void Vision::OpenFlyCapCamera()
{
FlyCapture2::Error error;
FlyCapture2::CameraInfo camInfo;
// Connect the camera
error = flyCapCamera.Connect(0);
if (error != FlyCapture2::PGRERROR_OK) {
throw VisionException("Failed to connect to camera");
}
// Get the camera info and print it out
error = flyCapCamera.GetCameraInfo(&camInfo);
if (error != FlyCapture2::PGRERROR_OK) {
throw VisionException("Failed to get camera info from camera");
}
cout << camInfo.vendorName << " " << camInfo.modelName << " "
<< camInfo.serialNumber << endl;
error = flyCapCamera.StartCapture();
if (error == FlyCapture2::PGRERROR_ISOCH_BANDWIDTH_EXCEEDED) {
throw VisionException("Bandwidth exceeded");
} else if (error != FlyCapture2::PGRERROR_OK) {
throw VisionException("Failed to start image capture");
}
}
void Vision::GetFrameFromFlyCap(Mat& currentFrame)
{
// Get the image
FlyCapture2::Image rawImage;
FlyCapture2::Error error = flyCapCamera.RetrieveBuffer(&rawImage);
if (error != FlyCapture2::PGRERROR_OK) {
throw VisionException("capture error");
}
IplImage* image = ConvertImageToOpenCV(&rawImage);
currentFrame = cv::cvarrToMat(image);
// // convert to rgb
// FlyCapture2::Image rgbImage;
// rawImage.Convert(FlyCapture2::PIXEL_FORMAT_BGR, &rgbImage);
//
// // convert to OpenCV Mat
// unsigned int rowBytes = (double) rgbImage.GetReceivedDataSize()
// / (double) rgbImage.GetRows();
// currentFrame = Mat(rgbImage.GetRows(), rgbImage.GetCols(), CV_8UC3,
// rgbImage.GetData(), rowBytes);
}
float DetectedLine::Distance()
{
throw VisionException("Distance is not implemented for Gate");
}
