void CCflycap_close(CCflycap *ccntxt) {
if (!ccntxt) {CAM_IFACE_THROW_ERROR("no CCflycap specified (NULL argument)");}
FlyCapture2::Camera *cam = (FlyCapture2::Camera *)ccntxt->inherited.cam;
CIPGRCHK(cam->StopCapture());
CIPGRCHK(cam->Disconnect());
cam_iface_backend_extras* backend_extras = (cam_iface_backend_extras*)(ccntxt->inherited.backend_extras);
if (backend_extras!=NULL) {
delete backend_extras;
ccntxt->inherited.backend_extras = (void*)NULL;
}
delete cam;
ccntxt->inherited.cam = (void*)NULL;
}
int main(int argc, char *argv[])
{
get_param();
std::string t_stamp = get_timestamp();
sprintf (data_filename, "%s/data_%s.out", save_dir, t_stamp.c_str());
std::cout << "data_filename: " << data_filename << std::endl;
FlyCapture2::BusManager busMgr;
PGRGuid guid;
err = busMgr.GetCameraFromSerialNumber(cam_serial, &guid);
if (err != PGRERROR_OK) {
std::cout << "Index error" << std::endl;
return false;
}
// Point Grey cam init
init_cam_capture(pt_grey, guid);
if (use_calib)
load_calib_param();
imageCallback(&pt_grey);
printf("Stopping...\n");
err = pt_grey.StopCapture();
if ( err != PGRERROR_OK )
{
// This may fail when the camera was removed, so don't show
// an error message
}
pt_grey.Disconnect();
}
void BACKEND_METHOD(cam_iface_get_camera_info)(int device_number, Camwire_id *out_camid) {
CAM_IFACE_CHECK_DEVICE_NUMBER(device_number);
if (out_camid==NULL) { CAM_IFACE_THROW_ERROR("return structure NULL"); }
FlyCapture2::PGRGuid guid;
CIPGRCHK( BACKEND_GLOBAL(busMgr_ptr)->GetCameraFromIndex(device_number, &guid));
FlyCapture2::CameraInfo camInfo;
FlyCapture2::Camera *cam = new FlyCapture2::Camera;
CIPGRCHK(cam->Connect(&guid));
CIPGRCHK(cam->GetCameraInfo(&camInfo));
CIPGRCHK(cam->Disconnect());
cam_iface_snprintf(out_camid->vendor, CAMWIRE_ID_MAX_CHARS, camInfo.vendorName);
cam_iface_snprintf(out_camid->model, CAMWIRE_ID_MAX_CHARS, camInfo.modelName);
cam_iface_snprintf(out_camid->chip, CAMWIRE_ID_MAX_CHARS, "GUID %x %x %x %x",
guid.value[0],
guid.value[1],
guid.value[2],
guid.value[3]);
}
int get_mode_list(int device_number, std::vector<CamMode> &result ) {
FlyCapture2::Camera *cam = new FlyCapture2::Camera;
FlyCapture2::PGRGuid guid;
FlyCapture2::Error err;
CamMode mode;
FlyCapture2::Format7Info fmt7Info;
bool supported;
//FlyCapture2::Mode k_fmt7Mode;
//FlyCapture2::PixelFormat k_fmt7PixFmt;
std::ostringstream oss;
std::vector<FlyCapture2::Mode> fmt7modes;
fmt7modes.push_back(FlyCapture2::MODE_0);
fmt7modes.push_back(FlyCapture2::MODE_1);
fmt7modes.push_back(FlyCapture2::MODE_2);
fmt7modes.push_back(FlyCapture2::MODE_3);
fmt7modes.push_back(FlyCapture2::MODE_4);
fmt7modes.push_back(FlyCapture2::MODE_5);
fmt7modes.push_back(FlyCapture2::MODE_6);
fmt7modes.push_back(FlyCapture2::MODE_7);
fmt7modes.push_back(FlyCapture2::MODE_8);
fmt7modes.push_back(FlyCapture2::MODE_9);
fmt7modes.push_back(FlyCapture2::MODE_10);
fmt7modes.push_back(FlyCapture2::MODE_11);
fmt7modes.push_back(FlyCapture2::MODE_12);
fmt7modes.push_back(FlyCapture2::MODE_13);
fmt7modes.push_back(FlyCapture2::MODE_14);
fmt7modes.push_back(FlyCapture2::MODE_15);
fmt7modes.push_back(FlyCapture2::MODE_16);
fmt7modes.push_back(FlyCapture2::MODE_17);
fmt7modes.push_back(FlyCapture2::MODE_18);
fmt7modes.push_back(FlyCapture2::MODE_19);
fmt7modes.push_back(FlyCapture2::MODE_20);
fmt7modes.push_back(FlyCapture2::MODE_21);
fmt7modes.push_back(FlyCapture2::MODE_22);
fmt7modes.push_back(FlyCapture2::MODE_23);
fmt7modes.push_back(FlyCapture2::MODE_24);
fmt7modes.push_back(FlyCapture2::MODE_25);
fmt7modes.push_back(FlyCapture2::MODE_26);
fmt7modes.push_back(FlyCapture2::MODE_27);
fmt7modes.push_back(FlyCapture2::MODE_28);
fmt7modes.push_back(FlyCapture2::MODE_29);
fmt7modes.push_back(FlyCapture2::MODE_30);
fmt7modes.push_back(FlyCapture2::MODE_31);
std::vector<FlyCapture2::PixelFormat> pixfmts;
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_MONO8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_411YUV8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_422YUV8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_444YUV8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RGB8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_MONO16);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RGB16);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_S_MONO16);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_S_RGB16);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RAW8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RAW16);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_MONO12);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RAW12);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_BGR);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_BGRU);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RGB);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RGBU);
err = BACKEND_GLOBAL(busMgr_ptr)->GetCameraFromIndex(device_number, &guid);
// if (err!=FlyCapture2::PGRERROR_OK) {
// goto errlabel2;
// }
err = cam->Connect(&guid);
// if (err!=FlyCapture2::PGRERROR_OK) {
// goto errlabel2;
// }
// FORMAT 7 -- test all modes
std::vector<FlyCapture2::Mode>::const_iterator fmt7mode;
for(fmt7mode=fmt7modes.begin(); fmt7mode!=fmt7modes.end(); fmt7mode++) {
fmt7Info.mode = *fmt7mode;
err = cam->GetFormat7Info( &fmt7Info, &supported );
// if (err != FlyCapture2::PGRERROR_OK) goto errlabel1;
// Do work
if (supported) {
std::vector<FlyCapture2::PixelFormat>::const_iterator pixfmt;
for(pixfmt=pixfmts.begin(); pixfmt!=pixfmts.end(); pixfmt++) {
if (*pixfmt & fmt7Info.pixelFormatBitField) {
std::ostringstream oss = std::ostringstream();
oss << "format 7, mode " << *fmt7mode << " (" << pixfmt2string(*pixfmt) << ", " << fmt7Info.maxWidth << "x" << fmt7Info.maxHeight <<")";
mode.descr = oss.str();
mode.videomode = FlyCapture2::VIDEOMODE_FORMAT7;
mode.fmt7ImageSettings.mode = *fmt7mode;
mode.fmt7ImageSettings.offsetX = 0;
mode.fmt7ImageSettings.offsetY = 0;
mode.fmt7ImageSettings.width = fmt7Info.maxWidth;
mode.fmt7ImageSettings.height = fmt7Info.maxHeight;
mode.fmt7ImageSettings.pixelFormat = *pixfmt;
bool valid;
err = cam->ValidateFormat7Settings( &mode.fmt7ImageSettings,
&valid,
&mode.fmt7PacketInfo );
if (err == FlyCapture2::PGRERROR_OK) {
result.push_back(mode);
}
}
}
}
}
// not format 7 -- test each videomode and framerate combination
std::vector<FlyCapture2::VideoMode> videomodes;
videomodes.push_back(FlyCapture2::VIDEOMODE_160x120YUV444);
videomodes.push_back(FlyCapture2::VIDEOMODE_320x240YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_640x480YUV411);
videomodes.push_back(FlyCapture2::VIDEOMODE_640x480YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_640x480RGB);
videomodes.push_back(FlyCapture2::VIDEOMODE_640x480Y8);
videomodes.push_back(FlyCapture2::VIDEOMODE_640x480Y16);
videomodes.push_back(FlyCapture2::VIDEOMODE_800x600YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_800x600RGB);
videomodes.push_back(FlyCapture2::VIDEOMODE_800x600Y8);
videomodes.push_back(FlyCapture2::VIDEOMODE_800x600Y16);
videomodes.push_back(FlyCapture2::VIDEOMODE_1024x768YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_1024x768RGB);
videomodes.push_back(FlyCapture2::VIDEOMODE_1024x768Y8);
videomodes.push_back(FlyCapture2::VIDEOMODE_1024x768Y16);
videomodes.push_back(FlyCapture2::VIDEOMODE_1280x960YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_1280x960RGB);
videomodes.push_back(FlyCapture2::VIDEOMODE_1280x960Y8);
videomodes.push_back(FlyCapture2::VIDEOMODE_1280x960Y16);
videomodes.push_back(FlyCapture2::VIDEOMODE_1600x1200YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_1600x1200RGB);
videomodes.push_back(FlyCapture2::VIDEOMODE_1600x1200Y8);
videomodes.push_back(FlyCapture2::VIDEOMODE_1600x1200Y16);
std::vector<FlyCapture2::FrameRate> framerates;
framerates.push_back(FlyCapture2::FRAMERATE_1_875);
framerates.push_back(FlyCapture2::FRAMERATE_3_75);
framerates.push_back(FlyCapture2::FRAMERATE_7_5);
framerates.push_back(FlyCapture2::FRAMERATE_15);
framerates.push_back(FlyCapture2::FRAMERATE_30);
framerates.push_back(FlyCapture2::FRAMERATE_60);
framerates.push_back(FlyCapture2::FRAMERATE_120);
framerates.push_back(FlyCapture2::FRAMERATE_240);
std::vector<FlyCapture2::VideoMode>::const_iterator videomode;
for(videomode=videomodes.begin(); videomode!=videomodes.end(); videomode++) {
std::vector<FlyCapture2::FrameRate>::const_iterator framerate;
for(framerate=framerates.begin(); framerate!=framerates.end(); framerate++) {
err = cam->GetVideoModeAndFrameRateInfo(*videomode, *framerate, &supported);
if (err == FlyCapture2::PGRERROR_OK) {
if (supported) {
std::ostringstream oss = std::ostringstream();
oss << "videomode " << *videomode << " framerate " << *framerate;
mode.descr = oss.str();
mode.videomode = *videomode;
mode.framerate = *framerate;
}
}
}
}
// err = cam->Disconnect();
cam->Disconnect();
return 0;
// errlabel1:
// err = cam->Disconnect();
// errlabel2:
// return 1;
}