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Line 54... Line 54...
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    FlyCapture2::Error error;
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    FlyCapture2::Error error;
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    // Connect to camera
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    // Connect to camera
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    FlyCapture2::BusManager busManager;
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    FlyCapture2::BusManager busManager;
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    FlyCapture2::PGRGuid camGuid;
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    FlyCapture2::PGRGuid camGuid;
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    busManager.GetCameraFromIndex(camNum, &camGuid);
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    busManager.GetCameraFromIndex(camNum, &camGuid);
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    error = cam.Connect(&camGuid);
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    error = cam.Connect(&camGuid);
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    if (error != FlyCapture2::PGRERROR_OK)
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    if (error != FlyCapture2::PGRERROR_OK)
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        PrintError(error);
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        PrintError(error);
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        PrintError(error);
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        PrintError(error);
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    capturing = false;
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    capturing = false;
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}
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}
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CameraFrame CameraPointGrey::getFrame(){
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void CameraPointGrey::trigger(){
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    FlyCapture2::Error error;
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    FlyCapture2::Error error;
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    if(triggerMode == triggerModeSoftware){
 - 
 
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        // Fire software trigger
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    // Fire software trigger
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        // broadcasting not supported on some platforms
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    // broadcasting not supported on some platforms
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        cam.FireSoftwareTrigger(false);
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    error = cam.FireSoftwareTrigger(false);
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    if (error != FlyCapture2::PGRERROR_OK)
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        PrintError(error);
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    }
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}
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CameraFrame CameraPointGrey::getFrame(){
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    FlyCapture2::Error error;
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    // Retrieve the image
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    // Retrieve the image
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    FlyCapture2::Image rawImage;
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    FlyCapture2::Image rawImage;
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    error = cam.RetrieveBuffer(&rawImage);
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    error = cam.RetrieveBuffer(&rawImage);
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    if (error != FlyCapture2::PGRERROR_OK)
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    if (error != FlyCapture2::PGRERROR_OK)
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        PrintError(error);
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        PrintError(error);
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    rawImage.SetColorProcessing(FlyCapture2::IPP);
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    rawImage.SetColorProcessing(FlyCapture2::IPP);
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    // de-Bayer
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    // de-Bayer
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    rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB16, &currentImage);
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    rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);
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    CameraFrame frame;
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    CameraFrame frame;
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    frame.timeStamp = currentImage.GetTimeStamp().cycleCount;
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    frame.timeStamp = currentImage.GetTimeStamp().cycleCount;
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    frame.height = currentImage.GetRows();
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    frame.height = currentImage.GetRows();
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    frame.width = currentImage.GetCols();
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    frame.width = currentImage.GetCols();
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    frame.bitDepth = 14;
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    frame.bitDepth = 8;
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    frame.channels = 3;
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    frame.memory = (unsigned short*)currentImage.GetData();
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    frame.memory = (unsigned short*)currentImage.GetData();
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    return frame;
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    return frame;
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}
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}
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size_t CameraPointGrey::getFrameSizeBytes(){
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size_t CameraPointGrey::getFrameSizeBytes(){
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253
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    return 3376*2704*2*3;
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    return 3376*2704*3;
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}
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}
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size_t CameraPointGrey::getFrameWidth(){
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size_t CameraPointGrey::getFrameWidth(){
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    // How do we poll this from the camera?
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    // How do we poll this from the camera?
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}
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}
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CameraPointGrey::~CameraPointGrey(){
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CameraPointGrey::~CameraPointGrey(){
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    if(capturing && triggerMode == triggerModeHardware){
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    if(capturing){
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        // Stop camera transmission
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        // Stop camera transmission
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        cam.StopCapture();
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        stopCapture();
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    }
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    }
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    // Gracefulle destruct the camera
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    // Gracefulle destruct the camera
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    cam.Disconnect();
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    cam.Disconnect();
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    std::cout << "Closed camera!" << std::endl << std::flush;
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}
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}
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