CameraFrame CameraPointGrey::getFrame(){
FlyCapture2::Error error;
if(triggerMode == triggerModeSoftware){
// Fire software trigger
// broadcasting not supported on some platforms
cam.FireSoftwareTrigger(false);
}
// Retrieve the image
FlyCapture2::Image rawImage;
error = cam.RetrieveBuffer(&rawImage);
if (error != FlyCapture2::PGRERROR_OK)
PrintError(error);
CameraFrame frame;
frame.timeStamp = rawImage.GetTimeStamp().cycleCount;
frame.height = rawImage.GetRows();
frame.width = rawImage.GetCols();
frame.memory = rawImage.GetData();
return frame;
}
/*!
Acquire a color image from the active camera.
\param I : Image data structure (RGBa image).
\param timestamp : The acquisition timestamp.
*/
void vpFlyCaptureGrabber::acquire(vpImage<vpRGBa> &I, FlyCapture2::TimeStamp ×tamp)
{
this->open();
FlyCapture2::Error error;
// Retrieve an image
error = m_camera.RetrieveBuffer( &m_rawImage );
if (error != FlyCapture2::PGRERROR_OK) {
error.PrintErrorTrace();
throw (vpException(vpException::fatalError,
"Cannot retrieve image for camera with guid 0x%lx",
m_guid) );
}
timestamp = m_rawImage.GetTimeStamp();
// Create a converted image
FlyCapture2::Image convertedImage;
// Convert the raw image
error = m_rawImage.Convert( FlyCapture2::PIXEL_FORMAT_RGBU, &convertedImage );
if (error != FlyCapture2::PGRERROR_OK) {
error.PrintErrorTrace();
throw (vpException(vpException::fatalError,
"Cannot convert image for camera with guid 0x%lx",
m_guid) );
}
height = convertedImage.GetRows();
width = convertedImage.GetCols();
unsigned char *data = convertedImage.GetData();
I.resize(height, width);
unsigned int bps = convertedImage.GetBitsPerPixel();
memcpy(I.bitmap, data, width*height*bps/8);
}
void CCflycap_CCflycap( CCflycap * ccntxt, int device_number, int NumImageBuffers,
int mode_number) {
// call parent
CamContext_CamContext((CamContext*)ccntxt,device_number,NumImageBuffers,mode_number); // XXX cast error?
ccntxt->inherited.vmt = (CamContext_functable*)&CCflycap_vmt;
CAM_IFACE_CHECK_DEVICE_NUMBER(device_number);
std::vector<CamMode> result;
int myerr = get_mode_list(device_number, result);
ccntxt->inherited.device_number = device_number;
ccntxt->inherited.backend_extras = new cam_iface_backend_extras;
memset(ccntxt->inherited.backend_extras,0,sizeof(cam_iface_backend_extras));
FlyCapture2::Camera *cam = new FlyCapture2::Camera;
FlyCapture2::PGRGuid guid;
CIPGRCHK( BACKEND_GLOBAL(busMgr_ptr)->GetCameraFromIndex(device_number, &guid));
CIPGRCHK(cam->Connect(&guid));
FlyCapture2::FC2Config cfg;
CIPGRCHK(cam->GetConfiguration(&cfg));
cfg.numBuffers = NumImageBuffers;
CIPGRCHK(cam->SetConfiguration(&cfg));
// Set the settings to the camera
CamMode target_mode = result[mode_number];
if (target_mode.videomode == FlyCapture2::VIDEOMODE_FORMAT7) {
CIPGRCHK(cam->SetFormat7Configuration(&target_mode.fmt7ImageSettings,
target_mode.fmt7PacketInfo.recommendedBytesPerPacket ));
} else {
CIPGRCHK(cam->SetVideoModeAndFrameRate(target_mode.videomode, target_mode.framerate));
}
ccntxt->inherited.cam = (void*)cam;
// XXX move this to start camera and query camera for settings
CIPGRCHK(cam->StartCapture());
// Retrieve an image to get width, height. XXX change to query later.
FlyCapture2::Image rawImage;
CIPGRCHK( cam->RetrieveBuffer( &rawImage ));
cam_iface_backend_extras *extras = (cam_iface_backend_extras *)ccntxt->inherited.backend_extras;
ccntxt->inherited.depth = rawImage.GetBitsPerPixel();
extras->buf_size = rawImage.GetDataSize();
extras->current_height = rawImage.GetRows();
extras->current_width = rawImage.GetCols();
extras->max_height = rawImage.GetRows();
extras->max_width = rawImage.GetCols();
CIPGRCHK( cam->GetTriggerModeInfo( &extras->trigger_mode_info ));
switch (rawImage.GetPixelFormat()) {
case FlyCapture2::PIXEL_FORMAT_MONO8:
ccntxt->inherited.coding = CAM_IFACE_MONO8;
if (rawImage.GetBayerTileFormat()!=FlyCapture2::NONE) {
NOT_IMPLEMENTED;
}
break;
case FlyCapture2::PIXEL_FORMAT_RAW8:
switch (rawImage.GetBayerTileFormat()) {
case FlyCapture2::NONE:
ccntxt->inherited.coding = CAM_IFACE_RAW8;
break;
case FlyCapture2::RGGB:
ccntxt->inherited.coding = CAM_IFACE_MONO8_BAYER_RGGB;
break;
case FlyCapture2::GRBG:
ccntxt->inherited.coding = CAM_IFACE_MONO8_BAYER_GRBG;
break;
case FlyCapture2::GBRG:
ccntxt->inherited.coding = CAM_IFACE_MONO8_BAYER_GBRG;
break;
case FlyCapture2::BGGR:
ccntxt->inherited.coding = CAM_IFACE_MONO8_BAYER_BGGR;
break;
default:
NOT_IMPLEMENTED;
}
}
CIPGRCHK(cam->StopCapture());
}
/*!
@brief open camera
@param[out] w image width
@param[out] h image height
@param[out] c num of channels
@retval successed or not
*/
bool CCam::Open(
int &w,
int &h,
int &c
)
{
#ifdef USEPGR
if (!mPGRCap.IsConnected()){
FlyCapture2::Error error;
// connect to a camera
error = mPGRCap.Connect(0);
if (error != FlyCapture2::PGRERROR_OK){
return false;
}
FlyCapture2::CameraInfo camInfo;
error = mPGRCap.GetCameraInfo(&camInfo);
if (error != FlyCapture2::PGRERROR_OK) {
return false;
}
// start capturing
error = mPGRCap.StartCapture();
if (error != FlyCapture2::PGRERROR_OK){
return false;
}
// get image
FlyCapture2::Image raw;
error = mPGRCap.RetrieveBuffer(&raw);
if (error != FlyCapture2::PGRERROR_OK){
return false;
}
// VGA
w = mWidth = raw.GetCols() / 2; // image width
h= mHeight = raw.GetRows() / 2; // image height
c= mChannel = 3; // color camera
mSize = mWidth*mHeight*mChannel;
mImg = cv::Mat(cv::Size(mWidth, mHeight), CV_8UC3);
return true;
}
else{
return false;
}
#else
if (!mCap.isOpened()){
if (!mCap.open(mDeviceID)){ // if opening failed
printf("Cam ID %d not found\n", mDeviceID);
return false;
}
// VGA
mCap.set(cv::CAP_PROP_FRAME_WIDTH, 640);
mCap.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
// check image
int count = 0;
while (mImg.data == NULL){
mCap >> mImg;
++count;
if (count > 10){ // if retrieval failed
printf("Cannot retrieve images\n");
return false;
}
}
mWidth = w = mImg.cols;
mHeight = h = mImg.rows;
mChannel = c = mImg.channels();
mSize = mHeight*(int)mImg.step;
return true;
}
else{
return false;
void VideoSaverFlyCapture::captureThread()
{
if (!isFlyCapture()) {
VideoSaver::captureThread();
} else {
m_GrabbingFinished = false;
m_KeepThreadAlive = true;
m_frameNumber = 0;
m_newFrameAvailable = false;
FlyCapture2::Image rgbImage;
FlyCapture2::Image rawImage;
FlyCapture2::Image rawImage2;
m_timer= std::clock();
while (m_KeepThreadAlive)
{
FlyCapture2::Error error = m_Camera.RetrieveBuffer( &rawImage );
if ( error != FlyCapture2::PGRERROR_OK )
{
error.PrintErrorTrace();
}
//get the time stamp
const double localtimestamp = M_TIMER_ELAPSED;
// convert to bgr
rawImage2.DeepCopy(&rawImage); // not sure if really needed since we convert below...
rawImage2.Convert(FlyCapture2::PIXEL_FORMAT_RGB, &rgbImage );
// convert to Mat
unsigned int rowBytes = (double) rgbImage.GetReceivedDataSize()/(double)rgbImage.GetRows();
// copy to frame variable and update times
{ std::unique_lock<std::mutex> lock(VideoSaver::m_FrameMutex);
m_Frame.release();
m_Frame = cv::Mat(rgbImage.GetRows(), rgbImage.GetCols(), CV_8UC3, rgbImage.GetData(),rowBytes);
// could this happen ?
if (m_Frame.size().width==0)
m_Frame = cv::Mat::zeros(m_FrameSize,CV_8UC3);
m_TimeStamp = localtimestamp;
m_frameNumber++;
m_newFrameAvailable = true;
VideoSaver::m_newFrameAvailableCond.notify_one();
}
}
rawImage.ReleaseBuffer();
rawImage2.ReleaseBuffer();
rgbImage.ReleaseBuffer();
m_newFrameAvailableCond.notify_one();
std::cout << "Finished grabbing." << std::endl;
m_GrabbingFinished = true;
}
}