int main(int argc, char** argv)
{
fc2Error error;
fc2Context context;
fc2PGRGuid guid;
unsigned int numCameras = 0;
const int k_numImages = 100;
// Since this application saves images in the OUTPUT_DIR folder
// we must ensure that the folder exists and we have permission
//to write to this folder. If we do not have permission, fail right away.
struct stat sb;
if (!(stat(OUTPUT_DIR, &sb) == 0 && S_ISDIR(sb.st_mode)))
{
printf("Directory %s NOT found\n",OUTPUT_DIR);
if (mkdir(OUTPUT_DIR, S_IRWXU | S_IRGRP | S_IROTH | S_IXGRP | S_IXOTH) != 0)
{
printf("Error creating directory %s\n",OUTPUT_DIR);
return -1;
}
}
// else
// {
// printf("Directory %s NOT FOUND\n",OUTPUT_DIR);
//}
char tempFileName[512];
sprintf(tempFileName, "%stest.txt",OUTPUT_DIR);
FILE* tempFile = fopen(tempFileName, "w+");
if (tempFile == NULL)
{
printf("Failed to create file in current folder. Please check permissions.\n");
return -1;
}
fclose(tempFile);
remove(tempFileName);
//if we get here, we know the directory exists and we can write to it
PrintBuildInfo();
error = fc2CreateContext( &context );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2CreateContext: %d\n", error );
return 0;
}
error = fc2GetNumOfCameras( context, &numCameras );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2GetNumOfCameras: %d\n", error );
return 0;
}
if ( numCameras == 0 )
{
// No cameras detected
printf( "No cameras detected.\n");
return 0;
}
// Get the 0th camera
error = fc2GetCameraFromIndex( context, 0, &guid );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2GetCameraFromIndex: %d\n", error );
return 0;
}
error = fc2Connect( context, &guid );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2Connect: %d\n", error );
return 0;
}
PrintCameraInfo( context );
SetTimeStamping( context, TRUE );
error = fc2StartCapture( context );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2StartCapture: %d\n", error );
return 0;
}
GrabImages( context, k_numImages );
error = fc2StopCapture( context );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2StopCapture: %d\n", error );
return 0;
}
error = fc2DestroyContext( context );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2DestroyContext: %d\n", error );
return 0;
}
printf( "Done! Press Enter to exit...\n" );
getchar();
return 0;
}
int main(int argc, char** argv){
int numPics = 100;
fc2VideoMode mode1 = FC2_VIDEOMODE_640x480Y8;
char *mode1_str = "FC2_VIDEOMODE_640x480Y8";
//fc2FrameRate rate1 = FC2_FRAMERATE_30;
//char *rate1_str = "FC2_FRAMERATE_30";
fc2VideoMode mode2 = FC2_VIDEOMODE_1280x960Y8;
char *mode2_str = "FC2_VIDEOMODE_1280x960Y8";
fc2FrameRate rate = FC2_FRAMERATE_15;
char *rate_str = "FC2_FRAMERATE_15";
fc2VideoMode mode;
char *mode_str;
//fc2FrameRate rate;
//char *rate_str;
//int prog_mode;
int camOffset = 0;
PrintBuildInfo();
/* if (argc != 2) */
/* { */
/* printf("Error: Must chose mode\n"); */
/* printf("Usage: %s {1, 2, 3, 4, 5, 6} \n",argv[0]); */
/* printf("Modes: 1 = first camera at 1280x960Y8\n" */
/* " 2 = second camera at 1280x960Y8\n" */
/* " 3 = both cameras at 1280x960Y8\n" */
/* " 4 = first camera at 640x480Y8\n" */
/* " 5 = second camera at 640x480Y8\n" */
/* " 6 = both cameras at 640x480Y8\n"); */
/* return -1; */
/* } */
/* prog_mode = atoi(argv[1]); */
/* if ((prog_mode > 6) || (prog_mode < 1)) */
/* { */
/* printf("Must chose valid mode, 1 through 6\n"); */
/* } */
if (CheckSaving(OUTPUT_DIR) != 0)
{
printf("Cannot save to %s, please check permissions\n",OUTPUT_DIR);
return -1;
}
//have correct number of arguments and can save
fc2Context tempContext;
check_point_grey(fc2CreateContext(&tempContext));
unsigned int numCams;
check_point_grey(fc2GetNumOfCameras(tempContext, &numCams));
check_point_grey(fc2DestroyContext(tempContext));
if (numCams == 0)
{ //no cameras
printf("No cameras found, exiting.\n");
return -1;
}
//if we get here, we know we have at least 1 camera connected
/* if (prog_mode < 4) */
/* { */
/* mode = FC2_VIDEOMODE_1280x960Y8; */
/* mode_str = "FC2_VIDEOMODE_1280x960Y8"; */
/* rate = FC2_FRAMERATE_15; */
/* rate_str = "FC2_FRAMERATE_15"; */
/* } */
// printf("Using resolution %s and frame rate %s\n",mode_str,rate_str);
/* if ((prog_mode == 1) || (prog_mode == 4)) */
/* { // run only the first camera */
/* numCams = 1; */
/* } */
/* if ((prog_mode == 2) || (prog_mode == 5)) */
/* { // run only the second camera */
/* camOffset = 1; */
/* } */
printf("Taking %i pictures per camera with %i camera(s).\n",numPics, (numCams - camOffset));
struct point_grey *pg_ptr[numCams - camOffset];
for (int i = 0; i < (numCams - camOffset); i++) //initialization loop
{
if (i == 0)
{
mode = mode2;
mode_str = mode2_str;
//rate = rate2;
//rate_str = rate2_str;
}
else
{
mode = mode1;
mode_str = mode1_str;
//rate = rate1;
//rate_str = rate1_str;
}
pg_ptr[i] =
(struct point_grey *)point_grey_malloc(sizeof(struct point_grey));
check_point_grey(fc2CreateContext(&pg_ptr[i]->context));
check_point_grey(fc2GetCameraFromIndex(pg_ptr[i]->context,
(i + camOffset),
&pg_ptr[i]->guid));
check_point_grey(fc2Connect(pg_ptr[i]->context,
&pg_ptr[i]->guid));
check_point_grey(fc2SetDefaultColorProcessing(FC2_NEAREST_NEIGHBOR_FAST));
check_point_grey(fc2SetVideoModeAndFrameRate(pg_ptr[i]->context,
mode,
rate));
AssignName(pg_ptr[i]->context, pg_ptr[i]->name);
check_point_grey(fc2CreateImage(&pg_ptr[i]->raw_image));
check_point_grey(fc2CreateImage(&pg_ptr[i]->converted_image));
PrintCameraInfo(pg_ptr[i]->context);
printf("Using resolution %s and frame rate %s\n",mode_str,rate_str);
//**CALLING THIS HERE WILL WORK WITH 2 CAMERAS AT 640X480 BUT NOT AT
//1280X960**
check_point_grey(fc2StartCapture(pg_ptr[i]->context))
printf("completed initialization loop iteration %d, %s\n",i,pg_ptr[i]->name);
} // initialization loop
Imlib_Image temp_image;
double start = current_time();
for (int j = 0; j < numPics; j++) //loop through numPics
{
for (int i = 0; i < (numCams - camOffset); i++) //picture taking loop
{
check_point_grey(fc2RetrieveBuffer(pg_ptr[i]->context,
&pg_ptr[i]->raw_image));
check_point_grey(fc2ConvertImageTo(FC2_PIXEL_FORMAT_BGRU,
&pg_ptr[i]->raw_image,
&pg_ptr[i]->converted_image));
temp_image = imlib_create_image_using_copied_data(pg_ptr[i]->converted_image.cols,
pg_ptr[i]->converted_image.rows,
(unsigned int *)
pg_ptr[i]->converted_image.pData);
printf("%simage_%d\n",pg_ptr[i]->name,j);
if (j == (numPics - 1))
{//save the final image from each camera
SaveImlibImage(temp_image, pg_ptr[i]->name, mode_str);
}
else
{
imlib_context_set_image(temp_image);
//this is where we would do something else with the image
imlib_free_image_and_decache();
}
} //picture taking loop
} //numPics loop
double stop = current_time();
//check elapsed time
double elapsed = stop - start;
double images_per_sec = (double)numPics / elapsed;
printf("%d images per camera taken in %f seconds (%f images/sec/cam)\n",
numPics, elapsed, images_per_sec);
for (int i = 0; i < (numCams - camOffset); i++) //cleanup loop
{
//**CALLING THIS HERE WILL WORK WITH 2 CAMERAS AT 640X480 BUT NOT AT
//1280X960**
check_point_grey(fc2StopCapture(pg_ptr[i]->context));
check_point_grey(fc2DestroyContext(pg_ptr[i]->context));
check_point_grey(fc2DestroyImage(&pg_ptr[i]->raw_image));
check_point_grey(fc2DestroyImage(&pg_ptr[i]->converted_image));
free(pg_ptr[i]);
printf("completed cleanup loop iteration %d\n",i);
} //cleanup loop
printf("Program complete!\n");
return 0;
}
int CameraPointGrey::init(bool isTrigger)
{
PrintBuildInfo();
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
printf("Number of cameras detected: %u\n", numCameras);
if (numCameras /*< 1*/ != 2)
{
printf( "Insufficient number of cameras! Please check.\n" );
return -1;
}
ppCameras = new FlyCapture2::Camera*[numCameras];
// Connect to all detected cameras and attempt to set them to
// a common video mode and frame rate
for (unsigned int i = 0; i < numCameras; i++) {
ppCameras[i] = new FlyCapture2::Camera();
// PGRGuid guid
PGRGuid guid;
error = busMgr.GetCameraFromIndex(i, &guid);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
//停止捕获和连接，以防之前的错误
ppCameras[i]->StopCapture();
ppCameras[i]->Disconnect();
// Connect to a camera
error = ppCameras[i]->Connect(&guid);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
// Get the camera information
CameraInfo camInfo;
error = ppCameras[i]->GetCameraInfo(&camInfo);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
PrintCameraInfo(&camInfo);
{
// Check for external trigger support
TriggerModeInfo triggerModeInfo;
error = ppCameras[i]->GetTriggerModeInfo(&triggerModeInfo);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
if (triggerModeInfo.present != true) {
printf( "Camera does not support external trigger!\n" );
return -1;
}
// Get current trigger settings
TriggerMode triggerMode;
error = ppCameras[i]->GetTriggerMode(&triggerMode);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
// Set camera to trigger mode 0
triggerMode.onOff = isTrigger; // on or off
triggerMode.mode = 0;
triggerMode.parameter = 0;
triggerMode.source = 0; // Triggering the camera externally using source 0, i.e., GPIO0.
error = ppCameras[i]->SetTriggerMode(&triggerMode);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
if (isTrigger) {
// Poll to ensure camera is ready
bool retVal = PollForTriggerReady(ppCameras[i]);
if (!retVal) {
printf("\nError polling for trigger ready!\n");
return -1;
}
}
}
{
Mode k_fmt7Mode = MODE_0;
PixelFormat k_fmt7PixFmt = PIXEL_FORMAT_MONO8;
// Query for available Format 7 modes
Format7Info fmt7Info;
bool supported;
fmt7Info.mode = k_fmt7Mode;
error = ppCameras[i]->GetFormat7Info(&fmt7Info, &supported);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
PrintFormat7Capabilities( fmt7Info );
if ((k_fmt7PixFmt & fmt7Info.pixelFormatBitField) == 0) {
printf("Pixel format is not supported\n"); // Pixel format not supported!
return -1;
}
Format7ImageSettings fmt7ImageSettings;
fmt7ImageSettings.mode = k_fmt7Mode;
fmt7ImageSettings.offsetX = 0;
fmt7ImageSettings.offsetY = 0;
fmt7ImageSettings.width = fmt7Info.maxWidth;
fmt7ImageSettings.height = fmt7Info.maxHeight;
fmt7ImageSettings.pixelFormat = k_fmt7PixFmt;
bool valid;
Format7PacketInfo fmt7PacketInfo;
// Validate the settings to make sure that they are valid
error = ppCameras[i]->ValidateFormat7Settings(
&fmt7ImageSettings,
&valid,
&fmt7PacketInfo);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
if (!valid ) {
printf("Format7 settings are not valid\n"); // Settings are not valid
return -1;
}
// Set the settings to the camera
error = ppCameras[i]->SetFormat7Configuration(
&fmt7ImageSettings,
// fmt7PacketInfo.recommendedBytesPerPacket );
(unsigned int)516);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
}
VideoMode videoMode = VIDEOMODE_1024x768Y8;
FrameRate frameRate = FRAMERATE_3_75;
bool isSupported;
ppCameras[i]->GetVideoModeAndFrameRateInfo(videoMode, frameRate, &isSupported);
if (!isSupported) {
printf("Video mode 1024x768 8bit, Frame rate 3.75, are not supported!\n");
return -1;
}
ppCameras[i]->SetVideoModeAndFrameRate(videoMode, frameRate);
// Camera is ready, start capturing images
error = ppCameras[i]->StartCapture();
if (error != PGRERROR_OK) {
PrintError( error );
return -1;
}
// Set all cameras to a specific mode and frame rate so they can be synchronized
// Retrieve frame rate property
Property frmRate;
frmRate.type = FRAME_RATE;
error = ppCameras[i]->GetProperty(&frmRate);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Framse rate is %3.2f fps\n", frmRate.absValue );
/*************** property setting ***************/
Property prop;
//prop.type = BRIGHTNESS;
//prop.type = AUTO_EXPOSURE;
//prop.type = SHARPNESS;
prop.type = GAMMA;
ppCameras[i]->GetProperty(&prop);
prop.absValue = 1.0f;
ppCameras[i]->SetProperty(&prop, true);
//prop.type = PAN;
//prop.type = TILT;
/*
prop.type = SHUTTER;
ppCameras[i]->GetProperty(&prop);
prop.absValue = 28.0f;
ppCameras[i]->SetProperty(&prop, true);
*/
prop.type = GAIN;
ppCameras[i]->GetProperty(&prop);
prop.absValue = 0.0f;
ppCameras[i]->SetProperty(&prop, true);
}
return 0;
}
int main(int argc, char** argv)
{
fc2Error error;
fc2Context context;
fc2PGRGuid guid;
unsigned int numCameras = 0;
fc2CameraInfo camInfo[10];
unsigned int numCamInfo = 10;
FILE* tempFile;
unsigned int i;
PrintBuildInfo();
// Since this application saves images in the current folder
// we must ensure that we have permission to write to this folder.
// If we do not have permission, fail right away.
tempFile = fopen("test.txt", "w+");
if (tempFile == NULL)
{
printf("Failed to create file in current folder. Please check permissions.\n");
return -1;
}
fclose(tempFile);
remove("test.txt");
error = fc2CreateGigEContext( &context );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2CreateContext: %s\n", fc2ErrorToDescription(error) );
return -1;
}
error = fc2DiscoverGigECameras( context, camInfo, &numCamInfo);
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2DiscoverGigECameras: %s\n", fc2ErrorToDescription(error) );
return -1;
}
printf( "Number of cameras discovered: %u\n", numCamInfo );
for ( i=0; i < numCamInfo; i++)
{
PrintCameraInfo( &camInfo[i] );
}
error = fc2GetNumOfCameras( context, &numCameras );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2GetNumOfCameras: %s\n", fc2ErrorToDescription(error) );
return 0;
}
if ( numCameras == 0 )
{
// No cameras detected
printf( "No cameras detected.\n");
return 0;
}
for (i=0; i < numCameras; i++)
{
fc2InterfaceType interfaceType;
error = fc2GetCameraFromIndex( context, i, &guid);
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2GetCameraFromIndex: %s\n", fc2ErrorToDescription(error) );
return -1;
}
error = fc2GetInterfaceTypeFromGuid( context, &guid, &interfaceType );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2GetInterfaceTypFromGuid: %s\n", fc2ErrorToDescription(error) );
return -1;
}
if ( interfaceType == FC2_INTERFACE_GIGE )
{
RunSingleCamera( context, guid);
}
}
error = fc2DestroyContext( context );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2DestroyContext: %d\n", error );
return 0;
}
printf( "Done! Press Enter to exit...\n" );
getchar();
return 0;
}
