add core files
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Tang1705
306
Classes/CameraPointGrey.cpp
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306
Classes/CameraPointGrey.cpp
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#include "CameraPointGrey.h"
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#include <cstring>
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void PrintError(FlyCapture2::Error error){
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error.PrintErrorTrace();
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}
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vector<CameraInfo> CameraPointGrey::getCameraList(){
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FlyCapture2::Error error;
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FlyCapture2::BusManager busManager;
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unsigned int numCameras;
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error = busManager.GetNumOfCameras(&numCameras);
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vector<CameraInfo> ret;
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if (error != FlyCapture2::PGRERROR_OK){
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PrintError(error);
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return ret;
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}
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for (unsigned int i=0; i < numCameras; i++){
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FlyCapture2::PGRGuid guid;
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error = busManager.GetCameraFromIndex(i , &guid);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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// Connect to camera
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FlyCapture2::Camera cam;
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error = cam.Connect(&guid);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError( error );
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// Get the camera information
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FlyCapture2::CameraInfo camInfo;
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error = cam.GetCameraInfo(&camInfo);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError( error );
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CameraInfo camera;
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camera.busID = camInfo.nodeNumber;
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camera.model = camInfo.modelName;
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camera.vendor = "Point Grey Research";
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ret.push_back(camera);
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}
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return ret;
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}
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CameraPointGrey::CameraPointGrey(unsigned int camNum , CameraTriggerMode triggerMode) : Camera(triggerMode){
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FlyCapture2::Error error;
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// Connect to camera
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FlyCapture2::BusManager busManager;
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FlyCapture2::PGRGuid camGuid;
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busManager.GetCameraFromIndex(camNum , &camGuid);
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error = cam.Connect(&camGuid);
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if (error != FlyCapture2::PGRERROR_OK) {
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PrintError(error);
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connecting = false;
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return ;
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}
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FlyCapture2::Format7ImageSettings format7Settings;
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format7Settings.mode = FlyCapture2::MODE_0;
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format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RGB8;
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format7Settings.width = 1280;
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format7Settings.height = 1024;
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format7Settings.offsetX = 0;
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format7Settings.offsetY = 0;
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// Validate and set mode
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FlyCapture2::Format7PacketInfo packetInfo;
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bool valid;
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error = cam.ValidateFormat7Settings(&format7Settings , &valid ,&packetInfo);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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// packetsize configures maximum frame rate
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error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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// Turn off gamma
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FlyCapture2::Property property;
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property.type = FlyCapture2::AUTO_EXPOSURE;
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property.onOff = false;
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error = cam.SetProperty(&property);
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if (error != FlyCapture2::PGRERROR_OK){
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PrintError(error);
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connecting = false;
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return ;
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}
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property.type = FlyCapture2::GAMMA;
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property.onOff = true;
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property.absControl = true;
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property.absValue = 1.0;
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error = cam.SetProperty(&property);
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if (error != FlyCapture2::PGRERROR_OK){
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PrintError(error);
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connecting = false;
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return ;
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}
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// Get the camera information
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FlyCapture2::CameraInfo camInfo;
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error = cam.GetCameraInfo(&camInfo);
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if (error != FlyCapture2::PGRERROR_OK){
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PrintError(error);
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connecting = false;
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return ;
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}
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std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;
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connecting = true;
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// Set reasonable default settings
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CameraSettings settings;
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//settings.shutter = 8.33;
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settings.shutter = 33.33;
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settings.gain = 0.0;
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this->setCameraSettings(settings);
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return;
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}
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CameraSettings CameraPointGrey::getCameraSettings(){
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FlyCapture2::Property property;
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// Get settings:
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CameraSettings settings;
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property.type = FlyCapture2::SHUTTER;
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cam.GetProperty(&property);
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settings.shutter = property.absValue;
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property.type = FlyCapture2::GAIN;
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cam.GetProperty(&property);
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settings.gain = property.absValue;
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return settings;
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}
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void CameraPointGrey::setCameraSettings(CameraSettings settings){
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/*
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FlyCapture2::Property property;
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property.onOff = true;
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property.absControl = true;
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property.type = FlyCapture2::SHUTTER;
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property.absValue = settings.shutter;
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cam.SetProperty(&property);
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property.type = FlyCapture2::GAIN;
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property.absValue = settings.gain;
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cam.SetProperty(&property);
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*/
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}
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void CameraPointGrey::startCapture(){
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FlyCapture2::Error error;
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CameraSettings settings = this->getCameraSettings();
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std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;
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std::cout << "\tGain: " << settings.gain << "dB" << std::endl;
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if(triggerMode == triggerModeHardware){
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// Configure for hardware trigger
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FlyCapture2::TriggerMode triggerMode;
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triggerMode.onOff = true;
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triggerMode.polarity = 0;
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triggerMode.source = 0;
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triggerMode.mode = 14;
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error = cam.SetTriggerMode(&triggerMode);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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error = cam.StartCapture();
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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} else if(triggerMode == triggerModeSoftware){
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// Configure software trigger
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FlyCapture2::TriggerMode triggerMode;
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triggerMode.onOff = true;
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triggerMode.polarity = 0;
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triggerMode.source = 7; // software
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triggerMode.mode = 0;
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error = cam.SetTriggerMode(&triggerMode);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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}
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// Set the trigger timeout to 1000 ms
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FlyCapture2::FC2Config config;
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config.grabTimeout = 1000;
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error = cam.SetConfiguration(&config);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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error = cam.StartCapture();
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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capturing = true;
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}
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void CameraPointGrey::stopCapture(){
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FlyCapture2::Error error = cam.StopCapture();
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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capturing = false;
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}
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CameraFrame CameraPointGrey::getFrame(){
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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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// broadcasting not supported on some platforms
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cam.FireSoftwareTrigger(false);
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}
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// Retrieve the image
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FlyCapture2::Image rawImage;
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error = cam.RetrieveBuffer(&rawImage);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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CameraFrame frame;
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frame.timeStamp = rawImage.GetTimeStamp().cycleCount;
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frame.height = rawImage.GetRows();
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frame.width = rawImage.GetCols();
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frame.memory = rawImage.GetData();
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return frame;
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}
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size_t CameraPointGrey::getFrameSizeBytes(){
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FlyCapture2::Format7ImageSettings format7Settings;
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unsigned int dummy1;
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float dummy2;
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FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings , &dummy1, &dummy2);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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return format7Settings.width*format7Settings.height;
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}
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size_t CameraPointGrey::getFrameWidth(){
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FlyCapture2::Format7ImageSettings format7Settings;
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unsigned int dummy1;
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float dummy2;
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FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1 , &dummy2);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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return format7Settings.width;
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}
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size_t CameraPointGrey::getFrameHeight(){
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FlyCapture2::Format7ImageSettings format7Settings;
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unsigned int dummy1;
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float dummy2;
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FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings , &dummy1 , &dummy2);
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if (error != FlyCapture2::PGRERROR_OK)
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PrintError(error);
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return format7Settings.height;
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}
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CameraPointGrey::~CameraPointGrey(){
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if(capturing){
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// Stop camera transmission
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cam.StopCapture();
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}
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// Gracefulle destruct the camera
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cam.Disconnect();
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std::cout<<"camera disconnect"<<std::endl;
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}
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