// snap and save a frame from the camera
void CameraSnap()
{
if(!PvCaptureQueueFrame(GCamera.Handle,&(GCamera.Frame),NULL))
{
printf("waiting for a frame ...\n");
while(PvCaptureWaitForFrameDone(GCamera.Handle,&(GCamera.Frame),1500) == ePvErrTimeout)
printf("still waiting ...\n");
if(GCamera.Frame.Status == ePvErrSuccess)
{
sprintf(GCamera.Filename,"./snap%04lu.tiff",++GCamera.Counter);
if(!ImageWriteTiff(GCamera.Filename,&(GCamera.Frame)))
printf("Failed to save the grabbed frame!");
else
printf("frame saved\n");
}
else
if(GCamera.Frame.Status != ePvErrCancelled)
printf("the frame failed to be captured ... %u\n",GCamera.Frame.Status);
}
else
printf("failed to enqueue the frame\n");
}
void OmniCamera::grab(IplImage *img) {
//Sleep(400);
PvCaptureQueueFrame(_camera.handle,&(_camera.frame),0);
//printf("waiting for the frame ...\n");
PvCaptureWaitForFrameDone(_camera.handle,&(_camera.frame),PVINFINITE);
//printf("frame's done ...\n, width %d height %d depth %d size %d\n",_camera.frame.Width,_camera.frame.Height,_camera.frame.BitDepth, _camera.frame.ImageBufferSize);
PvUtilityColorInterpolate(&_camera.frame,&img->imageData[2],&img->imageData[1],&img->imageData[0],2,0);
}
tPvFrame* Camera::grab(unsigned long timeout_ms)
{
assert( FSTmode_ == Software );
unsigned long time_so_far = 0;
while (time_so_far < timeout_ms)
{
/// @todo This is a hack, it seems that re-commanding the software trigger
/// too quickly may cause the Prosilica driver to complain that the sequence
/// of API calls is incorrect.
boost::this_thread::sleep(boost::posix_time::millisec(400));
// Queue up a single frame
tPvFrame* frame = &frames_[0];
CHECK_ERR( PvCaptureQueueFrame(handle_, frame, NULL), "Couldn't queue frame" );
// Trigger the camera
CHECK_ERR( PvCommandRun(handle_, "FrameStartTriggerSoftware"),
"Couldn't trigger capture" );
// Wait for frame capture to finish. The wait call may timeout in less
// than the allotted time, so we keep trying until we exceed it.
tPvErr e = ePvErrSuccess;
do
{
try
{
if (e != ePvErrSuccess)
ROS_DEBUG("Retrying CaptureWait due to error: %s", errorStrings[e]);
clock_t start_time = clock();
e = PvCaptureWaitForFrameDone(handle_, frame, timeout_ms - time_so_far);
if (timeout_ms != PVINFINITE)
time_so_far += ((clock() - start_time) * 1000) / CLOCKS_PER_SEC;
}
catch (prosilica::ProsilicaException &e) {
ROS_ERROR("Prosilica exception during grab, will retry: %s\n", e.what());
}
} while (e == ePvErrTimeout && time_so_far < timeout_ms);
if (e != ePvErrSuccess)
return NULL; // Something bad happened (camera unplugged?)
if (frame->Status == ePvErrSuccess)
return frame; // Yay!
ROS_DEBUG("Error in frame: %s", errorStrings[frame->Status]);
// Retry if data was lost in transmission. Probably no hope on other errors.
if (frame->Status != ePvErrDataMissing && frame->Status != ePvErrDataLost)
return NULL;
}
return NULL;
}
IplImage* CvCaptureCAM_PvAPI::retrieveFrame(int)
{
if (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess) {
if (!monocrome) {
cvMerge(grayframe,grayframe,grayframe,NULL,frame);
return frame;
}
return grayframe;
}
else return NULL;
}
// snap and save a frame from the camera
void cameraSnap(tCamera* camera) {
if (!PvCaptureQueueFrame(camera->Handle, &(camera->Frame), NULL)) {
int index = 0;
while ((PvCaptureWaitForFrameDone(camera->Handle, &(camera->Frame), 100) == ePvErrTimeout)
&& (index < 10)){
index++;
}
if (camera->Frame.Status != ePvErrSuccess)
cout << "the frame failed to be captured : "<< cameraGetError(camera->Frame.Status) << endl;
} else
cout << "failed to enqueue the frame" << endl;
}
//
// idlPvCaptureWaitForFrameDone
//
// Block the calling thread until a frame is complete
//
// command line arguments
// argv[0]: IN/FLAG debug
// argv[1]: IN camera index
// argv[2]: IN timeout in milliseconds
int idlPvCaptureWaitForFrameDone (int argc, char *argv[])
{
unsigned long err;
unsigned long n;
unsigned long timeout;
debug = *(IDL_INT *) argv[0];
n = *(unsigned long *) argv[1];
timeout = *(unsigned long *) argv[2];
CHECKINDEX(n);
err = PvCaptureWaitForFrameDone(camera[n], &frame, timeout);
return err;
}
// trigger and save a frame from the camera
// return value: true == success, false == fail
bool CameraSnap()
{
tPvErr errCode = ePvErrSuccess;
//wait for frame to return from camera to host
printf("Waiting for SyncIn1 trigger input");
while(!GCamera.Abort && ((errCode = PvCaptureWaitForFrameDone(GCamera.Handle,&(GCamera.Frame),800)) == ePvErrTimeout))
printf(".");
printf("\n");
if(errCode != ePvErrSuccess || GCamera.Abort)
{
//likely camera unplugged
GCamera.Abort = true;
return false;
}
//check returned Frame.Status
if(GCamera.Frame.Status == ePvErrSuccess)
{
sprintf_s(GCamera.Filename,sizeof(GCamera.Filename),"./snap%04lu.tiff",++GCamera.Counter);
//save image
if(!ImageWriteTiff(GCamera.Filename,&(GCamera.Frame)))
{
printf("ImageWriteTiff fail.\n");
GCamera.Abort = true;
return false;
}
printf("snap%04lu.tiff saved.\n", GCamera.Counter);
}
else
{
if (GCamera.Frame.Status == ePvErrDataMissing)
printf("Dropped packets. Possible improper network card settings:\nSee GigE Installation Guide.");
else
printf("Frame.Status error: %u\n",GCamera.Frame.Status);
}
//requeue frame
if((errCode = PvCaptureQueueFrame(GCamera.Handle,&(GCamera.Frame),NULL)) != ePvErrSuccess)
{
printf("PvCaptureQueueFrame err: %u\n", errCode);
GCamera.Abort = true;
return false;
}
return true;
}
bool CameraGigE::onStep() {
LOG(LTRACE) << "CameraGigE::onStep";
tPvErr Err = PvCaptureQueueFrame(cHandle, &frame, NULL);
if (!Err) {
Err = PvCaptureWaitForFrameDone(cHandle, &frame, PVINFINITE);
if (!Err) {
if (frame.Status == ePvErrSuccess) {
img = cv::Mat(frame.Height, frame.Width, (frame.Format
== ePvFmtMono8) ? CV_8UC1 : CV_8UC3, frame.ImageBuffer);
out_img.write(img);
newImage->raise();
}
}
}
return true;
}
// snap and save a frame from the camera
tPvFrame *cameraSnap(tCamera* camera, int nbSnap) {
unsigned long FrameSize = 0;
PvAttrUint32Get(camera->Handle, "TotalBytesPerFrame", &FrameSize);
tPvFrame *frames = new tPvFrame[nbSnap];
for(int i=0; i<nbSnap; i++) {
// allocate the buffer for the single frame we need
frames[i].Context[0] = camera;
frames[i].ImageBuffer = new char[FrameSize];
if (frames[i].ImageBuffer)
frames[i].ImageBufferSize = FrameSize;
else
throw "failed allocate Frame.ImageBuffer";
}
/*
cerr<<"Warming up !\n";
PvCaptureQueueFrame(camera->Handle, &(camera->Frame), NULL);
while(camera->Frame.Status != ePvErrSuccess)
PvCaptureQueueFrame(camera->Handle, &(camera->Frame), NULL);
*/
struct timeval myTVstart, myTVend;
gettimeofday (&myTVstart, NULL);
for(int i=0; i<nbSnap; i++) {
if (!PvCaptureQueueFrame(camera->Handle, &(frames[i]), NULL)) {
int index = 0;
while ((PvCaptureWaitForFrameDone(camera->Handle, &(frames[i]), 10) == ePvErrTimeout)
&& (index < 100)){
index++;
}
if (frames[i].Status != ePvErrSuccess)
cout << "the frame failed to be captured : "<< cameraGetError(frames[i].Status) << endl;
} else
cout << "failed to enqueue the frame" << endl;
}
gettimeofday (&myTVend, NULL);
double duration = my_difftime (&myTVstart, &myTVend)/1000000.;
cout << "Acuisition tooks " << duration*1000 << " mseconds, (" << (double)nbSnap/duration << " Hz)" << endl;
return frames;
}
// snap and save a frame from the camera
void CameraSnap(tCamera* Camera)
{
if(!PvCaptureQueueFrame(Camera->Handle,&(Camera->Frame),NULL))
{
printf("waiting for the frame to be done ...\n");
while(PvCaptureWaitForFrameDone(Camera->Handle,&(Camera->Frame),100) == ePvErrTimeout)
printf("still waiting ...\n");
if(Camera->Frame.Status == ePvErrSuccess)
{
if(!ImageWriteTiff("./snap.tiff",&(Camera->Frame)))
printf("Failed to save the grabbed frame!");
else
printf("frame saved\n");
}
else
printf("the frame failed to be captured ...\n");
}
else
printf("failed to enqueue the frame\n");
}
//--------------------------------------------------------------------
void ofxVideoGrabberPvAPI::grabFrame(){
int ret;
if( bGrabberInited ){
if( !bWaitingForFrame ) {
bIsFrameNew = false;
queueFrame();
} else {
// check if queued capture frame is ready
ret = PvCaptureWaitForFrameDone(cameraHandle, &cameraFrame, 5);
if( ret == ePvErrTimeout ) {
bIsFrameNew = false;
} else if( ret == ePvErrSuccess ){
bIsFrameNew = true;
if (bUseTexture){
tex.loadData((unsigned char*)cameraFrame.ImageBuffer, width, height, GL_LUMINANCE ); //GL_LUMINANCE8
}
memcpy(pixels, cameraFrame.ImageBuffer, width*height);
queueFrame();
}
}
}
}
IplImage* CvCaptureCAM_PvAPI::retrieveFrame(int)
{
return (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess)
? frame : NULL;
}
