bool PGRCamera::connectToCamera() {
Error error;
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
TEST_ERR(error);
printf( "Number of PGR cameras detected: %u\n", numCameras );
if ( numCameras < 1 )
{
printf( "Insufficient number of cameras... exiting\n" );
return false;
}
PGRGuid guid;
error = busMgr.GetCameraFromIndex(0, &guid);
TEST_ERR(error);
// Connect to a camera
error = cam.Connect(&guid);
TEST_ERR(error);
return true;
}
bool CaptureFlycap::resetBus() {
mutex.lock();
BusManager busMgr;
busMgr.FireBusReset(&guid);
mutex.unlock();
return true;
}
void RawMultiTestApp::setup()
{
setFrameRate(60);
setWindowSize(1280, 480);
PGRGuid guid;
//////////////////
// setup camera 1
mErr = mBusManager.GetCameraFromIndex(0, &guid);
if (mErr != PGRERROR_OK) {
showError();
quit();
}
mCamera1 = new FlyCapture2::Camera();
mErr = mCamera1->Connect(&guid);
if (mErr != PGRERROR_OK) {
showError();
mCamera1 = 0;
quit();
}
mCam1Data.targetSurface = Surface8u(640, 480, false);
mErr = mCamera1->StartCapture(onImageGrabbed, &mCam1Data);
if (mErr != PGRERROR_OK) {
showError();
quit();
}
//////////////////
// setup camera 2
mErr = mBusManager.GetCameraFromIndex(1, &guid);
if (mErr != PGRERROR_OK) {
showError();
quit();
}
mCamera2 = new FlyCapture2::Camera();
mErr = mCamera2->Connect(&guid);
if (mErr != PGRERROR_OK) {
showError();
mCamera2 = 0;
quit();
}
mCam2Data.targetSurface = Surface8u(640, 480, false);
mErr = mCamera2->StartCapture(onImageGrabbed, &mCam2Data);
if (mErr != PGRERROR_OK) {
showError();
quit();
}
}
int main(int /*argc*/, char** /*argv*/)
{
PrintBuildInfo();
Error error;
// 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.
FILE* 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");
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
if ( numCameras < 1 )
{
printf( "No camera detected.\n" );
return -1;
}
else
{
printf( "Number of cameras detected: %u\n", numCameras );
}
PGRGuid guid;
error = busMgr.GetCameraFromIndex(0, &guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Running the first camera.\n" );
RunCamera( guid );
printf( "Done! Press Enter to exit...\n" );
getchar();
return 0;
}
int main(int /*argc*/, char** /*argv*/)
{
PrintBuildInfo();
Error error;
// 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.
FILE* tempFile = fopen("test.txt", "w+");
if (tempFile == NULL)
{
cout << "Failed to create file in current folder. Please check permissions." << endl;
return -1;
}
fclose(tempFile);
remove("test.txt");
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
cout << "Number of cameras detected: " << numCameras << endl;
for (unsigned int i=0; i < numCameras; i++)
{
PGRGuid guid;
error = busMgr.GetCameraFromIndex(i, &guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
RunSingleCamera( guid );
}
cout << "Done! Press Enter to exit..." << endl;
cin.ignore();
return 0;
}
status_t
get_nth_roothub(uint32 index, usb_device *rootHub)
{
if (!rootHub)
return B_BAD_VALUE;
BusManager *busManager = gUSBStack->BusManagerAt(index);
if (!busManager)
return B_ENTRY_NOT_FOUND;
Hub *hub = busManager->GetRootHub();
if (!hub)
return B_NO_INIT;
*rootHub = hub->USBID();
return B_OK;
}
extern "C" void point_grey_set_white_balance(int red, int blue) {
BusManager busMgr;
unsigned int nrCameras;
check_point_grey(busMgr.GetNumOfCameras(&nrCameras));
PGRGuid guid;
check_point_grey(busMgr.GetCameraFromIndex(0, &guid));
Camera cam;
check_point_grey(cam.Connect(&guid));
PropertyInfo p;
p.type = WHITE_BALANCE;
check_point_grey(cam.GetPropertyInfo(&p));
Property prop;
prop.type = WHITE_BALANCE;
check_point_grey(cam.GetProperty(&prop));
prop.valueA = red;
prop.valueB = blue;
prop.onOff = 1;
check_point_grey(cam.SetProperty(&prop));
cam.Disconnect();
}
bool CaptureFlycap::startCapture() {
mutex.lock();
cam_id_mutex.lock();
BusManager busMgr;
Error error;
unsigned int numCameras;
int current_id = v_cam_bus->getInt();
if (current_id >= 0) {
cam_id = (unsigned int)current_id;
} else {
fprintf(stderr, "Flycapture: Invalid cam_id: %d\n", current_id);
mutex.unlock();
cam_id_mutex.unlock();
return false;
}
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
error.PrintErrorTrace();
mutex.unlock();
cam_id_mutex.unlock();
return false;
}
if(cam_id >= numCameras)
{
fprintf(stderr, "Flycapture: Invalid cam_id: %u\n", cam_id);
mutex.unlock();
cam_id_mutex.unlock();
return false;
}
bool id_active = false;
for (size_t i = 0; i < active_cam_ids.size(); i++) {
if (active_cam_ids[i] == cam_id) {
id_active = true;
break;
}
}
if (id_active) {
fprintf(stderr, "Flycapture: cam_id %u is already in use \n", cam_id);
mutex.unlock();
cam_id_mutex.unlock();
return false;
}
camera = new GigECamera();
error = busMgr.GetCameraFromIndex(v_cam_bus->getInt(), &guid);
if (error != PGRERROR_OK) {
error.PrintErrorTrace();
delete camera;
mutex.unlock();
cam_id_mutex.unlock();
return false;
}
error = camera->Connect(&guid);
if (error != PGRERROR_OK) {
error.PrintErrorTrace();
delete camera;
mutex.unlock();
cam_id_mutex.unlock();
return false;
}
fprintf(stderr,"Connected");
is_connected = true;
CameraInfo camInfo;
error = camera->GetCameraInfo(&camInfo);
if (error != PGRERROR_OK) {
error.PrintErrorTrace();
delete camera;
mutex.unlock();
cam_id_mutex.unlock();
return false;
}
fprintf(stderr," to %s, Serial Number: %u\n",
camInfo.modelName,
camInfo.serialNumber);
Property auto_exposure;
auto_exposure.onOff = false;
auto_exposure.onePush = false;
auto_exposure.type = FlyCapture2::AUTO_EXPOSURE;
error = camera->SetProperty(&auto_exposure);
if (error != PGRERROR_OK) {
mutex.unlock();
cam_id_mutex.unlock();
delete camera;
error.PrintErrorTrace();
return false;
}
writeAllParameterValues();
error = camera->StartCapture();
if (error != PGRERROR_OK) {
error.PrintErrorTrace();
delete camera;
mutex.unlock();
cam_id_mutex.unlock();
return false;
}
is_capturing = true;
active_cam_ids.push_back(cam_id);
mutex.unlock();
cam_id_mutex.unlock();
return true;
}
int main(int /*argc*/, char** /*argv*/)
{
PrintBuildInfo();
const int k_numImages = 100;
Error error;
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Number of cameras detected: %u\n", numCameras );
if ( numCameras < 1 )
{
printf( "Insufficient number of cameras... press Enter to exit.\n" );
getchar();
return -1;
}
Camera** ppCameras = new 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 Camera();
PGRGuid guid;
error = busMgr.GetCameraFromIndex( i, &guid );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// 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);
// Set all cameras to a specific mode and frame rate so they
// can be synchronized
error = ppCameras[i]->SetVideoModeAndFrameRate(
VIDEOMODE_640x480Y8,
FRAMERATE_30 );
if (error != PGRERROR_OK)
{
PrintError( error );
printf(
"Error starting cameras. \n"
"This example requires cameras to be able to set to 640x480 Y8 at 30fps. \n"
"If your camera does not support this mode, please edit the source code and recompile the application. \n"
"Press Enter to exit. \n");
getchar();
return -1;
}
}
error = Camera::StartSyncCapture( numCameras, (const Camera**)ppCameras );
if (error != PGRERROR_OK)
{
PrintError( error );
printf(
"Error starting cameras. \n"
"This example requires cameras to be able to set to 640x480 Y8 at 30fps. \n"
"If your camera does not support this mode, please edit the source code and recompile the application. \n"
"Press Enter to exit. \n");
getchar();
return -1;
}
for ( int j = 0; j < k_numImages; j++ )
{
// Display the timestamps for all cameras to show that the image
// capture is synchronized for each image
for ( unsigned int i = 0; i < numCameras; i++ )
{
Image image;
error = ppCameras[i]->RetrieveBuffer( &image );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
TimeStamp timestamp = image.GetTimeStamp();
printf(
"Cam %d - Frame %d - TimeStamp [%d %d]\n",
i,
j,
timestamp.cycleSeconds,
timestamp.cycleCount);
}
}
for ( unsigned int i = 0; i < numCameras; i++ )
{
ppCameras[i]->StopCapture();
ppCameras[i]->Disconnect();
delete ppCameras[i];
}
delete [] ppCameras;
printf( "Done! Press Enter to exit...\n" );
getchar();
return 0;
}
int main(int /*argc*/, char** /*argv*/)
{
PrintBuildInfo();
const Mode k_fmt7Mode = MODE_0;
const PixelFormat k_fmt7PixFmt = PIXEL_FORMAT_MONO8;
const int k_numImages = 10;
Error error;
// 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.
FILE* 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");
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Number of cameras detected: %u\n", numCameras );
if ( numCameras < 1 )
{
printf( "Insufficient number of cameras... exiting\n" );
return -1;
}
PGRGuid guid;
error = busMgr.GetCameraFromIndex(0, &guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
Camera cam;
// Connect to a camera
error = cam.Connect(&guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Get the camera information
CameraInfo camInfo;
error = cam.GetCameraInfo(&camInfo);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
PrintCameraInfo(&camInfo);
// Query for available Format 7 modes
Format7Info fmt7Info;
bool supported;
fmt7Info.mode = k_fmt7Mode;
error = cam.GetFormat7Info( &fmt7Info, &supported );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
PrintFormat7Capabilities( fmt7Info );
if ( (k_fmt7PixFmt & fmt7Info.pixelFormatBitField) == 0 )
{
// Pixel format not supported!
printf("Pixel format is not supported\n");
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 = cam.ValidateFormat7Settings(
&fmt7ImageSettings,
&valid,
&fmt7PacketInfo );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
if ( !valid )
{
// Settings are not valid
printf("Format7 settings are not valid\n");
return -1;
}
// Set the settings to the camera
error = cam.SetFormat7Configuration(
&fmt7ImageSettings,
fmt7PacketInfo.recommendedBytesPerPacket );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Start capturing images
error = cam.StartCapture();
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Retrieve frame rate property
Property frmRate;
frmRate.type = FRAME_RATE;
error = cam.GetProperty( &frmRate );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Frame rate is %3.2f fps\n", frmRate.absValue );
printf( "Grabbing %d images\n", k_numImages );
Image rawImage;
for ( int imageCount=0; imageCount < k_numImages; imageCount++ )
{
// Retrieve an image
error = cam.RetrieveBuffer( &rawImage );
if (error != PGRERROR_OK)
{
PrintError( error );
continue;
}
printf( "." );
// Get the raw image dimensions
PixelFormat pixFormat;
unsigned int rows, cols, stride;
rawImage.GetDimensions( &rows, &cols, &stride, &pixFormat );
// Create a converted image
Image convertedImage;
// Convert the raw image
error = rawImage.Convert( PIXEL_FORMAT_BGRU, &convertedImage );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Create a unique filename
char filename[512];
sprintf( filename, "%u-%d.bmp", camInfo.serialNumber, imageCount );
// Save the image. If a file format is not passed in, then the file
// extension is parsed to attempt to determine the file format.
error = convertedImage.Save( filename );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
}
printf( "\nFinished grabbing images\n" );
// Stop capturing images
error = cam.StopCapture();
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Disconnect the camera
error = cam.Disconnect();
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Done! Press Enter to exit...\n" );
getchar();
return 0;
}
int main(int argc, char* argv[]) {
// instructions on how to use this software
cout << "Welcome to the ASI software.\n There are two modes - calibration and data mode. The calibration mode enables you to take pictures from each camera one at a time while changing the orientation of the checkerboard pattern with each 'run'. The Scanning mode is where a moving slit is projected onto the object and images taken by both cameras are synchronized with it." << endl;
cout << "The general syntax of the command is \n\n" << endl;
cout << "./out -mode -count -int -color\n\n" << endl;
Error error;
CameraInfo camInfo;
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf("cameras: %u\n", numCameras);
// create a new array of cameras
Camera* pcam[2] ;
// now we do the formalities needed to establish a connection
for (unsigned int i=0; i<numCameras; i++) {
// connect to a camera
PGRGuid guid;
pcam[i] = new Camera();
error = busMgr.GetCameraFromIndex( i, &guid );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
error = pcam[i]->Connect(&guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Get the camera information
error = pcam[i]->GetCameraInfo( &camInfo );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// uncomment the following line if you really care about the camera info
// PrintCameraInfo(&camInfo);
// Next we turn isochronous images capture ON for both cameras
error = pcam[i]->StartCapture();
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
}
Image rawImage, convertedImage; // prepare the image object and keep
// checking command line parameters
bool mode_specified = false, count_specified = false, int_specified = false, color_specified = false;
// setting defaults. mode is slit, no of images is 50, intensity is midway and color is white.
int mode = 0, numImages = 50, intensity = 255, color = 0;
// parse command line arguments
for (int cmd = 1; cmd < argc - 1; cmd += 2) {
if (!strcmp(argv[cmd],"-mode")) {
if (!strcmp(argv[cmd + 1], "slit")) {
mode_specified = true;
cout << "mode is slitscan" << endl;
mode = 0;
} else if (!strcmp(argv[cmd + 1], "calib")) {
mode_specified = true;
cout << "mode is calibration" << endl;
mode = 1;
}
} else if (!strcmp(argv[cmd],"-count")) {
count_specified = true;
cout << "no of images is " << atoi(argv[cmd + 1]) << endl;
numImages = atoi(argv[cmd + 1]);
} else if (!strcmp(argv[cmd],"-int")) {
int_specified = true;
cout << "brightness of illumination is " << atoi(argv[cmd + 1]) << endl;
intensity = atoi(argv[cmd + 1]);
} else if (!strcmp(argv[cmd],"-color")) {
if (mode == 0){
if (!strcmp(argv[cmd + 1], "white")) {
color_specified = true;
cout << "color is white" << endl;
color = 0;
} else if (!strcmp(argv[cmd + 1], "green")) {
color_specified = true;
cout << "color is green" << endl;
color = 1;
}
} else if (mode == 1) {
cout << "Mode is calibration, will use only white." << endl;
}
}
}
// handling default cases in case of not entering arguments..
if (mode_specified == false) {
cout << "Mode not specified. going with slitscan." << endl;
}
if (count_specified == false) {
cout << "No of images not specified, default is 50." << endl;
}
if (int_specified == false) {
cout << "Intensity not specified, going with max" << endl;
}
if (color_specified == false) {
cout << "Colour not specified, default is white" << endl;
}
std::vector<Image> vecImages1;
vecImages1.resize(numImages);
std::vector<Image> vecImages2;
vecImages2.resize(numImages);
int slitRow = 1200, slitCol = 1600, slitStart = 0.3*slitRow, slitMove = 0.6*slitRow/50;
cv::Mat projectedSlit(slitRow, slitCol, CV_8UC1);
cv::cvtColor(projectedSlit, projectedSlit, CV_GRAY2RGB);
// we'll create a namedWindow which can be closed by us
cvNamedWindow("Image1", CV_WINDOW_NORMAL);
cvSetWindowProperty("Image1", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
cv::imshow("Image1", projectedSlit);
cv::waitKey(1000);
cv::Vec3b black, green, white, slit_color;
black.val[0] = 0; black.val[1] = 0; black.val[2] = 0;
green.val[0] = 0; green.val[1] = intensity; green.val[2] = 0;
white.val[0] = intensity; white.val[1] = intensity; white.val[2] = intensity;
// set the color of the slit based on cmdline parameters
if (color == 0) {
slit_color = white;
} else if (color == 1) {
slit_color = green;
}
cvStartWindowThread();
for (int j=0; j < numImages; j++ ) {
// first display the window with the slit
// We will update the Mat object and update the slit position
// if the mode is slitscan, prepare the slit
if (mode == 0) {
for (int a = 400; a < 800; a++) {
if (j > 0) {
projectedSlit.at<cv::Vec3b>(cv::Point(a, slitStart + (j - 1)*slitMove)) = black;
}
projectedSlit.at<cv::Vec3b>(cv::Point(a, slitStart + j*slitMove)) = slit_color;
}
cv::imshow("Image1", projectedSlit);
cv::waitKey(1);
}
// if the mode is calibration, we just show a white screen
if (mode == 1) {
cout << "Setting static illumination for calibration" << endl;
projectedSlit = cv::Scalar(intensity, intensity, intensity);
cv::imshow("Image1", projectedSlit);
cv::waitKey(1);
}
// then we capture the image from both cameras
for (unsigned int cam=0; cam < numCameras; cam++) {
error = pcam[cam]->RetrieveBuffer( &rawImage );
if (error != PGRERROR_OK)
{
PrintError( error );
continue;
}
if(cam==0) {
vecImages1[j].DeepCopy(&rawImage);
} else {
vecImages2[j].DeepCopy(&rawImage);
}
}
if (mode == 1) {
// cvDestroyWindow("Image1");
cv::waitKey(0);
cout << "Captured image " << j << " of " << numImages << endl;
// cout << "Press ENTER to continue...";
// cin.ignore();
}
}
// then destroy the window
cvDestroyWindow("Image1");
//Process and store the images captured
if (numCameras > 0) {
printf("Saving images.. please wait\n");
for (int j=0; j < numImages; j++) {
error = vecImages1[j].Convert( PIXEL_FORMAT_RGB, &convertedImage );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Create a unique filename
char filename[512];
sprintf( filename, "./images/cam--%d-%d.tiff", 0, j);
// Save the image. If a file format is not passed in, then the file
// extension is parsed to attempt to determine the file format.
error = convertedImage.Save( filename );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
//Do the same for the second camera
error = vecImages2[j].Convert( PIXEL_FORMAT_RGB, &convertedImage );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Create a unique filename
char filename2[512];
sprintf( filename2, "./images/cam--%d-%d.tiff", 1, j);
// Save the image. If a file format is not passed in, then the file
// extension is parsed to attempt to determine the file format.
error = convertedImage.Save( filename2 );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
}
for ( unsigned int i = 0; i < numCameras; i++ )
{
pcam[i]->StopCapture();
pcam[i]->Disconnect();
delete pcam[i];
}
}
// delete [] pcam;
printf( "Done! Press Enter to exit...\n" );
getchar();
return 0;
}
int main(int /*argc*/, char** /*argv*/)
{
PrintBuildInfo();
const int k_numImages = 5;
Error error;
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Number of cameras detected: %u\n", numCameras );
if ( numCameras < 1 )
{
printf( "Insufficient number of cameras... exiting\n" );
return -1;
}
PGRGuid guid;
error = busMgr.GetCameraFromIndex(0, &guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
Camera cam;
// Connect to a camera
error = cam.Connect(&guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Get the camera information
CameraInfo camInfo;
error = cam.GetCameraInfo(&camInfo);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
PrintCameraInfo(&camInfo);
// Check if the camera supports the FRAME_RATE property
PropertyInfo propInfo;
propInfo.type = FRAME_RATE;
error = cam.GetPropertyInfo( &propInfo );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
ExtendedShutterType shutterType = NO_EXTENDED_SHUTTER;
if ( propInfo.present == true )
{
// Turn off frame rate
Property prop;
prop.type = FRAME_RATE;
error = cam.GetProperty( &prop );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
prop.autoManualMode = false;
prop.onOff = false;
error = cam.SetProperty( &prop );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
shutterType = GENERAL_EXTENDED_SHUTTER;
}
else
{
// Frame rate property does not appear to be supported.
// Disable the extended shutter register instead.
// This is only applicable for Dragonfly.
const unsigned int k_extendedShutter = 0x1028;
unsigned int extendedShutterRegVal = 0;
error = cam.ReadRegister( k_extendedShutter, &extendedShutterRegVal );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
std::bitset<32> extendedShutterBS( extendedShutterRegVal );
if ( extendedShutterBS[31] == true )
{
// Set the camera into extended shutter mode
error = cam.WriteRegister( k_extendedShutter, 0x80020000 );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
}
else
{
printf( "Frame rate and extended shutter are not supported... exiting\n" );
return -1;
}
shutterType = DRAGONFLY_EXTENDED_SHUTTER;
}
// Set the shutter property of the camera
Property prop;
prop.type = SHUTTER;
error = cam.GetProperty( &prop );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
prop.autoManualMode = false;
prop.absControl = true;
const float k_shutterVal = 3000.0;
prop.absValue = k_shutterVal;
error = cam.SetProperty( &prop );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Shutter time set to %.2fms\n", k_shutterVal );
// Enable timestamping
EmbeddedImageInfo embeddedInfo;
error = cam.GetEmbeddedImageInfo( &embeddedInfo );
if ( error != PGRERROR_OK )
{
PrintError( error );
return -1;
}
if ( embeddedInfo.timestamp.available != 0 )
{
embeddedInfo.timestamp.onOff = true;
}
error = cam.SetEmbeddedImageInfo( &embeddedInfo );
if ( error != PGRERROR_OK )
{
PrintError( error );
return -1;
}
// Start the camera
error = cam.StartCapture();
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
for ( int i=0; i < k_numImages; i++ )
{
Image image;
error = cam.RetrieveBuffer( &image );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
TimeStamp timestamp = image.GetTimeStamp();
printf(
"TimeStamp [%d %d]\n",
timestamp.cycleSeconds,
timestamp.cycleCount);
}
// Stop capturing images
error = cam.StopCapture();
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Set the camera back to its original state
prop.type = SHUTTER;
error = cam.GetProperty( &prop );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
prop.autoManualMode = true;
error = cam.SetProperty( &prop );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
if ( shutterType == GENERAL_EXTENDED_SHUTTER )
{
Property prop;
prop.type = FRAME_RATE;
error = cam.GetProperty( &prop );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
prop.autoManualMode = true;
prop.onOff = true;
error = cam.SetProperty( &prop );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
}
else if ( shutterType == DRAGONFLY_EXTENDED_SHUTTER )
{
const unsigned int k_extendedShutter = 0x1028;
unsigned int extendedShutterRegVal = 0;
error = cam.ReadRegister( k_extendedShutter, &extendedShutterRegVal );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
std::bitset<32> extendedShutterBS( extendedShutterRegVal );
if ( extendedShutterBS[31] == true )
{
// Set the camera into extended shutter mode
error = cam.WriteRegister( k_extendedShutter, 0x80000000 );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
}
}
// Disconnect the camera
error = cam.Disconnect();
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Done! Press Enter to exit...\n" );
getchar();
return 0;
}
int main()
{
BusManager busMgr;
unsigned int numCameras = 2;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK) {
std::cout << "Bus Manager error" << std::endl;
return false;
}
PGRGuid guid_L;
// error = busMgr.GetCameraFromIndex(1, &guid_L);
error = busMgr.GetCameraFromSerialNumber(14481155, &guid_L);
if (error != PGRERROR_OK) {
std::cout << "Index error" << std::endl;
return false;
}
PGRGuid guid_R;
// error = busMgr.GetCameraFromIndex(2, &guid_L);
error = busMgr.GetCameraFromSerialNumber(14435551, &guid_R);
if (error != PGRERROR_OK) {
std::cout << "Index error" << std::endl;
return false;
}
Camera pt_grey_L, pt_grey_R;
cv::Mat image_L, image_R;
cv::namedWindow("image_L", CV_WINDOW_NORMAL | CV_WINDOW_KEEPRATIO);
cvMoveWindow("image_L", 3000, 10);
cvResizeWindow("image_L",700, 500);
cv::namedWindow("image_R", CV_WINDOW_NORMAL | CV_WINDOW_KEEPRATIO);
cvMoveWindow("image_R", 3000, 10);
cvResizeWindow("image_R",700, 500);
// connect to camera
// init_cam_capture(pt_grey, serialNum);
init_cam_capture(pt_grey_L, guid_L);
init_cam_capture(pt_grey_R, guid_R);
// set camera parameters
// set_cam_param(pt_grey);
int frame_no = 0;
// capture loop
char key = 0;
while(key != 'q')
{
// Get the image
Image rawImage;
error = pt_grey_L.RetrieveBuffer( &rawImage );
if ( error != PGRERROR_OK )
{
std::cout << "capture error" << std::endl;
return false;
}
// convert to bgr (default format for OpenCV)
Image rgbImage;
rawImage.Convert( FlyCapture2::PIXEL_FORMAT_BGR, &rgbImage );
// convert to OpenCV Mat
unsigned int rowBytes = (double)rgbImage.GetReceivedDataSize()/(double)rgbImage.GetRows();
cv::Mat image = cv::Mat(rgbImage.GetRows(), rgbImage.GetCols(), CV_8UC3, rgbImage.GetData(),rowBytes);
cv::imshow("image_L", image);
key = cv::waitKey(1);
// Get the image
error = pt_grey_R.RetrieveBuffer( &rawImage );
if ( error != PGRERROR_OK )
{
std::cout << "capture error" << std::endl;
return false;
}
// convert to bgr (default format for OpenCV)
rawImage.Convert( FlyCapture2::PIXEL_FORMAT_BGR, &rgbImage );
// convert to OpenCV Mat
rowBytes = (double)rgbImage.GetReceivedDataSize()/(double)rgbImage.GetRows();
image = cv::Mat(rgbImage.GetRows(), rgbImage.GetCols(), CV_8UC3, rgbImage.GetData(),rowBytes);
cv::imshow("image_R", image);
key = cv::waitKey(1);
// key = cv::waitKey(50);
// if (key == 'c') {
// char img_name[50];
// sprintf (img_name, "./frame_%03d.png", frame_no);
// // sprintf (img_name, "./images/frame_%03d.png", frame_no);
// // sprintf (img_name, "../cam_calib/images/frame_%03d.png", frame_no);
// // sprintf (img_name, "../homography2d/images/frame_%03d.png", frame_no);
// std::cout << "Writing to " << img_name << std::endl;
// cv::imwrite(img_name, image);
// frame_no++;
// }
}
error = pt_grey_L.StopCapture();
if (error != PGRERROR_OK) {
// PrintError( error );
return false;
}
error = pt_grey_R.StopCapture();
if (error != PGRERROR_OK) {
// PrintError( error );
return false;
}
pt_grey_L.Disconnect();
pt_grey_R.Disconnect();
}
int main(int /*argc*/, char** /*argv*/)
{
PrintBuildInfo();
Error error;
// 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.
FILE* 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");
BusManager busMgr;
CameraInfo camInfo[10];
unsigned int numCamInfo = 10;
error = BusManager::DiscoverGigECameras( camInfo, &numCamInfo );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Number of cameras discovered: %u\n", numCamInfo );
for (unsigned int i=0; i < numCamInfo; i++)
{
PrintCameraInfo( &camInfo[i] );
}
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Number of cameras enumerated: %u\n", numCameras );
for (unsigned int i=0; i < numCameras; i++)
{
PGRGuid guid;
error = busMgr.GetCameraFromIndex(i, &guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
InterfaceType interfaceType;
error = busMgr.GetInterfaceTypeFromGuid( &guid, &interfaceType );
if ( error != PGRERROR_OK )
{
PrintError( error );
return -1;
}
if ( interfaceType == INTERFACE_GIGE )
{
RunSingleCamera(guid);
}
}
printf( "Done! Press Enter to exit...\n" );
getchar();
return 0;
}
int main(int /*argc*/, char** /*argv*/)
{
PrintBuildInfo();
const int k_numImages = 100;
Error error;
//The vector to be used for storing images temporarily
std::vector<Image> vecImages;
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Number of cameras detected: %u\n", numCameras );
if ( numCameras < 1 )
{
printf( "Insufficient number of cameras... press Enter to exit.\n" );
getchar();
return -1;
}
vecImages.resize(k_numImages * numCameras);
Camera** ppCameras = new 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 Camera();
PGRGuid guid;
error = busMgr.GetCameraFromIndex( i, &guid );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// 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);
// Set all cameras to a specific mode and frame rate so they
// can be synchronized
error = ppCameras[i]->SetVideoModeAndFrameRate(
VIDEOMODE_640x480Y8,
FRAMERATE_30 );
if (error != PGRERROR_OK)
{
PrintError( error );
printf(
"Error starting cameras. \n"
"This example requires cameras to be able to set to 640x480 Y8 at 30fps. \n"
"If your camera does not support this mode, please edit the source code and recompile the application. \n"
"Press Enter to exit. \n");
getchar();
return -1;
}
}
error = Camera::StartSyncCapture( numCameras, (const Camera**)ppCameras );
if (error != PGRERROR_OK)
{
PrintError( error );
printf(
"Error starting cameras. \n"
"This example requires cameras to be able to set to 640x480 Y8 at 30fps. \n"
"If your camera does not support this mode, please edit the source code and recompile the application. \n"
"Press Enter to exit. \n");
getchar();
return -1;
}
Image image;
for ( int j = 0; j < k_numImages; j++ )
{
// Display the timestamps for all cameras to show that the image
// capture is synchronized for each image
for ( unsigned int i = 0; i < numCameras; i++ )
{
error = ppCameras[i]->RetrieveBuffer( &image );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
TimeStamp timestamp = image.GetTimeStamp();
printf(
"Cam %d - Frame %d - TimeStamp [%d %d]\n",
i,
j,
timestamp.cycleSeconds,
timestamp.cycleCount);
vecImages[i + numCameras * j].DeepCopy( &image );
}
}
PropertyInfo propInfo;
propInfo.type = FRAME_RATE;
error = ppCameras[0]->GetPropertyInfo( &propInfo );
if(error != PGRERROR_OK)
{
PrintError(error);
return -1;
}
float frameRateToUse = 15.0f;
if(propInfo.present == true)
{
Property prop;
prop.type = FRAME_RATE;
error = ppCameras[0]->GetProperty( &prop );
if(error == PGRERROR_OK)
{
PrintError(error);
}
frameRateToUse = prop.absValue;
}
printf("Writing .avi files with frame rate of %3.1f\n",frameRateToUse);
SaveAviHelper(MJPG, vecImages, numCameras, frameRateToUse);
for( unsigned int i = 0; i < numCameras; i++ )
{
ppCameras[i]->StopCapture();
ppCameras[i]->Disconnect();
delete ppCameras[i];
}
delete [] ppCameras;
printf( "Done! Press Enter to exit...\n" );
getchar();
return 0;
}
int instantiateRig(int* ids, int camCount, int mid)
{
PrintBuildInfo();
//image_geometry::PinholeCameraModel model_l;
//image_geometry::PinholeCameraModel model_r;
//*****************************************Camera Parameters************************************//
master_id = mid;
error = busMgr.GetNumOfCameras(&numCameras);
ppCameras = new Camera*[numCameras];
cam_ID = new int[numCameras];
cam_Order = new int[numCameras];
//14234066 && tempcamInfo.serialNumber!=14234097
/////////////////////////////////////////////////////////////
// read cam info file to initalise numCam, cam_ID,
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
cout << "Number of cameras detected: " << numCameras << endl;
if ( numCameras < 1) // changed to 2
{
cout << "Insufficient number of cameras... exiting" << endl;
return -1;
}
/////////////////////////////
// Instantiating Cameras //
/////////////////////////////
while(camera_found != numCameras)
{
ppCameras[camera_found] = new Camera();
PGRGuid guid;
error = busMgr.GetCameraFromIndex(camera_test, &guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
error = ppCameras[camera_test]->Connect(&guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
error = ppCameras[camera_found]->GetCameraInfo(&tempcamInfo);
cout<<tempcamInfo.serialNumber<<" cam_ID"<<endl;
int camNotFound = 1;
//for(int i = 0; i<numCameras; i++)
// camNotFound= camNotFound* int (tempcamInfo.serialNumber!=cam_ID[i]);
if(!camNotFound)
{
camera_test++;
continue;
}
else
{
camera_found++;
camera_test++;
}
}
for(int i = 0; i < camCount; i++){
for(int j = 0; i < numCameras; j++){
ppCameras[camera_found]->GetCameraInfo(&tempcamInfo);
if(ids[i] == tempcamInfo.serialNumber)
swap(ppCameras[i], ppCameras[j]);
}
}
for(int i = camCount; i < numCameras; i++){
diconsingleCam(ppCameras[i]);
}
numCameras = camCount;
///////////////////////////////////////////////
// Powering up //
///////////////////////////////////////////////
// Power on the camera
const unsigned int k_cameraPower = 0x610;
const unsigned int k_powerVal = 0x80000000;
for(int i = 0; i<numCameras;i++)
{
error = ppCameras[i]->WriteRegister( k_cameraPower, k_powerVal );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
const unsigned int millisecondsToSleep = 100;
unsigned int regVal = 0;
unsigned int retries = 10;
// Wait for camera to complete power-up
do
{
#if defined(WIN32) || defined(WIN64)
Sleep(millisecondsToSleep);
#else
usleep(millisecondsToSleep * 1000);
#endif
error = ppCameras[i]->ReadRegister(k_cameraPower, ®Val);
if (error == PGRERROR_TIMEOUT)
{
// ignore timeout errors, camera may not be responding to
// register reads during power-up
}
else if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
retries--;
} while ((regVal & k_powerVal) == 0 && retries > 0);
// Check for timeout errors after retrying
if (error == PGRERROR_TIMEOUT)
{
PrintError( error );
return -1;
}
regVal = 0,retries = 10;
}
/////////////////////////////////////////////////////////
// Get the camera information //
/////////////////////////////////////////////////////////
CameraInfo camInfo;
for(int i = 0; i<numCameras;i++)
{
error = ppCameras[i]->GetCameraInfo(&camInfo);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
PrintCameraInfo(&camInfo);
}
return 0;
}
BOOL CFlyCap2MFCDoc::OnNewDocument()
{
Error error;
if (!CDocument::OnNewDocument())
{
return FALSE;
}
// Set the default image processing parameters
Image::SetDefaultColorProcessing( NEAREST_NEIGHBOR );
Image::SetDefaultOutputFormat( PIXEL_FORMAT_BGRU );
// If entering this function from File->New Camera, stop the grab thread
// first before doing anything else
if ( m_continueGrabThread == true )
{
m_continueGrabThread = false;
DWORD dwRet = WaitForSingleObject( m_heventThreadDone, 5000 );
if ( dwRet == WAIT_TIMEOUT )
{
// Timed out while waiting for thread to exit
}
m_camCtlDlg.Hide();
m_camCtlDlg.Disconnect();
m_pCamera->Disconnect();
}
// Let the user select a camera
bool okSelected;
PGRGuid arGuid[64];
unsigned int size = 64;
CameraSelectionDlg camSlnDlg;
camSlnDlg.ShowModal( &okSelected, arGuid, &size );
if ( okSelected != true )
{
return FALSE;
}
BusManager busMgr;
InterfaceType ifType;
error = busMgr.GetInterfaceTypeFromGuid( &arGuid[0], &ifType );
if ( error != PGRERROR_OK )
{
return FALSE;
}
if ( ifType == INTERFACE_GIGE )
{
m_pCamera = new GigECamera;
}
else
{
m_pCamera = new Camera;
}
// Connect to the 0th selected camera
error = m_pCamera->Connect( &arGuid[0] );
if( error != PGRERROR_OK )
{
CString csMessage;
csMessage.Format(
"Connect Failure: %s", error.GetDescription() );
AfxMessageBox( csMessage, MB_ICONSTOP );
return FALSE;
}
error = m_pCamera->GetCameraInfo( &m_cameraInfo );
if( error != PGRERROR_OK )
{
CString csMessage;
csMessage.Format(
"CameraInfo Failure: %s", error.GetDescription() );
AfxMessageBox( csMessage, MB_ICONSTOP );
return FALSE;
}
// Connect the camera control dialog to the camera object
m_camCtlDlg.Connect( m_pCamera );
// Start the grab thread
m_continueGrabThread = true;
AfxBeginThread( ThreadGrabImage, this );
return TRUE;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "image_publisher");
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
image_transport::Publisher pub_L = it.advertise("camera_left/image", 1);
image_transport::Publisher pub_R = it.advertise("camera_right/image", 1);
int serial_L=14481155;
int serial_R=14435551;
// Get the location of our camera config yaml
std::string camera_info_url ;
// std::string camera_info_url = "/home/sasha/hydro_ws/src/alvar_ptgrey/info/ptgrey_calib.yaml";
std::string frame_id_;
sensor_msgs::CameraInfoPtr ci_;
boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_L;
boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_R;
nh.param<std::string>("camera_info_url", camera_info_url, "");
// Get the desired frame_id, set to 'camera' if not found
// nh.param<std::string>("frame_id", frame_id_, "camera");
std::cout << camera_info_url << std::endl;
// Start the camera info manager and attempt to load any configurations
std::stringstream cinfo_name_L;
std::stringstream cinfo_name_R;
cinfo_name_L << serial_L;
cinfo_name_R << serial_R;
ros::Publisher camera_info_pub_L = nh.advertise<sensor_msgs::CameraInfo>("/camera_left/camera_info",1);
ros::Publisher camera_info_pub_R = nh.advertise<sensor_msgs::CameraInfo>("/camera_right/camera_info",1);
// sensor_msgs::CameraInfo cinfo;
cinfo_L.reset(new camera_info_manager::CameraInfoManager(nh, cinfo_name_L.str(), camera_info_url));
cinfo_R.reset(new camera_info_manager::CameraInfoManager(nh, cinfo_name_R.str(), camera_info_url));
BusManager busMgr;
// unsigned int numCameras = 2;
// error = busMgr.GetNumOfCameras(&numCameras);
// if (error != PGRERROR_OK) {
// std::cout << "Bus Manager error" << std::endl;
// return false;
// }
PGRGuid guid_L;
// error = busMgr.GetCameraFromIndex(1, &guid_L);
error = busMgr.GetCameraFromSerialNumber(14481155, &guid_L);
if (error != PGRERROR_OK) {
std::cout << "Index error" << std::endl;
return false;
}
PGRGuid guid_R;
// error = busMgr.GetCameraFromIndex(2, &guid_L);
error = busMgr.GetCameraFromSerialNumber(14435551, &guid_R);
if (error != PGRERROR_OK) {
std::cout << "Index error" << std::endl;
return false;
}
Camera pt_grey_L, pt_grey_R;
cv::Mat image_L, image_R;
// connect to camera
// init_cam_capture(pt_grey, serialNum);
init_cam_capture(pt_grey_L, guid_L);
init_cam_capture(pt_grey_R, guid_R);
// set camera parameters
// set_cam_param(pt_grey);
int frame_no = 0;
// capture loop
while(ros::ok())
{
// Get the image
Image rawImage;
error = pt_grey_L.RetrieveBuffer( &rawImage );
if ( error != PGRERROR_OK )
{
std::cout << "capture error" << std::endl;
return false;
}
// convert to bgr (default format for OpenCV)
Image rgbImage;
rawImage.Convert( FlyCapture2::PIXEL_FORMAT_BGR, &rgbImage );
// convert to OpenCV Mat
unsigned int rowBytes = (double)rgbImage.GetReceivedDataSize()/(double)rgbImage.GetRows();
cv::Mat image = cv::Mat(rgbImage.GetRows(), rgbImage.GetCols(), CV_8UC3, rgbImage.GetData(),rowBytes);
sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
msg->header.frame_id = "/camera_left";
msg->header.stamp = ros::Time::now();
pub_L.publish(msg);
// sensor_msgs::CameraInfoPtr ci(new sensor_msgs::CameraInfo(cinfo_->getCameraInfo()));
ci_.reset(new sensor_msgs::CameraInfo(cinfo_L->getCameraInfo()));
ci_->header.stamp = msg->header.stamp;
ci_->header.frame_id = msg->header.frame_id ;
camera_info_pub_L.publish(ci_);
ros::spinOnce();
// Get the image
error = pt_grey_R.RetrieveBuffer( &rawImage );
if ( error != PGRERROR_OK )
{
std::cout << "capture error" << std::endl;
return false;
}
// convert to bgr (default format for OpenCV)
rawImage.Convert( FlyCapture2::PIXEL_FORMAT_BGR, &rgbImage );
// convert to OpenCV Mat
rowBytes = (double)rgbImage.GetReceivedDataSize()/(double)rgbImage.GetRows();
image = cv::Mat(rgbImage.GetRows(), rgbImage.GetCols(), CV_8UC3, rgbImage.GetData(),rowBytes);
msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
msg->header.frame_id = "/camera_right";
msg->header.stamp = ros::Time::now();
pub_R.publish(msg);
ci_.reset(new sensor_msgs::CameraInfo(cinfo_R->getCameraInfo()));
ci_->header.stamp = msg->header.stamp;
ci_->header.frame_id = msg->header.frame_id ;
camera_info_pub_R.publish(ci_);
ros::spinOnce();
}
error = pt_grey_L.StopCapture();
if (error != PGRERROR_OK) {
// PrintError( error );
return false;
}
error = pt_grey_R.StopCapture();
if (error != PGRERROR_OK) {
// PrintError( error );
return false;
}
pt_grey_L.Disconnect();
pt_grey_R.Disconnect();
}
int main(int /*argc*/, char** /*argv*/)
{
PrintBuildInfo();
std::ofstream outfile;
outfile.open("CommandLog.txt", std::ios_base::app);
Error error;
repeat:
time_t rawtime;
struct tm * ptm;
time ( &rawtime );
ptm = gmtime ( &rawtime );
if (int(ptm->tm_sec)==0 || ptm->tm_sec==30) {
outfile << "Current time: " << (ptm->tm_hour)%24 << ":" << (ptm->tm_min) << ":" << (ptm->tm_sec) << endl;
// 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.
FILE* tempFile = fopen("test.txt", "w+");
if (tempFile == NULL)
{
outfile << "Failed to create file in current folder. Please check permissions." << endl;
return -1;
}
fclose(tempFile);
remove("test.txt");
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
for (unsigned int i=0; i < numCameras; i++)
{
float w = 3500.0; // This line is where the shutter value has been set (3.5 seconds in this case)
float L; // The camera's first image at boot will use the previous shutter value from last use. This variable is used to remind us that the first image cannot be trusted
if (L < 1.0)
{
outfile << "Ignore This Image!!" << w << endl;
L = L+1.0;
PGRGuid guid;
error = busMgr.GetCameraFromIndex(i, &guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
RunSingleCamera( guid , 4 , w);
}
else
{
L = L+1.0;
outfile << "Shutter time set to: " << w << endl;
PGRGuid guid;
error = busMgr.GetCameraFromIndex(i, &guid);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
RunSingleCamera( guid , 4 , w);
}
outfile << "Done!" << endl;
}
}
goto repeat;
return 0;
}
VideoSource::VideoSource(): m_buffer(NULL)
{
Error error;
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK) PrintErrorAndExit(error);
printf("Number of cameras detected: %u\n", numCameras);
assert(numCameras > 0);
PGRGuid guid;
error = busMgr.GetCameraFromIndex(0, &guid);
if (error != PGRERROR_OK) PrintErrorAndExit(error);
error = cam.Connect(&guid);
if (error != PGRERROR_OK) PrintErrorAndExit(error);
CameraInfo camInfo;
error = cam.GetCameraInfo(&camInfo);
if (error != PGRERROR_OK) PrintErrorAndExit(error);
printf(
"\n*** CAMERA INFORMATION ***\n"
"Serial number - %u\n"
"Camera model - %s\n"
"Camera vendor - %s\n"
"Sensor - %s\n"
"Resolution - %s\n"
"Firmware version - %s\n"
"Firmware build time - %s\n\n",
camInfo.serialNumber,
camInfo.modelName,
camInfo.vendorName,
camInfo.sensorInfo,
camInfo.sensorResolution,
camInfo.firmwareVersion,
camInfo.firmwareBuildTime);
VideoMode vm;
FrameRate fr;
// Start capturing images at 640x480xY8
// You probably need to change this stuff for your camera
mirSize = ImageRef(IMAGE_W, IMAGE_H);
bool bStatus;
int i,x;
for (i = VIDEOMODE_160x120YUV444; i < NUM_VIDEOMODES-1; i++) {
for (x = FRAMERATE_1_875; x < NUM_FRAMERATES-1; x++) {
error = cam.GetVideoModeAndFrameRateInfo((VideoMode)i, (FrameRate)x, &bStatus);
if (error != PGRERROR_OK)
{
PrintErrorAndExit(error);
}
if (bStatus == TRUE)
{
printf("found at %d %d\n", i, x);
break;
}
}
}
error = cam.SetVideoModeAndFrameRate(VIDEOMODE_640x480RGB, FRAMERATE_120);
if (error != PGRERROR_OK)
{
// my PT camera doesnt support these mode changes.
// PrintErrorAndExit(error);
}
cam.GetVideoModeAndFrameRate(&vm, &fr);
error = cam.StartCapture();
if (error != PGRERROR_OK) PrintErrorAndExit(error);
};
//--------------------------------------------------------------
void ofApp::setup(){
FC2Version fc2Version;
//Utilities::GetLibraryVersion( &fc2Version );
ostringstream version;
version << "FlyCapture2 library version: " << fc2Version.major << "." << fc2Version.minor << "." << fc2Version.type << "." << fc2Version.build;
cout << version.str() << endl;
ostringstream timeStamp;
timeStamp <<"Application build date: " << __DATE__ << " " << __TIME__;
cout << timeStamp.str() << endl << endl;
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
}
PGRGuid guid;
cout << "Number of cameras detected: " << numCameras << endl;
for (unsigned int i=0; i < numCameras; i++)
{
error = busMgr.GetCameraFromIndex(i, &guid);
if (error != PGRERROR_OK)
{
PrintError( error );
}
// RunSingleCamera( guid );
}
error = cam.Connect(&guid);
if (error != PGRERROR_OK)
{
PrintError( error );
}
CameraInfo camInfo;
error = cam.GetCameraInfo(&camInfo);
if (error != PGRERROR_OK)
{
PrintError( error );
}
error = cam.StartCapture();
if (error != PGRERROR_OK)
{
PrintError( error );
}
error = cam.StopCapture();
error = cam.StartCapture();
}
int main()
{
PrintBuildInfo();
FILE* arhFile[ ciMaxCameras ];
size_t ardwBytesWritten[ ciMaxCameras ];
const int k_numImages = numberOfImages;
Error error;
BusManager busMgr;
Image image;
FC2Config BufferFrame;
EmbeddedImageInfo EmbeddedInfo;
unsigned int numCameras;
int iCountMissedIm = NULL;
int iFrameNumberPrev[ ciMaxCameras ];
int iFrameNumberDelta[ ciMaxCameras ];
int iImageSize = NULL;
ImageMetadata imFrameCount[ ciMaxCameras ];
FILE* rawFile;
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
cout << "Number of cameras detected: " << numCameras << endl << endl;
if ( numCameras < 1 )
{
cout << "Insufficient number of cameras... press Enter to exit." << endl ;
cin.ignore();
return -1;
}
// Create files to write to
if ( createFiles( arhFile, numCameras ) != 0 )
{
cout << "There was error creating the files... press Enter to exit.";
cin.ignore();
return -1;
}
Camera** ppCameras = new Camera*[numCameras];
// Connect to all detected cameras and attempt to set them to
// the same video mode and frame rate
for ( unsigned int uiCamera = 0; uiCamera < numCameras; uiCamera++)
{
ppCameras[uiCamera] = new Camera();
PGRGuid guid;
error = busMgr.GetCameraFromIndex( uiCamera, &guid );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Connect to a camera
error = ppCameras[uiCamera]->Connect( &guid );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
// Get the camera information
CameraInfo camInfo;
error = ppCameras[uiCamera]->GetCameraInfo( &camInfo );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
PrintCameraInfo(&camInfo);
// Set video mode and frame rate here!!!
error = ppCameras[uiCamera]->SetVideoModeAndFrameRate( VIDEOMODE_640x480Y8, FRAMERATE_30);
if (error != PGRERROR_OK)
{
PrintError( error );
cout << "Error starting cameras." << endl
<< "This example requires cameras to be able to set to the same video mode and frame rate." << endl
<< "If your cameras do not support the requested mode, please edit the source code and recompile the application." << endl
<< "Press Enter to exit." << endl ;
cin.ignore();
return -1;
}
}
for ( unsigned int uiCamera = 0; uiCamera < numCameras; uiCamera++)
{
error = ppCameras[uiCamera]->GetConfiguration(&BufferFrame);
if (error != PGRERROR_OK)
{
PrintError(error);
return -1;
}
BufferFrame.numBuffers = 200;
BufferFrame.grabMode = BUFFER_FRAMES;
error = ppCameras[uiCamera]->SetConfiguration(&BufferFrame);
if (error != PGRERROR_OK)
{
PrintError(error);
return -1;
}
error = ppCameras[uiCamera]->GetEmbeddedImageInfo(&EmbeddedInfo);
if (error != PGRERROR_OK)
{
PrintError(error);
return -1;
}
if (EmbeddedInfo.timestamp.available == true)
{
EmbeddedInfo.timestamp.onOff = true;
}
else
{
cout << "Timestamp is not available!" << endl;
}
if (EmbeddedInfo.frameCounter.available == true)
{
EmbeddedInfo.frameCounter.onOff = true;
}
else
{
cout << "Framecounter is not avalable!" << endl;
}
error = ppCameras[uiCamera]->SetEmbeddedImageInfo(&EmbeddedInfo);
if (error != PGRERROR_OK)
{
PrintError(error);
return -1;
}
error = ppCameras[uiCamera]->StartCapture();
if (error != PGRERROR_OK)
{
PrintError( error );
cout << "Error starting to capture images." << endl
<< "Press Enter to exit." << endl ;
cin.ignore();
return -1;
}
}
cout << "Grabbing ..." ;
// grabbing all images
for ( int iImages = 0; iImages < k_numImages; iImages++ )
{
// grabbing for all cameras
for ( unsigned int uiCamera = 0; uiCamera < numCameras; uiCamera++ )
{
error = ppCameras[uiCamera]->RetrieveBuffer( &image );
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
//Get the size of the buffer associated with the image, in bytes. Returns the size of the buffer in bytes.
iImageSize = image.GetDataSize();
// Write to the file
ardwBytesWritten[uiCamera] = fwrite(image.GetData(), 1, image.GetCols()*image.GetRows(), arhFile[uiCamera]);
// Ensure that the write was successful
if ( ardwBytesWritten[uiCamera] != (unsigned)iImageSize )
{
cout << "Error writing to file for camera " << uiCamera << " !" << endl ;
return -1;
}
imFrameCount[uiCamera] = image.GetMetadata();
// Keep track of the difference in image sequence numbers (iFrameCount)
// in order to determine if any images have been missed. A difference
// greater than 1 indicates that an image has been missed.
if( iImages == 0 )
{
// This is the first image, set up the variables
iFrameNumberPrev[uiCamera] = imFrameCount[uiCamera].embeddedFrameCounter;
iFrameNumberDelta[uiCamera] = 1;
}
else
{
// Get the difference in sequence numbers between the current
// image and the last image we received
iFrameNumberDelta[uiCamera] = imFrameCount[uiCamera].embeddedFrameCounter - iFrameNumberPrev[uiCamera];
}
if (iFrameNumberDelta[uiCamera] != 1 )
{
iCountMissedIm += iFrameNumberDelta[uiCamera] - 1 ;
}
iFrameNumberPrev[uiCamera] = imFrameCount[uiCamera].embeddedFrameCounter;
}
}
cout << endl;
cout << "We missed " << iCountMissedIm << " images!" << endl << endl;
// Open file
for (unsigned int uiCamera = 0; uiCamera < numCameras; uiCamera++)
{
string tempFilename = filenames.at(uiCamera);
fclose(arhFile[uiCamera]);
cout << "Opening " << tempFilename.c_str() << "..." << endl;
if ((rawFile = fopen(tempFilename.c_str(), "rb")) == NULL)
{
cout << "Error opening file: " << tempFilename.c_str() << endl
<< "Press Enter to exit." << endl;;
cin.ignore();
return -1;
}
cout << "Splitting images" << endl;
// Read image into buffer
for(int iImages = 0; iImages < k_numImages; iImages++)
{
string imageFilename;
stringstream sstream;
if(fread(g_srcBuffer, sizeof(char), iImageSize, rawFile) != iImageSize)
{
cout << "Error reading image # " << iImages << " from file: " << tempFilename.c_str() << endl
<< "Press Enter to exit." << endl;;
cin.ignore();
return -1;
}
// Import image into Image structure
error = image.SetData(g_srcBuffer, iImageSize);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
sstream << csDestinationDirectory << "camera" << uiCamera << "_" << iImages << ".pgm";
sstream >> imageFilename;
// Save image to disk
error = image.Save(imageFilename.c_str());
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
cout << "." ;
}
cout << endl<< endl;
// Close file
fclose(rawFile);
}
for ( unsigned int uiCamera = 0; uiCamera < numCameras; uiCamera++ )
{
ppCameras[uiCamera]->StopCapture();
ppCameras[uiCamera]->Disconnect();
delete ppCameras[uiCamera];
}
delete [] ppCameras;
cout << "Done! Press Enter to exit..." << endl ;
cin.ignore();
return 0;
}