`if (error != FlyCapture2::PGRERROR_OK)`
232	`PrintError(error);`	247	`PrintError(error);`
233		248
234	`capturing = false;`	249	`capturing = false;`
235	`}`	250	`}`
236		251
237	`void CameraPointGrey::trigger(){`	252	`void CameraPointGrey::trigger(){`
238		253
239	`FlyCapture2::Error error;`	254	`FlyCapture2::Error error;`
240		255
241	`// Fire software trigger`	256	`// Fire software trigger`
242	`// broadcasting not supported on some platforms`	257	`// broadcasting not supported on some platforms`
243	`error = cam.FireSoftwareTrigger(false);`	258	`error = cam.FireSoftwareTrigger(false);`
244		259
245	`if (error != FlyCapture2::PGRERROR_OK)`	260	`if (error != FlyCapture2::PGRERROR_OK)`
246	`PrintError(error);`	261	`PrintError(error);`
247		262
248	`}`	263	`}`
249		264
250	`CameraFrame CameraPointGrey::getFrame(){`	265	`CameraFrame CameraPointGrey::getFrame(){`
251		266
252	`FlyCapture2::Error error;`	267	`FlyCapture2::Error error;`
253		268
254	`// Retrieve the image`	269	`// Retrieve the image`
255	`FlyCapture2::Image rawImage;`	270	`FlyCapture2::Image rawImage;`
256	`error = cam.RetrieveBuffer(&rawImage);`	271	`error = cam.RetrieveBuffer(&rawImage);`
257	`if (error != FlyCapture2::PGRERROR_OK)`	272	`if (error != FlyCapture2::PGRERROR_OK)`
258	`PrintError(error);`	273	`PrintError(error);`
259		274
260	`rawImage.SetColorProcessing(FlyCapture2::IPP);`	275	`rawImage.SetColorProcessing(FlyCapture2::IPP);`
261		276
262	`// de-Bayer`	277	`// de-Bayer`
263	`rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`	278	`rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);`
264		279
265	`CameraFrame frame;`	280	`CameraFrame frame;`
266		281
267	`frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`	282	`frame.timeStamp = currentImage.GetTimeStamp().cycleCount;`
268	`frame.height = currentImage.GetRows();`	283	`frame.height = currentImage.GetRows();`
269	`frame.width = currentImage.GetCols();`	284	`frame.width = currentImage.GetCols();`
270	`frame.bitDepth = 8;`	285	`frame.bitDepth = 8;`
271	`frame.channels = 3;`	286	`frame.channels = 3;`
272	`frame.memory = (unsigned short*)currentImage.GetData();`	287	`frame.memory = (unsigned short*)currentImage.GetData();`
273		288
274	`return frame;`	289	`return frame;`
275	`}`	290	`}`
276		291
277		292
278	`size_t CameraPointGrey::getFrameSizeBytes(){`	293	`size_t CameraPointGrey::getFrameSizeBytes(){`
279		294
280	`FlyCapture2::Format7ImageSettings format7Settings;`	295	`FlyCapture2::Format7ImageSettings format7Settings;`
281	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	296	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
282		297
283	`return format7Settings.heightformat7Settings.width3;`	298	`return format7Settings.heightformat7Settings.width3;`
284	`}`	299	`}`
285		300
286	`size_t CameraPointGrey::getFrameWidth(){`	301	`size_t CameraPointGrey::getFrameWidth(){`
287		302
288	`FlyCapture2::Format7ImageSettings format7Settings;`	303	`FlyCapture2::Format7ImageSettings format7Settings;`
289	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	304	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
290		305
291	`return format7Settings.width;`	306	`return format7Settings.width;`
292	`}`	307	`}`
293		308
294	`size_t CameraPointGrey::getFrameHeight(){`	309	`size_t CameraPointGrey::getFrameHeight(){`
295		310
296	`FlyCapture2::Format7ImageSettings format7Settings;`	311	`FlyCapture2::Format7ImageSettings format7Settings;`
297	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`	312	`cam.GetFormat7Configuration(&format7Settings, NULL, NULL);`
298		313
299	`return format7Settings.height;`	314	`return format7Settings.height;`
300		315
301	`}`	316	`}`
302		317
303		318
304	`CameraPointGrey::~CameraPointGrey(){`	319	`CameraPointGrey::~CameraPointGrey(){`
305		320
306	`if(capturing){`	321	`if(capturing){`
307	`// Stop camera transmission`	322	`// Stop camera transmission`
308	`stopCapture();`	323	`stopCapture();`
309	`}`	324	`}`
310		325
311	`// Gracefulle destruct the camera`	326	`// Gracefulle destruct the camera`
312	`cam.Disconnect();`	327	`cam.Disconnect();`
313		328
314	`std::cout << "Closed camera!" << std::endl << std::flush;`	329	`std::cout << "Closed camera!" << std::endl << std::flush;`
315	`}`	330	`}`
316		331
317		332
318		333
319		334

Subversion Repositories seema-scanner

(root)/src/camera/CameraPointGrey.cpp – Rev 53 → 74