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Line 47... Line 47...
47 
    }
 47 
    }
48 
 
 48 
 
49 
    return ret;
 49 
    return ret;
50 
}
 50 
}
51 
 
 51 
 
52 
CameraPointGrey::CameraPointGrey(unsigned int camID){
 52 
CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){
53 
 
 53 
 
54 
    FlyCapture2::Error error;
 54 
    FlyCapture2::Error error;
55 
 
 55 
 
56 
    // Connect to camera
 56 
    // Connect to camera
57 
    FlyCapture2::BusManager busManager;
 57 
    FlyCapture2::BusManager busManager;
58 
    FlyCapture2::PGRGuid camGuid;
 58 
    FlyCapture2::PGRGuid camGuid;
59 
    busManager.GetCameraFromIndex(camID, &camGuid);
 59 
    busManager.GetCameraFromIndex(camNum, &camGuid);
60 
    error = cam.Connect(&camGuid);
 60 
    error = cam.Connect(&camGuid);
61 
    if (error != FlyCapture2::PGRERROR_OK)
 61 
    if (error != FlyCapture2::PGRERROR_OK)
62 
        PrintError(error);
 62 
        PrintError(error);
63 
 
 63 
 
64 
    // Configure software trigger
 - 
 
65 
    FlyCapture2::TriggerMode triggerMode;
 - 
 
66 
    triggerMode.onOff = true;
 - 
 
67 
    triggerMode.polarity = 0;
 - 
 
68 
    triggerMode.source = 7; // software
 - 
 
69 
    triggerMode.mode = 0;
 - 
 
70 
    error = cam.SetTriggerMode(&triggerMode);
 - 
 
71 
    if (error != FlyCapture2::PGRERROR_OK)
 - 
 
72 
        PrintError(error);
 - 
 
73 
 
 - 
 
74 
    // Configure video mode and frame rate
 64 
    // Configure video mode and frame rate
75 
    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_800x600Y8;
 65 
    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_640x480Y16;
76 
    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_30;
 66 
    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_15;
77 
    cam.SetVideoModeAndFrameRate(videoMode, frameRate);
 67 
    cam.SetVideoModeAndFrameRate(videoMode, frameRate);
78 
 
 68 
 
79 
    // Get the camera information
 69 
    // Get the camera information
80 
    FlyCapture2::CameraInfo camInfo;
 70 
    FlyCapture2::CameraInfo camInfo;
81 
    error = cam.GetCameraInfo(&camInfo);
 71 
    error = cam.GetCameraInfo(&camInfo);
Line 84... Line 74...
84 
 
 74 
 
85 
    std::cout << camInfo.vendorName << "  " << camInfo.modelName << "  " << camInfo.serialNumber << std::endl;
 75 
    std::cout << camInfo.vendorName << "  " << camInfo.modelName << "  " << camInfo.serialNumber << std::endl;
86 
 
 76 
 
87 
    // Set reasonable default settings
 77 
    // Set reasonable default settings
88 
    CameraSettings settings;
 78 
    CameraSettings settings;
- 
 
 79 
    //settings.shutter = 8.33;
89 
    settings.shutter = 33.33;
 80 
    settings.shutter = 33.33;
90 
    settings.gain = 0.0;
 81 
    settings.gain = 0.0;
91 
    this->setCameraSettings(settings);
 82 
    this->setCameraSettings(settings);
92 
 
 83 
 
93 
    settings = this->getCameraSettings();
 - 
 
94 
    std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;
 - 
 
95 
    std::cout << "\tGain: " << settings.gain << "dB" << std::endl;
 - 
 
96 
 
 - 
 
97 
    // Start isochronous image transfer
 84 
    // Start isochronous image transfer
98 
    error = cam.StartCapture();
 85 
    error = cam.StartCapture();
99 
    if (error != FlyCapture2::PGRERROR_OK)
 86 
    if (error != FlyCapture2::PGRERROR_OK)
100 
        PrintError(error);
 87 
        PrintError(error);
101 
 
 88 
 
102 
    return;
 89 
    return;
103 
}
 90 
}
104
91 
 
- 
 
 92 
CameraSettings CameraPointGrey::getCameraSettings(){
- 
 
 93 
 
- 
 
 94 
    FlyCapture2::Property property;
- 
 
 95 
 
- 
 
 96 
    // Get settings:
- 
 
 97 
    CameraSettings settings;
- 
 
 98 
 
- 
 
 99 
    property.type = FlyCapture2::SHUTTER;
- 
 
 100 
    cam.GetProperty(&property);
- 
 
 101 
    settings.shutter = property.absValue;
- 
 
 102 
 
- 
 
 103 
    property.type = FlyCapture2::GAIN;
- 
 
 104 
    cam.GetProperty(&property);
- 
 
 105 
    settings.gain = property.absValue;
- 
 
 106 
 
- 
 
 107 
    return settings;
- 
 
 108 
}
- 
 
 109 
 
- 
 
 110 
void CameraPointGrey::setCameraSettings(CameraSettings settings){
- 
 
 111 
 
- 
 
 112 
    FlyCapture2::Property property;
- 
 
 113 
    property.onOff = true;
- 
 
 114 
    property.absControl = true;
- 
 
 115 
 
- 
 
 116 
    property.type = FlyCapture2::SHUTTER;
- 
 
 117 
    property.absValue = settings.shutter;
- 
 
 118 
    cam.SetProperty(&property);
- 
 
 119 
 
- 
 
 120 
    property.type = FlyCapture2::GAIN;
- 
 
 121 
    property.absValue = settings.gain;
- 
 
 122 
    cam.SetProperty(&property);
- 
 
 123 
 
- 
 
 124 
}
- 
 
 125 
 
105 
void CameraPointGrey::startCapture(){
 126 
void CameraPointGrey::startCapture(){
106 
 
 127 
 
107 
    FlyCapture2::Error error;
 128 
    FlyCapture2::Error error;\
108 
 
 129 
 
109 
    error = cam.StopCapture();
 130 
    CameraSettings settings = this->getCameraSettings();
110 
    if (error != FlyCapture2::PGRERROR_OK)
 131 
    std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;
111 
        PrintError(error);
 132 
    std::cout << "\tGain: " << settings.gain << "dB" << std::endl;
112 
 
 133 
 
- 
 
 134 
    if(triggerMode == triggerModeHardware){
113 
    // Configure for hardware trigger
 135 
        // Configure for hardware trigger
114 
    FlyCapture2::TriggerMode triggerMode;
 136 
        FlyCapture2::TriggerMode triggerMode;
115 
    triggerMode.onOff = true;
 137 
        triggerMode.onOff = true;
116 
    triggerMode.polarity = 0;
 138 
        triggerMode.polarity = 0;
117 
    triggerMode.source = 0;
 139 
        triggerMode.source = 0;
118 
    triggerMode.mode = 14;
 140 
        triggerMode.mode = 14;
119 
    error = cam.SetTriggerMode(&triggerMode);
 141 
        error = cam.SetTriggerMode(&triggerMode);
120 
    if (error != FlyCapture2::PGRERROR_OK)
 142 
        if (error != FlyCapture2::PGRERROR_OK)
121 
        PrintError(error);
 143 
            PrintError(error);
122 
 
 144 
 
- 
 
 145 
        error = cam.StartCapture();
- 
 
 146 
        if (error != FlyCapture2::PGRERROR_OK)
- 
 
 147 
            PrintError(error);
- 
 
 148 
 
- 
 
 149 
    } else if(triggerMode == triggerModeSoftware){
- 
 
 150 
        // Configure software trigger
- 
 
 151 
        FlyCapture2::TriggerMode triggerMode;
- 
 
 152 
        triggerMode.onOff = true;
- 
 
 153 
        triggerMode.polarity = 0;
- 
 
 154 
        triggerMode.source = 7; // software
- 
 
 155 
        triggerMode.mode = 0;
- 
 
 156 
        error = cam.SetTriggerMode(&triggerMode);
- 
 
 157 
        if (error != FlyCapture2::PGRERROR_OK)
- 
 
 158 
            PrintError(error);
- 
 
 159 
    }
- 
 
 160 
 
123 
    // Set the trigger timeout to 1000 ms
 161 
    // Set the trigger timeout to 1000 ms
124 
    FlyCapture2::FC2Config config;
 162 
    FlyCapture2::FC2Config config;
125 
    config.grabTimeout = 1000;
 163 
    config.grabTimeout = 1000;
126 
    error = cam.SetConfiguration(&config);
 164 
    error = cam.SetConfiguration(&config);
127 
    if (error != FlyCapture2::PGRERROR_OK)
 165 
    if (error != FlyCapture2::PGRERROR_OK)
128 
        PrintError(error);
 166 
        PrintError(error);
129 
 
 167 
 
130 
//    error = cam.StartCapture();
 - 
 
131 
//    if (error != FlyCapture2::PGRERROR_OK)
 - 
 
132 
//        PrintError(error);
 - 
 
133 
 
 - 
 
134 
    capturing = true;
 168 
    capturing = true;
135 
}
 169 
}
136 
 
 170 
 
137 
void CameraPointGrey::stopCapture(){
 171 
void CameraPointGrey::stopCapture(){
138 
 
 172 
 
139 
    capturing = false;
 - 
 
140 
}
 - 
 
141 
 
 - 
 
142 
CameraFrame CameraPointGrey::lockFrame(){
 - 
 
143 
 
 - 
 
144 
    FlyCapture2::Error error;
 173 
    FlyCapture2::Error error = cam.StopCapture();
145 
 
 - 
 
146 
    // Retrieve image
 - 
 
147 
    FlyCapture2::Image rawImage;
 - 
 
148 
    error = cam.RetrieveBuffer( &rawImage );
 - 
 
149 
    if (error != FlyCapture2::PGRERROR_OK)
 174 
    if (error != FlyCapture2::PGRERROR_OK)
150 
        PrintError(error);
 175 
        PrintError(error);
151 
 
 176 
 
152 
    CameraFrame frame;
 - 
 
153 
 
 - 
 
154 
    frame.timeStamp = rawImage.GetTimeStamp().cycleCount;
 - 
 
155 
    frame.height = rawImage.GetCols();
 - 
 
156 
    frame.width = rawImage.GetRows();
 - 
 
157 
    frame.memory = rawImage.GetData();
 - 
 
158 
 
 - 
 
159 
    return frame;
 177 
    capturing = false;
160 
}
 - 
 
161 
 
 - 
 
162 
void CameraPointGrey::unlockFrame(){
 - 
 
163 
 
 - 
 
164 
}
 178 
}
165 
 
 179 
 
166 
 
 - 
 
167 
CameraFrame CameraPointGrey::getSingleFrame(){
 180 
CameraFrame CameraPointGrey::getFrame(){
168 
 
 181 
 
169 
    FlyCapture2::Error error;
 182 
    FlyCapture2::Error error;
170 
 
 183 
 
- 
 
 184 
    if(triggerMode == triggerModeSoftware){
171 
    // Fire software trigger
 185 
        // Fire software trigger
172 
    // broadcasting not supported on some platforms
 186 
        // broadcasting not supported on some platforms
173 
    cam.FireSoftwareTrigger(false);
 187 
        cam.FireSoftwareTrigger(false);
- 
 
 188 
    }
174 
 
 189 
 
175 
    // Retrieve the image
 190 
    // Retrieve the image
176 
    FlyCapture2::Image rawImage;
 191 
    FlyCapture2::Image rawImage;
177 
    error = cam.RetrieveBuffer(&rawImage);
 192 
    error = cam.RetrieveBuffer(&rawImage);
178 
    if (error != FlyCapture2::PGRERROR_OK)
 193 
    if (error != FlyCapture2::PGRERROR_OK)
Line 181... Line 196...
181 
    CameraFrame frame;
 196 
    CameraFrame frame;
182 
 
 197 
 
183 
    frame.timeStamp = rawImage.GetTimeStamp().cycleCount;
 198 
    frame.timeStamp = rawImage.GetTimeStamp().cycleCount;
184 
    frame.height = rawImage.GetRows();
 199 
    frame.height = rawImage.GetRows();
185 
    frame.width = rawImage.GetCols();
 200 
    frame.width = rawImage.GetCols();
- 
 
 201 
    frame.bitDepth = 16;
186 
    frame.memory = rawImage.GetData();
 202 
    frame.memory = (unsigned short*)rawImage.GetData();
187 
 
 203 
 
188 
    return frame;
 204 
    return frame;
189 
}
 205 
}
190 
 
 206 
 
191 
 
 207 
 
192 
size_t CameraPointGrey::getFrameSizeBytes(){
 208 
size_t CameraPointGrey::getFrameSizeBytes(){
193 
 
 209
194
- 
 
195 
    return 0;
 210 
    return 0;
196 
}
 211 
}
197 
 
 212 
 
198 
void CameraPointGrey::getFrameWidthHeight(unsigned int *width, unsigned int *height){
 213 
size_t CameraPointGrey::getFrameWidth(){
- 
 
 214 
 
199 
    // How do we poll this from the camera?
 215 
    // How do we poll this from the camera?
200 
    *width = 640;
 216 
    return 640;
201 
    *height = 480;
 - 
 
202 
 
 217 
 
203 
}
 218 
}
204 
 
 219 
 
- 
 
 220 
size_t CameraPointGrey::getFrameHeight(){
205 
 
 221 
 
206 
void CameraPointGrey::setCameraSettings(CameraSettings settings){
 - 
 
207 
 
 - 
 
208 
    FlyCapture2::Property property;
 222 
    // How do we poll this from the camera?
209 
    property.onOff = true;
 223 
    return 480;
210 
    property.absControl = true;
 - 
 
211 
 
 - 
 
212 
    property.type = FlyCapture2::SHUTTER;
 - 
 
213 
    property.absValue = settings.shutter;
 - 
 
214 
    cam.SetProperty(&property);
 - 
 
215 
 
 - 
 
216 
    property.type = FlyCapture2::GAIN;
 - 
 
217 
    property.absValue = settings.gain;
 - 
 
218 
    cam.SetProperty(&property);
 - 
 
219 
 
 224 
 
220 
}
 225 
}
221 
 
 226 
 
222 
CameraSettings CameraPointGrey::getCameraSettings(){
 - 
 
223
- 
 
224 
    FlyCapture2::Property property;
 - 
 
225 
 
 - 
 
226 
	// Get settings:
 - 
 
227 
    CameraSettings settings;
 - 
 
228 
 
 - 
 
229 
    property.type = FlyCapture2::SHUTTER;
 - 
 
230 
    cam.GetProperty(&property);
 - 
 
231 
    settings.shutter = property.absValue;
 - 
 
232 
 
 - 
 
233 
    property.type = FlyCapture2::GAIN;
 - 
 
234 
    cam.GetProperty(&property);
 - 
 
235 
    settings.gain = property.absValue;
 - 
 
236 
 
 - 
 
237 
    return settings;
 - 
 
238 
}
 - 
 
239 
 
 227 
 
240 
CameraPointGrey::~CameraPointGrey(){
 228 
CameraPointGrey::~CameraPointGrey(){
241 
    std::cout << "Deleting Point Grey Camera 1" << std::endl << std::flush;
 - 
 
242 
 
 229 
 
- 
 
 230 
    if(capturing && triggerMode == triggerModeHardware){
243 
    // Stop camera transmission
 231 
        // Stop camera transmission
244 
   // cam.StopCapture();
 232 
        cam.StopCapture();
245 
 
 233 
    }
246 
    std::cout << "Deleting Point Grey Camera 2" << std::endl << std::flush;
 - 
 
247 
 
 234 
 
248 
    // Gracefulle destruct the camera
 235 
    // Gracefulle destruct the camera
249 
   // cam.Disconnect();
 236 
    cam.Disconnect();
250 
 
 237 
 
251 
    std::cout << "Deleting Point Grey Camera 3" << std::endl << std::flush;
 - 
 
252 
}
 238 
}
253 
 
 239 
 
254 
 
 240 
 
255 
 
 241