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Line 30... Line 30...
30 
        FlyCapture2::Camera cam;
 30 
        FlyCapture2::Camera cam;
31 
        error = cam.Connect(&guid);
 31 
        error = cam.Connect(&guid);
32 
        if (error != FlyCapture2::PGRERROR_OK)
 32 
        if (error != FlyCapture2::PGRERROR_OK)
33 
            PrintError( error );
 33 
            PrintError( error );
34 
 
 34 
 
35 
    //    // Configure DCAM video mode and frame rate
 - 
 
36 
    //    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;
 - 
 
37 
    //    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;
 - 
 
38 
    //    error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);
 - 
 
39 
    //    if (error != FlyCapture2::PGRERROR_OK)
 - 
 
40 
    //        PrintError(error);
 - 
 
41 
 
 - 
 
42 
        // Configure Format7 mode
 - 
 
43 
        FlyCapture2::Format7ImageSettings format7Settings;
 - 
 
44 
        format7Settings.mode = FlyCapture2::MODE_0;
 - 
 
45 
        format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;
 - 
 
46 
        format7Settings.width = 1296;
 - 
 
47 
        format7Settings.height = 964;
 - 
 
48 
        format7Settings.offsetX = 0;
 - 
 
49 
        format7Settings.offsetY = 0;
 - 
 
50 
 
 - 
 
51 
        // Validate and set mode
 - 
 
52 
        FlyCapture2::Format7PacketInfo packetInfo;
 - 
 
53 
        bool valid;
 - 
 
54 
        cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);
 - 
 
55 
        // packetsize indirectly configures frame rate
 - 
 
56 
        error = cam.SetFormat7Configuration(&format7Settings, packetInfo.unitBytesPerPacket*3);
 - 
 
57 
        if (error != FlyCapture2::PGRERROR_OK)
 - 
 
58 
            PrintError(error);
 - 
 
59 
 
 - 
 
60 
        // Configure general
 - 
 
61 
        FlyCapture2::FC2Config config;
 - 
 
62 
        config.numBuffers = 5;
 - 
 
63 
        config.grabTimeout = 1000; // retrieveBuffer() timeout in ms
 - 
 
64 
        config.grabMode = FlyCapture2::DROP_FRAMES;
 - 
 
65 
        config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;
 - 
 
66 
        config.highPerformanceRetrieveBuffer = true;
 - 
 
67 
        //config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;
 - 
 
68 
        error = cam.SetConfiguration(&config);
 - 
 
69 
        if (error != FlyCapture2::PGRERROR_OK)
 - 
 
70 
            PrintError(error);
 - 
 
71 
 
 - 
 
72 
        // Get camera information
 35 
        // Get camera information
73 
        FlyCapture2::CameraInfo camInfo;
 36 
        FlyCapture2::CameraInfo camInfo;
74 
        error = cam.GetCameraInfo(&camInfo);
 37 
        error = cam.GetCameraInfo(&camInfo);
75 
        if (error != FlyCapture2::PGRERROR_OK)
 38 
        if (error != FlyCapture2::PGRERROR_OK)
76 
            PrintError( error );
 39 
            PrintError( error );
Line 96... Line 59...
96 
    busManager.GetCameraFromIndex(camNum, &camGuid);
 59 
    busManager.GetCameraFromIndex(camNum, &camGuid);
97 
    error = cam.Connect(&camGuid);
 60 
    error = cam.Connect(&camGuid);
98 
    if (error != FlyCapture2::PGRERROR_OK)
 61 
    if (error != FlyCapture2::PGRERROR_OK)
99 
        PrintError(error);
 62 
        PrintError(error);
100 
 
 63 
 
101 
    // Configure video mode and frame rate
 64 
//    // Configure DCAM video mode and frame rate
102 
    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_640x480Y16;
 65 
//    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;
103 
    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_15;
 66 
//    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;
104 
    cam.SetVideoModeAndFrameRate(videoMode, frameRate);
 67 
//    error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);
- 
 
 68 
//    if (error != FlyCapture2::PGRERROR_OK)
- 
 
 69 
//        PrintError(error);
- 
 
 70 
 
- 
 
 71 
    // Configure Format7 mode
- 
 
 72 
    FlyCapture2::Format7ImageSettings format7Settings;
- 
 
 73 
    format7Settings.mode = FlyCapture2::MODE_0;
- 
 
 74 
    format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW16;
- 
 
 75 
    format7Settings.width = 3376;
- 
 
 76 
    format7Settings.height = 2704;
- 
 
 77 
    format7Settings.offsetX = 0;
- 
 
 78 
    format7Settings.offsetY = 0;
- 
 
 79 
 
- 
 
 80 
    // Validate and set mode
- 
 
 81 
    FlyCapture2::Format7PacketInfo packetInfo;
- 
 
 82 
    bool valid;
- 
 
 83 
    error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);
- 
 
 84 
    if (error != FlyCapture2::PGRERROR_OK)
- 
 
 85 
        PrintError(error);
- 
 
 86 
    // packetsize indirectly configures frame rate
- 
 
 87 
    error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);
- 
 
 88 
    if (error != FlyCapture2::PGRERROR_OK)
- 
 
 89 
        PrintError(error);
- 
 
 90 
 
- 
 
 91 
    // Configure general
- 
 
 92 
    FlyCapture2::FC2Config config;
- 
 
 93 
    config.numBuffers = 5;
- 
 
 94 
    config.grabTimeout = 1000; // retrieveBuffer() timeout in ms
- 
 
 95 
    config.grabMode = FlyCapture2::DROP_FRAMES;
- 
 
 96 
    config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;
- 
 
 97 
    config.highPerformanceRetrieveBuffer = true;
- 
 
 98 
    //config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;
- 
 
 99 
    error = cam.SetConfiguration(&config);
- 
 
 100 
    if (error != FlyCapture2::PGRERROR_OK)
- 
 
 101 
        PrintError(error);
- 
 
 102 
 
105 
 
 103 
 
106 
    // Get the camera information
 104 
    // Get the camera information
107 
    FlyCapture2::CameraInfo camInfo;
 105 
    FlyCapture2::CameraInfo camInfo;
108 
    error = cam.GetCameraInfo(&camInfo);
 106 
    error = cam.GetCameraInfo(&camInfo);
109 
    if (error != FlyCapture2::PGRERROR_OK)
 107 
    if (error != FlyCapture2::PGRERROR_OK)
Line 116... Line 114...
116 
    //settings.shutter = 8.33;
 114 
    //settings.shutter = 8.33;
117 
    settings.shutter = 33.33;
 115 
    settings.shutter = 33.33;
118 
    settings.gain = 0.0;
 116 
    settings.gain = 0.0;
119 
    this->setCameraSettings(settings);
 117 
    this->setCameraSettings(settings);
120 
 
 118 
 
121 
    // Start isochronous image transfer
 - 
 
122 
    error = cam.StartCapture();
 - 
 
123 
    if (error != FlyCapture2::PGRERROR_OK)
 - 
 
124 
        PrintError(error);
 - 
 
125 
 
 - 
 
126 
    return;
 119 
    return;
127 
}
 120 
}
128 
 
 121 
 
129 
CameraSettings CameraPointGrey::getCameraSettings(){
 122 
CameraSettings CameraPointGrey::getCameraSettings(){
130 
 
 123 
 
Line 160... Line 153...
160 
 
 153 
 
161 
}
 154 
}
162 
 
 155 
 
163 
void CameraPointGrey::startCapture(){
 156 
void CameraPointGrey::startCapture(){
164 
 
 157 
 
165 
    FlyCapture2::Error error;\
 158 
    FlyCapture2::Error error;
166 
 
 159 
 
167 
    CameraSettings settings = this->getCameraSettings();
 160 
    CameraSettings settings = this->getCameraSettings();
168 
    std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;
 161 
    std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;
169 
    std::cout << "\tGain: " << settings.gain << "dB" << std::endl;
 162 
    std::cout << "\tGain: " << settings.gain << "dB" << std::endl;
170 
 
 163 
 
Line 177... Line 170...
177 
        triggerMode.mode = 14;
 170 
        triggerMode.mode = 14;
178 
        error = cam.SetTriggerMode(&triggerMode);
 171 
        error = cam.SetTriggerMode(&triggerMode);
179 
        if (error != FlyCapture2::PGRERROR_OK)
 172 
        if (error != FlyCapture2::PGRERROR_OK)
180 
            PrintError(error);
 173 
            PrintError(error);
181 
 
 174 
 
182 
        error = cam.StartCapture();
 - 
 
183 
        if (error != FlyCapture2::PGRERROR_OK)
 - 
 
184 
            PrintError(error);
 - 
 
185 
 
 - 
 
186 
    } else if(triggerMode == triggerModeSoftware){
 175 
    } else if(triggerMode == triggerModeSoftware){
187 
        // Configure software trigger
 176 
        // Configure software trigger
188 
        FlyCapture2::TriggerMode triggerMode;
 177 
        FlyCapture2::TriggerMode triggerMode;
189 
        triggerMode.onOff = true;
 178 
        triggerMode.onOff = true;
190 
        triggerMode.polarity = 0;
 179 
        triggerMode.polarity = 0;
Line 200... Line 189...
200 
    config.grabTimeout = 1000;
 189 
    config.grabTimeout = 1000;
201 
    error = cam.SetConfiguration(&config);
 190 
    error = cam.SetConfiguration(&config);
202 
    if (error != FlyCapture2::PGRERROR_OK)
 191 
    if (error != FlyCapture2::PGRERROR_OK)
203 
        PrintError(error);
 192 
        PrintError(error);
204 
 
 193 
 
- 
 
 194 
    error = cam.StartCapture();
- 
 
 195 
    if (error != FlyCapture2::PGRERROR_OK)
- 
 
 196 
        PrintError(error);
- 
 
 197 
 
205 
    capturing = true;
 198 
    capturing = true;
206 
}
 199 
}
207 
 
 200 
 
208 
void CameraPointGrey::stopCapture(){
 201 
void CameraPointGrey::stopCapture(){
209 
 
 202 
 
Line 228... Line 221...
228 
    FlyCapture2::Image rawImage;
 221 
    FlyCapture2::Image rawImage;
229 
    error = cam.RetrieveBuffer(&rawImage);
 222 
    error = cam.RetrieveBuffer(&rawImage);
230 
    if (error != FlyCapture2::PGRERROR_OK)
 223 
    if (error != FlyCapture2::PGRERROR_OK)
231 
        PrintError(error);
 224 
        PrintError(error);
232 
 
 225 
 
- 
 
 226 
    rawImage.SetColorProcessing(FlyCapture2::IPP);
- 
 
 227 
 
- 
 
 228 
    // de-Bayer
- 
 
 229 
    rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB16, &currentImage);
- 
 
 230 
 
233 
    CameraFrame frame;
 231 
    CameraFrame frame;
234 
 
 232 
 
235 
    frame.timeStamp = rawImage.GetTimeStamp().cycleCount;
 233 
    frame.timeStamp = currentImage.GetTimeStamp().cycleCount;
236 
    frame.height = rawImage.GetRows();
 234 
    frame.height = currentImage.GetRows();
237 
    frame.width = rawImage.GetCols();
 235 
    frame.width = currentImage.GetCols();
238 
    frame.bitDepth = 16;
 236 
    frame.bitDepth = 14;
239 
    frame.memory = (unsigned short*)rawImage.GetData();
 237 
    frame.memory = (unsigned short*)currentImage.GetData();
240 
 
 238 
 
241 
    return frame;
 239 
    return frame;
242 
}
 240 
}
243 
 
 241 
 
244 
 
 242 
 
245 
size_t CameraPointGrey::getFrameSizeBytes(){
 243 
size_t CameraPointGrey::getFrameSizeBytes(){
246
244
247 
    return 0;
 245 
    return 3376*2704*2*3;
248 
}
 246 
}
249 
 
 247 
 
250 
size_t CameraPointGrey::getFrameWidth(){
 248 
size_t CameraPointGrey::getFrameWidth(){
251 
 
 249 
 
252 
    // How do we poll this from the camera?
 250 
    // How do we poll this from the camera?
253 
    return 640;
 251 
    return 3376;
254 
 
 252 
 
255 
}
 253 
}
256 
 
 254 
 
257 
size_t CameraPointGrey::getFrameHeight(){
 255 
size_t CameraPointGrey::getFrameHeight(){
258 
 
 256 
 
259 
    // How do we poll this from the camera?
 257 
    // How do we poll this from the camera?
260 
    return 480;
 258 
    return 2704;
261 
 
 259 
 
262 
}
 260 
}
263 
 
 261 
 
264 
 
 262 
 
265 
CameraPointGrey::~CameraPointGrey(){
 263 
CameraPointGrey::~CameraPointGrey(){