int
main( int argc, char* argv[] )
{
FlyCaptureError error;
FlyCaptureContext context;
// check the arguments of the call to make sure the utility is being called properly.
if (argc != 2){
PrintUsage();
printf( "Done! (hit enter)" );
getchar();
return 0;
} else {
if (!((strcmp(argv[1], "-retrieve") == 0) || (strcmp(argv[1], "-capture") == 0)))
{
PrintUsage();
printf( "Done! (hit enter)" );
getchar();
return 0;
}
}
//
// Enumerate the cameras on the bus.
//
FlyCaptureInfoEx arInfo[ _MAX_CAMS ];
unsigned int uiSize = _MAX_CAMS;
error = flycaptureBusEnumerateCamerasEx( arInfo, &uiSize );
_HANDLE_ERROR( error, "flycaptureBusEnumerateCameras()" );
for( unsigned int uiBusIndex = 0; uiBusIndex < uiSize; uiBusIndex++ )
{
FlyCaptureInfoEx* pinfo = &arInfo[ uiBusIndex ];
printf(
"Index %u: %s (%u)\n",
uiBusIndex,
pinfo->pszModelName,
pinfo->SerialNumber );
}
//
// Create the context.
//
error = flycaptureCreateContext( &context );
_HANDLE_ERROR( error, "flycaptureCreateContext()" );
//
// Initialize the camera.
//
printf( "Initializing camera %u.\n", _CAMERA_INDEX );
error = flycaptureInitialize( context, _CAMERA_INDEX );
_HANDLE_ERROR( error, "flycaptureInitialize()" );
//
// Reset the camera to default factory settings by asserting bit 0
//
error = flycaptureSetCameraRegister( context, INITIALIZE, 0x80000000 );
_HANDLE_ERROR( error, "flycaptureSetCameraRegister()" );
//
// Power-up the camera (for cameras that support this feature)
//
error = flycaptureSetCameraRegister( context, CAMERA_POWER, 0x80000000 );
_HANDLE_ERROR( error, "flycaptureSetCameraRegister()" );
//
// Report camera info.
//
FlyCaptureInfoEx info;
error = flycaptureGetCameraInfo( context, &info );
_HANDLE_ERROR( error, "flycaptureGetCameraInfo()" );
printf( "Camera info:\n" );
reportCameraInfo( &info );
//
// Query and report on the camera's ability to handle custom image modes.
// We use the maximum and unit values to determine the size of the image
// which can be saved to flash.
//
bool bAvailable;
unsigned int uiMaxImageSizeCols;
unsigned int uiMaxImageSizeRows;
unsigned int uiImageUnitSizeHorz;
unsigned int uiImageUnitSizeVert;
unsigned int uiOffsetUnitSizeHorz;
unsigned int uiOffsetUnitSizeVert;
unsigned int uiPixelFormats;
error = ::flycaptureQueryCustomImageEx(
context,
MODE,
&bAvailable,
&uiMaxImageSizeCols,
&uiMaxImageSizeRows,
&uiImageUnitSizeHorz,
&uiImageUnitSizeVert,
&uiOffsetUnitSizeHorz,
&uiOffsetUnitSizeVert,
&uiPixelFormats );
_HANDLE_ERROR( error, "flycaptureQueryCustomImageEx()" );
//
// Check to see if Flash Reading/Writing is supported by the camera
//
unsigned long ulRegVal;
error = flycaptureGetCameraRegister(context, DATA_FLASH_CTRL, &ulRegVal);
printf( "Data control register = %x\n", ulRegVal );
if((0x80000000 & ulRegVal) == 0)
{
printf("This camera does not support the user data area feature. Exiting...\n");
//
// Destroy the context
//
flycaptureDestroyContext(context);
printf( "Done! (hit enter)" );
getchar();
return 0;
}
// Determine the available size of the Flash from the DATA_FLASH_CTRL register
int iPageSize = (int)pow(2.0, (int)(ulRegVal & 0x00FFF000) >> 12);
int iNumPages = (int)pow(2.0, (int)(ulRegVal & 0x00000FFF));
unsigned int uiAvailableFlashSize = iPageSize * iNumPages;
unsigned int uiHeight = uiMaxImageSizeCols;
unsigned int uiWidth = uiMaxImageSizeRows;
// If the Flash is not large enough to hold a full, high-res image, determine the
// maximum image with a 4:3 aspect ration which can fit in the flash and use those
// dimensions.
if (uiMaxImageSizeCols*uiMaxImageSizeRows > uiAvailableFlashSize)
{
uiHeight = (int)sqrt(uiAvailableFlashSize*3.0/4);
uiWidth = uiHeight*4/3;
uiHeight -= (uiHeight % uiImageUnitSizeVert);
uiWidth -= (uiWidth % uiImageUnitSizeHorz);
}
//
// Determine the quadlet offset of the Flash area
//
unsigned long ulLUTLoc;
error = flycaptureGetCameraRegister(context, DATA_FLASH_DATA, &ulLUTLoc);
_HANDLE_ERROR( error, "flycaptureGetCameraRegister()" );
//
// Start grabbing images in the current videomode and framerate.
//
printf( "Starting camera.\n\n" );
error = flycaptureStartCustomImage(context, 0, 0, 0, uiWidth, uiHeight, 40, FLYCAPTURE_MONO8);
_HANDLE_ERROR( error, "flycaptureStart()" );
FlyCaptureImage image;
memset( &image, 0x0, sizeof( FlyCaptureImage ) );
// Here, we grab 10 images and only look at the last one, since after starting the camera,
// it takes a few images for the the auto settings to stabilize (ie. exposure, gain, etc)
for ( int iImage = 0; iImage < _IMAGES_TO_GRAB; iImage++ )
{
error = flycaptureGrabImage2( context, &image );
_HANDLE_ERROR( error, "flycaptureGrabImage2()" );
}
// Check to see if we are capturing or retrieving
if (strcmp(argv[1], "-capture") == 0)
{
printf( "Saving raw image to camera FLASH.\n\n" );
//
// Write the image to the cameras flash
//
error = flycaptureWriteRegisterBlock(
context,
0xFFFF,
0xF0000000+ulLUTLoc*4,
(const unsigned long*)&(image.pData[0]),
(image.iRowInc*image.iRows/4));
_HANDLE_ERROR( error, "flycaptureWriteRegisterBlock()" );
} else if (strcmp(argv[1], "-retrieve") == 0){ // if we are not capturing (we are retrieving).
printf( "Grabbing image from FLASH and saving it to disk as %s.\n\n", FILENAME_RAW_FROM_FLASH );
// Create a flycapture image to save
FlyCaptureImage savedImage;
memset( &savedImage, 0x0, sizeof( FlyCaptureImage ) );
// Fill in the savedImage structure
savedImage.iCols = image.iCols;
savedImage.iRows = image.iRows;
savedImage.iRowInc = image.iRowInc;
savedImage.videoMode = image.videoMode;
savedImage.timeStamp = image.timeStamp;
savedImage.bStippled = image.bStippled;
savedImage.pixelFormat = image.pixelFormat;
savedImage.iNumImages = image.iNumImages;
savedImage.pData = (unsigned char*)malloc(savedImage.iRowInc*savedImage.iRows);
// Read data from the flash into the SavedImage structure
error = flycaptureReadRegisterBlock(
context,
0xFFFF,
0xF0000000+ulLUTLoc*4,
(unsigned long*)&(savedImage.pData[0]),
(savedImage.iRowInc*savedImage.iRows/4));
_HANDLE_ERROR( error, "flycaptureReadRegisterBlock()" );
// Save the image to disk
error = flycaptureSaveImage(
context,
&savedImage,
FILENAME_RAW_FROM_FLASH,
FLYCAPTURE_FILEFORMAT_PGM );
_HANDLE_ERROR( error, "flycaptureSaveImage()" );
free(savedImage.pData);
} else {
// We should never get here since the check at the top should catch this,
// but this is here for completeness.
PrintUsage();
}
//
// Stop the camera
//
error = flycaptureStop( context );
_HANDLE_ERROR( error, "flycaptureStop()" );
//
// Destroy the context.
//
error = flycaptureDestroyContext( context );
_HANDLE_ERROR( error, "flycaptureDestroyContext()" );
printf( "Done! (hit enter)" );
getchar();
return 0;
}
//=============================================================================
// Main Program
//=============================================================================
int
main( int /* argc */, char* /* argv[] */ )
{
FlyCaptureError error;
FlyCaptureContext context;
FlyCaptureImage image;
printf( "Initializing camera.\n" );
//
// Create the context.
//
error = flycaptureCreateContext( &context );
HANDLE_ERROR( "flycaptureCreateContext()", error );
//
// Initialize the first camera on the bus.
//
error = flycaptureInitialize( context, 0 );
HANDLE_ERROR( "flycaptureInitialize()", error );
//
// Reset the camera to default factory settings by asserting bit 0
//
error = flycaptureSetCameraRegister( context, INITIALIZE, 0x80000000 );
HANDLE_ERROR( "flycaptureSetCameraRegister()", error );
//
// Power-up the camera (for cameras that support this feature)
//
error = flycaptureSetCameraRegister( context, CAMERA_POWER, 0x80000000 );
HANDLE_ERROR( "flycaptureSetCameraRegister()", error );
//
// Determine whether or not the camera supports external trigger mode.
// If it does, put the camera into external trigger mode and otherwise
// exit.
//
bool bTriggerPresent;
error = flycaptureQueryTrigger(
context, &bTriggerPresent, NULL, NULL, NULL, NULL, NULL, NULL, NULL );
HANDLE_ERROR( "flycaptureQueryTrigger()", error );
if( !bTriggerPresent)
{
printf("This camera does not support external trigger... exiting\n");
return 1;
}
int iPolarity;
int iSource;
int iRawValue;
int iMode;
error = flycaptureGetTrigger(
context, NULL, &iPolarity, &iSource, &iRawValue, &iMode, NULL );
HANDLE_ERROR( "flycaptureGetTrigger()", error );
printf( "Going into asynchronous Trigger_Mode_0.\n" );
//
// Ensure the camera is in Trigger Mode 0 by explicitly setting it,
// as the camera could have a different default trigger mode
//
#ifdef SOFTWARE_TRIGGER_CAMERA
//
// We are triggering the camera using the internal software trigger.
// If we are using the DCAM SOFTWARE_TRIGGER functionality, we must
// change the Trigger_Source to reflect the Software Trigger ID = 7.
//
error = flycaptureSetTrigger(
context, true, iPolarity, 7, 0, 0 );
HANDLE_ERROR( "flycaptureSetCameraTrigger()", error );
#else
//
// We are triggering the camera using an external hardware trigger.
//
error = flycaptureSetTrigger(
context, true, iPolarity, iSource, 0, 0 );
HANDLE_ERROR( "flycaptureSetCameraTrigger()", error );
#endif
//
// Poll the camera to make sure the camera is actually in trigger mode
// before we start it (avoids timeouts due to the trigger not being armed)
//
checkTriggerReady( context );
//
// Start the camera and grab any excess images that are already in the pipe.
// Although it is extremely rare for spurious images to occur, it is
// possible for the grab call to return an image that is not a result of a
// user-generated trigger. To grab excess images, set a zero-length timeout.
// A value of zero makes the grab call non-blocking.
//
printf( "Checking for any buffered images..." );
error = flycaptureSetGrabTimeoutEx( context, 0 );
HANDLE_ERROR( "flycaptureSetGrabTimeoutEx()", error );
error = flycaptureStart(
context, FLYCAPTURE_VIDEOMODE_ANY, FLYCAPTURE_FRAMERATE_ANY );
HANDLE_ERROR( "flycaptureStart()", error );
//
// Grab the image immediately whether or not trigger present
//
error = flycaptureGrabImage2( context, &image );
if( error == FLYCAPTURE_OK )
{
printf( "buffered image found. Flush successful.\n" );
}
else if( error == FLYCAPTURE_TIMEOUT )
{
printf( "no flush required! (normal behaviour)\n" );
}
else
{
HANDLE_ERROR( "flycaptureGrabImage2()", error );
}
error = flycaptureStop( context );
HANDLE_ERROR( "flycaptureStop()", error );
//
// Start camera. This is done after setting the trigger so that
// excess images isochronously streamed from the camera don't fill up
// the internal buffers.
//
printf( "Starting camera.\n" );
error = flycaptureStart(
context,
FLYCAPTURE_VIDEOMODE_ANY,
FLYCAPTURE_FRAMERATE_ANY );
HANDLE_ERROR( "flycaptureStart()", error );
//
// Set the grab timeout so that calls to flycaptureGrabImage2 will return
// after TIMEOUT milliseconds if the trigger hasn't fired.
//
error = flycaptureSetGrabTimeoutEx( context, TIMEOUT );
HANDLE_ERROR( "flycaptureSetGrabTimeoutEx()", error );
printf( "This program will quit after %d images are grabbed.\n", IMAGES );
#ifndef SOFTWARE_TRIGGER_CAMERA
printf( "Trigger the camera by sending a trigger pulse to GPIO%d.\n",
iSource );
#endif
for( int iImage = 0; iImage < IMAGES; iImage++ )
{
#ifdef SOFTWARE_TRIGGER_CAMERA
#ifdef USE_SOFT_ASYNC_TRIGGER
//
// Check that the camera actually supports the PGR SOFT_ASYNC_TRIGGER
// method of software triggering
//
error = checkSoftwareTriggerPresence( context, SOFT_ASYNC_TRIGGER );
if( error == FLYCAPTURE_OK )
{
checkTriggerReady( context );
//
// Camera is now ready to be triggered, so generate software trigger
// by writing a '0' to bit 31
//
printf( "Press the Enter key to initiate a software trigger.\n" );
getchar();
error = flycaptureSetCameraRegister(
context, SOFT_ASYNC_TRIGGER, 0x80000000 );
HANDLE_ERROR( "flycaptureSetCameraRegister()", error );
}
else
{
printf( "SOFT_ASYNC_TRIGGER not implemented! Grab will timeout.\n" );
}
#else
//
// Check that the camera actually supports the DCAM SOFTWARE_TRIGGER
// method of software triggering
//
error = checkSoftwareTriggerPresence( context, SOFTWARE_TRIGGER );
if( error == FLYCAPTURE_OK )
{
error = checkTriggerReady( context );
//
// Camera is now ready to be triggered, so generate software trigger
// by writing a '1' to bit 0
//
printf( "Press the Enter key to initiate a software trigger.\n" );
getchar();
error = flycaptureSetCameraRegister(
context, SOFTWARE_TRIGGER, 0x80000000 );
HANDLE_ERROR( "flycaptureSetCameraRegister()", error );
}
else
{
printf( "SOFTWARE_TRIGGER not implemented! Grab will timeout.\n" );
}
#endif
#endif
//
// Do an image grab. This call will block until the camera
// is externally triggered.
//
error = flycaptureGrabImage2( context, &image );
if( error == FLYCAPTURE_TIMEOUT )
{
printf( "Grab #%d timed out after %d milliseconds.\n", iImage, TIMEOUT );
}
else if( error != FLYCAPTURE_OK )
{
HANDLE_ERROR( "flycaptureGrabImage2()", error );
}
else
{
printf( "Grab %d successful!\n", iImage );
}
}
//
// Stop the camera and destroy the context.
//
flycaptureStop( context );
flycaptureDestroyContext( context );
printf( "Done! (hit enter)" );
getchar();
return 0;
}
int
main( int /* argc */, char** /* argv */ )
{
TriclopsError te;
FlyCaptureError fe;
TriclopsContext triclops;
FlyCaptureContext flycapture;
float baseline;
int nrows;
int ncols;
float focalLength;
TriclopsCameraConfiguration triclopsConfig;
// Create the Flycapture context
fe = flycaptureCreateContext( &flycapture );
_HANDLE_FLYCAPTURE_ERROR( "flycaptureCreateContext()", fe );
// Initialize the camera
fe = flycaptureInitialize( flycapture, 0 );
_HANDLE_FLYCAPTURE_ERROR( "flycaptureInitialize()", fe );
// Get the camera configuration
char* szCalFile;
fe = flycaptureGetCalibrationFileFromCamera( flycapture, &szCalFile );
_HANDLE_FLYCAPTURE_ERROR( "flycaptureGetCalibrationFileFromCamera()", fe );
// Create a Triclops context from the cameras calibration file
te = triclopsGetDefaultContextFromFile( &triclops, szCalFile );
_HANDLE_TRICLOPS_ERROR( "triclopsGetDefaultContextFromFile()", te );
// Destroy the Flycapture context - this program just displays information contained
// in the TriclopsContext
flycaptureDestroyContext( flycapture );
printf( "Triclops Version : %s\n", triclopsVersion() );
// get the camera configuration
te = triclopsGetCameraConfiguration( triclops, &triclopsConfig );
_HANDLE_TRICLOPS_ERROR( "triclopsGetCameraConfiguration()", te );
switch( triclopsConfig )
{
case TriCfg_L:
printf( "Configuration : 3 Camera\n" );
break;
case TriCfg_2CAM_HORIZONTAL:
printf( "Configuration : 2 Camera horizontal\n" );
break;
case TriCfg_2CAM_VERTICAL:
printf( "Configuration : 2 Camera vertical\n" );
break;
default:
printf( "Unrecognized configuration: %d\n", triclopsConfig );
}
// Get the baseline
te = triclopsGetBaseline( triclops, &baseline );
_HANDLE_TRICLOPS_ERROR( "triclopsGetBaseline()", te );
printf( "Baseline : %f cm\n", baseline*100.0 );
// Get the focal length
te = triclopsGetFocalLength( triclops, &focalLength );
_HANDLE_TRICLOPS_ERROR( "triclopsGetFocalLength()", te );
te = triclopsGetResolution( triclops, &nrows, &ncols );
_HANDLE_TRICLOPS_ERROR( "triclopsGetResolution()", te );
printf( "Focal Length : %f pixels for a %d x %d image\n",
focalLength,
ncols,
nrows ) ;
int nRows, nCols;
te = triclopsGetResolution( triclops, &nRows, &nCols );
_HANDLE_TRICLOPS_ERROR( "triclopsGetResolution()", te );
float fCenterRow, fCenterCol;
te = triclopsGetImageCenter( triclops, &fCenterRow, &fCenterCol );
_HANDLE_TRICLOPS_ERROR( "triclopsGetImageCenter()", te );
printf( "The default image resolution for stereo processing is %d x %d\n",
nCols, nRows );
printf( "For this resolution, the 'image center' or 'principal point' "
"is:\n" );
printf( "Center Row = %f\n", fCenterRow );
printf( "Center Col = %f\n", fCenterCol );
// Destroy the Triclops context
triclopsDestroyContext( triclops ) ;
return 0;
}
void ofxffmv::initFFMV(int wid,int hei, int rate,int startX,int startY )
{
//camNum= 1;
/*
for(int i=0;i<camNum;i++)
{
*/
std::cout <<"initFFMV.Camera:" << fcCameraID << std::endl ;
//
// Create the context. This call must be made before any other calls to
// to the context are made, as a valid context is needed for all
// camera-specific FlyCapture library calls. This call sets the context
// to the default settings, but flycaptureInitialize() must be called
// below to fully initialize the camera for use.
flycaptureCreateContext( &context[0] );
printf("initFFMV.A\n");
//
// Initialize the camera. This call initializes one of the cameras on the
// bus with the FlyCaptureContext that is passed in. This should generally
// be called right after creating the context but before doing anything
// else.
//
// This call performs several functions. It sets the camera to communicate
// at the proper bus speed, turns on color processing (if available) and
// sets the Bayer orientation to the correct setting. Finally, it also
// initializes the white balance tables for cameras that support that
// function.
//
//flycaptureInitialize( context[i], i );
flycaptureInitialize( context[0], fcCameraID );
printf("VinitFFMV.B\n");
//now we load the camera settings from the Memory Channel. With this we could manage the settings in the flycap.exe and save the data into the channel for later use
unsigned int puiCurrentChannel;
unsigned int puiNumChannels;
//flycaptureGetMemoryChannel(FlyCaptureContext context,unsigned int* puiCurrentChannel,unsigned int* puiNumChannels )
flycaptureGetMemoryChannel(context[0], &puiCurrentChannel, &puiNumChannels );
std::cout <<"puiCurrentChannel:"<<puiCurrentChannel<<"| puiNumChannels:"<<puiNumChannels << std::endl;
//flycaptureRestoreFromMemoryChannel(FlyCaptureContext context,unsigned long ulChannel );
if(fcMemoryChannel != NULL && fcMemoryChannel <= puiNumChannels){
std::cout <<"Using XML Data for Memory Channel:"<<fcMemoryChannel << std::endl;
flycaptureRestoreFromMemoryChannel(context[0],fcMemoryChannel);
}else if (puiCurrentChannel != NULL) {
std::cout <<"Using puiCurrentChannel Data for Memory Channel:"<<puiCurrentChannel << std::endl;
flycaptureRestoreFromMemoryChannel(context[0],puiCurrentChannel);
}
//-----------------------------------
//
// Start grabbing images in the current videomode and framerate. Driver
// level image buffer allocation is performed at this point. After this
// point, images will be constantly grabbed by the camera and stored
// in the buffers on the PC.
/*
if(wid==640)
flycaptureStartCustomImage(context[i],0,startX,startY,640,480,100,FLYCAPTURE_MONO8);
else if(wid==320)
flycaptureStartCustomImage(context[i],1,startX,startY,320,240,100,FLYCAPTURE_MONO8);
flycaptureGrabImage2( context[i], &fcImage[i] );
*/
//http://nuigroup.com/forums/viewthread/6643/#42007
FlyCaptureVideoMode videoMode;
switch(wid)
{
case 640:
videoMode = FLYCAPTURE_VIDEOMODE_640x480Y8;
break;
case 800:
videoMode = FLYCAPTURE_VIDEOMODE_800x600Y8;
break;
case 1024:
videoMode = FLYCAPTURE_VIDEOMODE_1024x768Y8;
break;
case 1280:
videoMode = FLYCAPTURE_VIDEOMODE_1280x960Y8;
break;
case 1600:
videoMode = FLYCAPTURE_VIDEOMODE_1600x1200Y8;
break;
default:
videoMode = FLYCAPTURE_VIDEOMODE_640x480Y8;
}
FlyCaptureFrameRate frameRate;
switch(rate)
{
case 15:
frameRate = FLYCAPTURE_FRAMERATE_15;
break;
case 30:
frameRate = FLYCAPTURE_FRAMERATE_30;
break;
case 60:
frameRate = FLYCAPTURE_FRAMERATE_60;
break;
case 120:
frameRate = FLYCAPTURE_FRAMERATE_120;
break;
case 240:
frameRate = FLYCAPTURE_FRAMERATE_240;
break;
default:
frameRate = FLYCAPTURE_FRAMERATE_30;
}
bool result;
flycaptureCheckVideoMode(context[0], videoMode, frameRate, &result);
printf("VinitFFMV.C\n");
if(result)
{
flycaptureStart(context[0], videoMode, frameRate);
printf("VinitFFMV.D\n");
// flycaptureGrabImage2(context[i], &fcImage[i] );
printf("VinitFFMV.E\n");
}
else printf("Video mode not supported\n");
flycaptureGrabImage2( context[0], &fcImage[0] );//Für getWidth()/Hight()
//camWidth=fcImage.iCols;
//camHeight=fcImage.iRows;
// }//end of for loop
printf("VinitFFMV.F\n");
}
