void CameraXIMEA::startCapture(){
if(triggerMode == triggerModeHardware){
xiSetParamInt(camera, XI_PRM_ACQ_TIMING_MODE, XI_ACQ_TIMING_MODE_FREE_RUN);
// Configure for hardware trigger
stat = xiSetParamInt(camera, XI_PRM_TRG_SOURCE, XI_TRG_EDGE_RISING);
HandleResult(stat,"xiSetParam (XI_PRM_TRG_SOURCE)");
// Configure for exposure active trigger
stat = xiSetParamInt(camera, XI_PRM_TRG_SELECTOR, XI_TRG_SEL_FRAME_START);
HandleResult(stat,"xiSetParam (XI_PRM_TRG_SELECTOR)");
} else if(triggerMode == triggerModeSoftware){
// Configure for software trigger (for getSingleFrame())
stat = xiSetParamInt(camera, XI_PRM_TRG_SOURCE, XI_TRG_SOFTWARE);
HandleResult(stat,"xiSetParam (XI_PRM_TRG_SOURCE)");
}
// Start aquistion
stat = xiStartAcquisition(camera);
HandleResult(stat,"xiStartAcquisition");
capturing = true;
}
void XimeaCamera::startAcquisition() {
if (!opened) {
std::cout << "- Unable to start acquisition, open camera first" << std::endl;
return;
}
xiStartAcquisition(device);
acquisitioning = true;
}
void Camera::startAcquisition() {
if (!opened) {
return;
}
xiStartAcquisition(device);
running = true;
acquisitioning = true;
start();
}
// Initialize camera input
bool CvCaptureCAM_XIMEA::open( int wIndex )
{
int mvret = XI_OK;
if(numDevices == 0)
return false;
if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
{
errMsg("Open XI_DEVICE failed", mvret);
return false;
}
// always use auto exposure/gain
mvret = xiSetParamInt( hmv, XI_PRM_AEAG, 1);
if(mvret != XI_OK) goto error;
// always use auto white ballance
mvret = xiSetParamInt( hmv, XI_PRM_AUTO_WB, 1);
if(mvret != XI_OK) goto error;
mvret = xiGetParamInt( hmv, XI_PRM_WIDTH, &width);
if(mvret != XI_OK) goto error;
mvret = xiGetParamInt( hmv, XI_PRM_HEIGHT, &height);
if(mvret != XI_OK) goto error;
// default image format RGB24
format = XI_RGB24;
mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, format);
if(mvret != XI_OK) goto error;
// allocate frame buffer for RGB24 image
frame = cvCreateImage(cvSize( width, height), IPL_DEPTH_8U, 3);
//default capture timeout 10s
timeout = 10000;
mvret = xiStartAcquisition(hmv);
if(mvret != XI_OK)
{
errMsg("StartAcquisition XI_DEVICE failed", mvret);
goto error;
}
return true;
error:
xiCloseDevice(hmv);
hmv = NULL;
return false;
}
void CaptureCAM_XIMEA::addTrigger(int timout, bool triggered)
{
int mvret = XI_OK;
mvret = xiStopAcquisition(hmv);
HandleResult(mvret, "Acquisition stopped");
isopened=false;
if(triggered){
// select trigger source
mvret = xiSetParamInt(hmv, XI_PRM_TRG_SOURCE, XI_TRG_EDGE_RISING);
HandleResult(mvret, "Error while activating external trigger source");
// select input pin 1 mode
mvret = xiSetParamInt(hmv, XI_PRM_GPI_SELECTOR, 1);
HandleResult(mvret, "Error while setting input pin");
mvret = xiSetParamInt(hmv, XI_PRM_GPI_MODE, XI_GPI_TRIGGER);
HandleResult(mvret, "Error while setting input pin mode");
// set digital output 1 mode
mvret = xiSetParamInt(hmv, XI_PRM_GPO_SELECTOR, 1);
HandleResult(mvret, "Error while setting digital ouput");
mvret = xiSetParamInt(hmv, XI_PRM_GPO_MODE, XI_GPO_EXPOSURE_ACTIVE);
HandleResult(mvret, "Error while setting digital output mode");
mvret = xiSetParamInt(hmv, XI_PRM_ACQ_TIMING_MODE, XI_ACQ_TIMING_MODE_FREE_RUN);
HandleResult(mvret, "Error while setting timing mode.");
trigger = true;
printf("External trigger is on");
}else{
/* NOT WORKING IF XI_PRM_BUFFERS_QUEUE_SIZE is set to a value < 3*/
mvret = xiSetParamInt(hmv, XI_PRM_BUFFERS_QUEUE_SIZE, 3);
if( mvret != XI_OK)
errMsg("Set parameter error (XI_PRM_BUFFERS_QUEUE_SIZE)", mvret);
mvret = xiSetParamInt(hmv, XI_PRM_RECENT_FRAME, 1);
if( mvret != XI_OK)
errMsg("Set parameter error (XI_PRM_RECENT_FRAME)", mvret);
mvret = xiSetParamInt(hmv, XI_PRM_TRG_SOURCE, XI_TRG_SOFTWARE);
if( mvret != XI_OK){
errMsg("Error while disabling external trigger source", mvret);
}
trigger = false;
printf("External trigger is off");
}
mvret = xiStartAcquisition(hmv);
if(mvret != XI_OK)
{
errMsg("StartAcquisition XI_DEVICE failed", mvret);
close();
}
timeout = timout;
isopened=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 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;
}
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;
}
// Initialize camera input
bool CvCaptureCAM_XIMEA::open( int wIndex )
{
#define HandleXiResult(res) if (res!=XI_OK) goto error;
int mvret = XI_OK;
if(numDevices == 0)
return false;
if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
{
#if defined WIN32 || defined _WIN32
errMsg("Open XI_DEVICE failed", mvret);
return false;
#else
// try opening second time if first fails
if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
{
errMsg("Open XI_DEVICE failed", mvret);
return false;
}
#endif
}
int width = 0;
int height = 0;
int isColor = 0;
// always use auto exposure/gain
mvret = xiSetParamInt( hmv, XI_PRM_AEAG, 1);
HandleXiResult(mvret);
mvret = xiGetParamInt( hmv, XI_PRM_WIDTH, &width);
HandleXiResult(mvret);
mvret = xiGetParamInt( hmv, XI_PRM_HEIGHT, &height);
HandleXiResult(mvret);
mvret = xiGetParamInt(hmv, XI_PRM_IMAGE_IS_COLOR, &isColor);
HandleXiResult(mvret);
if(isColor) // for color cameras
{
// default image format RGB24
mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_RGB24);
HandleXiResult(mvret);
// always use auto white balance for color cameras
mvret = xiSetParamInt( hmv, XI_PRM_AUTO_WB, 1);
HandleXiResult(mvret);
// allocate frame buffer for RGB24 image
frame = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
}
else // for mono cameras
{
// default image format MONO8
mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_MONO8);
HandleXiResult(mvret);
// allocate frame buffer for MONO8 image
frame = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
}
//default capture timeout 10s
timeout = 10000;
mvret = xiStartAcquisition(hmv);
if(mvret != XI_OK)
{
errMsg("StartAcquisition XI_DEVICE failed", mvret);
goto error;
}
return true;
error:
errMsg("Open XI_DEVICE failed", mvret);
xiCloseDevice(hmv);
hmv = NULL;
return false;
}
// Initialize camera input
bool CaptureCAM_XIMEA::open( char * device_path )
{
cout << "OPEN DEVICE BY NAME" << endl;
#define HandleXiResult(res) if (res!=XI_OK) goto error;
int mvret = XI_OK;
if(numDevices == 0)
return false;
trigger = false;
if(xiOpenDeviceBy(XI_OPEN_BY_INST_PATH, device_path, &hmv) != XI_OK)
{
#if defined WIN32 || defined _WIN32
errMsg("Open XI_DEVICE failed", mvret);
return false;
#else
// try opening second time if first fails
if(xiOpenDeviceBy(XI_OPEN_BY_INST_PATH, device_path, &hmv) != XI_OK)
{
errMsg("Open XI_DEVICE failed", mvret);
return false;
}
#endif
}
int width = 0;
int height = 0;
int isColor = 0;
// always use auto exposure/gain
mvret = xiSetParamInt( hmv, XI_PRM_AEAG, 1);
HandleXiResult(mvret);
mvret = xiGetParamInt( hmv, XI_PRM_WIDTH, &width);
HandleXiResult(mvret);
mvret = xiGetParamInt( hmv, XI_PRM_HEIGHT, &height);
HandleXiResult(mvret);
mvret = xiGetParamInt(hmv, XI_PRM_IMAGE_IS_COLOR, &isColor);
HandleXiResult(mvret);
mvret = xiSetParamInt(hmv, XI_PRM_ACQ_TIMING_MODE, XI_ACQ_TIMING_MODE_FREE_RUN);
HandleXiResult(mvret);
if(isColor) // for color cameras
{
// default image format RGB24
mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_RGB24);
HandleXiResult(mvret);
// always use auto white balance for color cameras
mvret = xiSetParamInt( hmv, XI_PRM_AUTO_WB, 1);
HandleXiResult(mvret);
}
else // for mono cameras
{
// default image format MONO8
mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_MONO8);
HandleXiResult(mvret);
}
//default capture timeout 10s
timeout = 10000;
/* NOT WORKING IF XI_PRM_BUFFERS_QUEUE_SIZE is set to a value < 3*/
mvret = xiSetParamInt(hmv, XI_PRM_BUFFERS_QUEUE_SIZE, 3);
if( mvret != XI_OK)
errMsg("Set parameter error (XI_PRM_BUFFERS_QUEUE_SIZE)", mvret);
mvret = xiSetParamInt(hmv, XI_PRM_RECENT_FRAME, 1);
if( mvret != XI_OK)
errMsg("Set parameter error (XI_PRM_RECENT_FRAME)", mvret);
mvret = xiSetParamInt(hmv, XI_PRM_TRG_SOURCE, XI_TRG_SOFTWARE);
if( mvret != XI_OK){
errMsg("Error while disabling external trigger source", mvret);
}
mvret = xiStartAcquisition(hmv);
if(mvret != XI_OK)
{
errMsg("StartAcquisition XI_DEVICE failed", mvret);
goto error;
}
xiSetParamInt(hmv, XI_PRM_TS_RST_MODE , XI_TS_RST_ARM_ONCE);
xiSetParamInt(hmv, XI_PRM_TS_RST_SOURCE , XI_TS_RST_SRC_SW);
isopened=true;
return true;
error:
errMsg("Open XI_DEVICE failed", mvret);
xiCloseDevice(hmv);
hmv = NULL;
return false;
}
bool CaptureCAM_XIMEA::setProperty( int property_id, double value )
{
int ival = (int) value;
float fval = (float) value;
int mvret = XI_OK;
switch(property_id)
{
// OCV parameters
case CAP_PROP_FRAME_WIDTH : mvret = xiSetParamInt( hmv, XI_PRM_WIDTH, ival); width = ival; break;
case CAP_PROP_FRAME_HEIGHT : mvret = xiSetParamInt( hmv, XI_PRM_HEIGHT, ival); height=ival; break;
case CAP_PROP_FPS : mvret = xiSetParamFloat( hmv, XI_PRM_FRAMERATE, fval); break;
case CAP_PROP_GAIN : mvret = xiSetParamFloat( hmv, XI_PRM_GAIN, fval); break;
case CAP_PROP_EXPOSURE : mvret = xiSetParamInt( hmv, XI_PRM_EXPOSURE, ival); break;
// XIMEA camera properties
case CAP_PROP_XI_DOWNSAMPLING : mvret = xiSetParamInt( hmv, XI_PRM_DOWNSAMPLING, ival); break;
case CAP_PROP_XI_DATA_FORMAT : mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, ival); break;
case CAP_PROP_XI_OFFSET_X : mvret = xiSetParamInt( hmv, XI_PRM_OFFSET_X, ival); xoffset = ival; break;
case CAP_PROP_XI_OFFSET_Y : mvret = xiSetParamInt( hmv, XI_PRM_OFFSET_Y, ival); yoffset = ival; break;
case CAP_PROP_XI_TRG_SOURCE : xiStopAcquisition(hmv);mvret = xiSetParamInt( hmv, XI_PRM_TRG_SOURCE, ival);xiStartAcquisition(hmv); break;
case CAP_PROP_XI_OUTPUT_DATA_BIT_DEPTH : xiStopAcquisition(hmv);mvret = xiSetParamInt( hmv, XI_PRM_OUTPUT_DATA_BIT_DEPTH, ival); xiStartAcquisition(hmv); break;
case CAP_PROP_XI_DATA_PACKING : xiStopAcquisition(hmv);mvret = xiSetParamInt( hmv, XI_PRM_OUTPUT_DATA_PACKING, ival); xiStartAcquisition(hmv); break;
case CAP_PROP_XI_GPI_SELECTOR : mvret = xiSetParamInt( hmv, XI_PRM_GPI_SELECTOR, ival); break;
case CAP_PROP_XI_TRG_SOFTWARE : mvret = xiSetParamInt( hmv, XI_PRM_TRG_SOURCE, 1); break;
case CAP_PROP_XI_GPI_MODE : mvret = xiSetParamInt( hmv, XI_PRM_GPI_MODE, ival); break;
case CAP_PROP_XI_GPI_LEVEL : mvret = xiSetParamInt( hmv, XI_PRM_GPI_LEVEL, ival); break;
case CAP_PROP_XI_GPO_SELECTOR : mvret = xiSetParamInt( hmv, XI_PRM_GPO_SELECTOR, ival); break;
case CAP_PROP_XI_GPO_MODE : mvret = xiSetParamInt( hmv, XI_PRM_GPO_MODE, ival); break;
case CAP_PROP_XI_LED_SELECTOR : mvret = xiSetParamInt( hmv, XI_PRM_LED_SELECTOR, ival); break;
case CAP_PROP_XI_LED_MODE : mvret = xiSetParamInt( hmv, XI_PRM_LED_MODE, ival); break;
case CAP_PROP_XI_AUTO_WB : mvret = xiSetParamInt( hmv, XI_PRM_AUTO_WB, ival); break;
case CAP_PROP_XI_MANUAL_WB : mvret = xiSetParamInt( hmv, XI_PRM_LED_MODE, ival); break;
case CAP_PROP_XI_AEAG : mvret = xiSetParamInt( hmv, XI_PRM_AEAG, ival); break;
case CAP_PROP_XI_EXP_PRIORITY : mvret = xiSetParamFloat( hmv, XI_PRM_EXP_PRIORITY, fval); break;
case CAP_PROP_XI_AE_MAX_LIMIT : mvret = xiSetParamInt( hmv, XI_PRM_EXP_PRIORITY, ival); break;
case CAP_PROP_XI_AG_MAX_LIMIT : mvret = xiSetParamFloat( hmv, XI_PRM_AG_MAX_LIMIT, fval); break;
case CAP_PROP_XI_AEAG_LEVEL : mvret = xiSetParamInt( hmv, XI_PRM_AEAG_LEVEL, ival); break;
case CAP_PROP_XI_TIMEOUT : timeout = ival; break;
}
if(mvret != XI_OK)
{
errMsg("Set parameter error", mvret);
return false;
}
else
return true;
}
