bool CvCaptureCAM_XIMEA::grabFrame()
{
image.size = sizeof(XI_IMG);
int mvret = xiGetImage( hmv, timeout, &image);
if(mvret == MM40_ACQUISITION_STOPED)
{
xiStartAcquisition(hmv);
mvret = xiGetImage(hmv, timeout, &image);
}
if(mvret != XI_OK)
{
errMsg("Error during GetImage", mvret);
return false;
}
return true;
}
CameraFrame CameraXIMEA::getFrame(){
// Create single image buffer
XI_IMG image;
image.size = sizeof(XI_IMG); // must be initialized
//image.bp = NULL;
//image.bp_size = 0;
if(triggerMode == triggerModeSoftware){
// Fire software trigger
stat = xiSetParamInt(camera, XI_PRM_TRG_SOFTWARE, 0);
HandleResult(stat,"xiSetParam (XI_PRM_TRG_SOFTWARE)");
// Retrieve image from camera
stat = xiGetImage(camera, 1000, &image);
HandleResult(stat,"xiGetImage");
} else {
// Retrieve image from camera
stat = xiGetImage(camera, 1000, &image);
HandleResult(stat,"xiGetImage");
}
// // Empty buffer
// while(xiGetImage(camera, 1, &image) == XI_OK){
// std::cerr << "drop!" << std::endl;
// continue;
// }
//std::cout << image.exposure_time_us << std::endl << std::flush;
//std::cout << image.exposure_sub_times_us[3] << std::endl << std::flush;
//std::cout << image.GPI_level << std::endl << std::flush;
CameraFrame frame;
frame.height = image.height;
frame.width = image.width;
frame.memory = (unsigned char*)image.bp;
frame.timeStamp = image.tsUSec;
frame.sizeBytes = image.bp_size;
frame.flags = image.GPI_level;
return frame;
}
bool CvCaptureCAM_XIMEA::grabFrame()
{
int mvret = XI_OK;
image.size = sizeof(XI_IMG);
if((mvret = xiGetImage( hmv, timeout, &image)) != XI_OK)
{
errMsg("Error during GetImage", mvret);
return false;
}
return true;
}
int _tmain(int argc, _TCHAR* argv[])
{
// image buffer
XI_IMG image;
memset(&image,0,sizeof(image));
image.size = sizeof(XI_IMG);
// Sample for XIMEA API V4.05
HANDLE xiH = NULL;
XI_RETURN stat = XI_OK;
// Retrieving a handle to the camera device
printf("Opening first camera...\n");
stat = xiOpenDevice(0, &xiH);
HandleResult(stat,"xiOpenDevice");
// Setting "exposure" parameter (10ms=10000us)
stat = xiSetParamInt(xiH, XI_PRM_EXPOSURE, 10000);
HandleResult(stat,"xiSetParam (exposure set)");
// Note:
// The default parameters of each camera might be different in different API versions
// In order to ensure that your application will have camera in expected state,
// please set all parameters expected by your application to required value.
printf("Starting acquisition...\n");
stat = xiStartAcquisition(xiH);
HandleResult(stat,"xiStartAcquisition");
#define EXPECTED_IMAGES 10
for (int images=0;images < EXPECTED_IMAGES;images++)
{
// getting image from camera
stat = xiGetImage(xiH, 5000, &image);
HandleResult(stat,"xiGetImage");
unsigned char pixel = *(unsigned char*)image.bp;
printf("Image %d (%dx%d) received from camera. First pixel value: %d\n", images, (int)image.width, (int)image.height, pixel);
}
printf("Stopping acquisition...\n");
xiStopAcquisition(xiH);
xiCloseDevice(xiH);
finish:
printf("Done\n");
#ifdef WIN32
Sleep(2000);
#endif
return 0;
}
bool CaptureCAM_XIMEA::grabFrame()
{
memset(&image, 0, sizeof(XI_IMG));
image.size = sizeof(XI_IMG);
// image.width = width;
// image.height = height;
// image.AbsoluteOffsetX= xoffset;
// image.AbsoluteOffsetY= yoffset;
if(trigger == false){
xiSetParamInt(hmv, XI_PRM_TRG_SOFTWARE, 1);
}
int stat = xiGetImage( hmv, timeout, &image);
if(stat == MM40_ACQUISITION_STOPED)
{
xiStartAcquisition(hmv);
stat = xiGetImage(hmv, timeout, &image);
}
if(stat != XI_OK)
{
errMsg("Error during GetImage", stat);
return false;
}
return true;
}
Camera::FrameRaw* Camera::getFrame() {
if (!opened) {
return NULL;
}
xiGetImage(device, 100, &image);
if (image.bp == NULL) {
return NULL;
}
frameRaw.data = (unsigned char*)image.bp;
frameRaw.size = image.bp_size;
frameRaw.number = image.nframe;
frameRaw.width = image.width;
frameRaw.height = image.height;
frameRaw.timestamp = (double)image.tsSec + (double)image.tsUSec / 1000000.0;
frameRaw.fresh = frameRaw.number != lastFrameNumber;
lastFrameNumber = frameRaw.number;
return &frameRaw;
}
Camera::FrameYUYV* Camera::getFrameYUYV() {
if (!opened) {
return NULL;
}
//double s = Util::millitime();
xiGetImage(device, 100, &image);
if (image.bp == NULL) {
return NULL;
}
//std::cout << "Get: " << (Util::millitime() - s) << std::endl;
frameYUV.data = (unsigned char*)image.bp;
frameYUV.size = image.bp_size;
frameYUV.number = image.nframe;
frameYUV.width = image.width;
frameYUV.height = image.height;
frameYUV.timestamp = (double)image.tsSec + (double)image.tsUSec / 1000000.0;
frameYUV.fresh = frameYUV.number != lastFrameNumber;
if (!yuvInitialized) {
frameYUV.strideY = frameYUV.width;
frameYUV.strideU = (frameYUV.width + 1) / 2;
frameYUV.strideV = (frameYUV.width + 1) / 2;
frameYUV.dataY = new uint8[frameYUV.width * frameYUV.height];
frameYUV.dataU = new uint8[(frameYUV.width / 2) * (frameYUV.height / 2)];
frameYUV.dataV = new uint8[(frameYUV.width / 2) * (frameYUV.height / 2)];
frameYUV.dataYUYV = new uint8[frameYUV.width * frameYUV.height * 3];
yuvInitialized = true;
}
lastFrameNumber = frameYUV.number;
//double s = Util::millitime();
libyuv::BayerRGGBToI420(
frameYUV.data,
frameYUV.width,
frameYUV.dataY,
frameYUV.strideY,
frameYUV.dataU,
frameYUV.strideU,
frameYUV.dataV,
frameYUV.strideV,
frameYUV.width,
frameYUV.height
);
//std::cout << "RGGB > I420: " << (Util::millitime() - s) << std::endl;
//double s = Util::millitime();
/*int row;
int col;
int indexUV;
int elements = frameYUV.width * frameYUV.height;
int halfWidth = frameYUV.width / 2;
bool alt = false;
for (int i = 0; i < elements; i++) {
row = i / frameYUV.width;
col = i - row * frameYUV.width;
indexUV = (row >> 1) * halfWidth + (col >> 1);
frameYUV.dataYUYV[i << 1] = frameYUV.dataY[i];
frameYUV.dataYUYV[(i << 1) + 1] = alt ? frameYUV.dataV[indexUV] : frameYUV.dataU[indexUV];
alt = !alt;
}*/
/*
//bool alt = false;
int index = 0;
int uvIndex = 0;
//int uvCounter = 0;
int dstStride = frameYUV.width * 2;
int uvStride = frameYUV.width / 2;
for (int i = 0; i < frameYUV.width * frameYUV.height; i += 4) {
frameYUV.dataYUYV[index] = frameYUV.dataY[i];
frameYUV.dataYUYV[index + 1] = frameYUV.dataU[uvIndex];
frameYUV.dataYUYV[index + dstStride] = frameYUV.dataY[i + 1];
frameYUV.dataYUYV[index + dstStride + 1] = frameYUV.dataV[uvIndex];
frameYUV.dataYUYV[index + 4] = frameYUV.dataY[i + 2];
frameYUV.dataYUYV[index + 5] = frameYUV.dataU[uvIndex];
frameYUV.dataYUYV[index + 6] = frameYUV.dataY[i + 3];
frameYUV.dataYUYV[index + 7] = frameYUV.dataV[uvIndex];
//alt = !alt;
index += 8;
uvIndex++;
}
*/
// for each U,V pixel create four destination pixels
// most time i've ever spent figuring out an algorithm..
int dstIndex = 0;
int yIndex = 0;
int dstStride = frameYUV.width * 2;
int yStride = frameYUV.width;
int uvStride = frameYUV.width / 2;
int row = 0;
int pixelsInRow = 0;
int elementCount = (frameYUV.width / 2) * (frameYUV.height / 2);
for (int uvIndex = 0; uvIndex < elementCount; uvIndex++) {
frameYUV.dataYUYV[dstIndex] = frameYUV.dataY[yIndex];
frameYUV.dataYUYV[dstIndex + 1] = frameYUV.dataU[uvIndex];
frameYUV.dataYUYV[dstIndex + 2] = frameYUV.dataY[yIndex + 1];
frameYUV.dataYUYV[dstIndex + 3] = frameYUV.dataV[uvIndex];
frameYUV.dataYUYV[dstIndex + dstStride] = frameYUV.dataY[yIndex + yStride];
frameYUV.dataYUYV[dstIndex + dstStride + 1] = frameYUV.dataU[uvIndex];
frameYUV.dataYUYV[dstIndex + dstStride + 2] = frameYUV.dataY[yIndex + yStride + 1];
frameYUV.dataYUYV[dstIndex + dstStride + 3] = frameYUV.dataV[uvIndex];
dstIndex += 4;
yIndex += 2;
pixelsInRow += 2;
if (pixelsInRow == frameYUV.width) {
row += 2;
yIndex = row * yStride;
dstIndex = row * dstStride;
pixelsInRow = 0;
}
}
//std::cout << "I420 > YUYV: " << (Util::millitime() - s) << std::endl;
return &frameYUV;
}
