INT UEyeCamDriver::setStandbyMode() {
if (!isConnected())
return IS_INVALID_CAMERA_HANDLE;
INT is_err = IS_SUCCESS;
if (extTriggerModeActive()) {
if ((is_err = is_DisableEvent(cam_handle_, IS_SET_EVENT_FRAME)) != IS_SUCCESS) {
std::cerr << "Could not disable frame event for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
if ((is_err = is_SetExternalTrigger(cam_handle_, IS_SET_TRIGGER_OFF)) != IS_SUCCESS) {
std::cerr
<< "Could not disable external trigger mode on UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
is_SetExternalTrigger(cam_handle_, IS_GET_TRIGGER_STATUS); // documentation seems to suggest that this is needed to disable external trigger mode (to go into free-run mode)
if ((is_err = is_StopLiveVideo(cam_handle_, IS_WAIT)) != IS_SUCCESS) {
std::cerr << "Could not stop live video mode on UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
std::cout << "Stopped external trigger mode on UEye camera '" + cam_name_ + "'"
<< std::endl;
} else if (freeRunModeActive()) {
UINT nMode = IO_FLASH_MODE_OFF;
if ((is_err = is_IO(cam_handle_, IS_IO_CMD_FLASH_SET_MODE,
(void*) &nMode, sizeof(nMode)))
!= IS_SUCCESS) {
std::cerr << "Could not disable flash output for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
if ((is_err = is_DisableEvent(cam_handle_, IS_SET_EVENT_FRAME)) != IS_SUCCESS) {
std::cerr << "Could not disable frame event for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
if ((is_err = is_StopLiveVideo(cam_handle_, IS_WAIT)) != IS_SUCCESS) {
std::cerr << "Could not stop live video mode on UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
std::cout << "Stopped free-run live video mode on UEye camera '" + cam_name_ + "'"
<< std::endl;
}
if ((is_err = is_CameraStatus(cam_handle_, IS_STANDBY, IS_GET_STATUS)) != IS_SUCCESS) {
std::cerr << "Could not set standby mode for UEye camera '" << cam_name_
<< "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
return is_err;
}
void UEyeCaptureInterface::SpinThread::run()
{
qDebug("new frame thread running");
while (capInterface->spinRunning.tryLock()) {
//usleep(20000);
if (capInterface->sync == SOFT_SYNC || capInterface->sync == FRAME_HARD_SYNC) {
// printf("Both cameras fire!!!\n");
ueyeTrace(is_FreezeVideo (capInterface->rightCamera.mCamera, IS_DONT_WAIT));
ueyeTrace(is_FreezeVideo (capInterface->leftCamera .mCamera, IS_DONT_WAIT));
}
int result = IS_SUCCESS;
while ((result = capInterface->rightCamera.waitUEyeFrameEvent(INFINITE)) != IS_SUCCESS)
{
SYNC_PRINT(("WaitFrameEvent failed for right camera\n"));
ueyeTrace(result);
}
//SYNC_PRINT(("Got right frame\n"));
while ((result = capInterface->leftCamera .waitUEyeFrameEvent(INFINITE)) != IS_SUCCESS)
{
SYNC_PRINT(("WaitFrameEvent failed for left camera\n"));
ueyeTrace(result);
}
//SYNC_PRINT(("Got left frame\n"));
/* If we are here seems like both new cameras produced frames*/
int bufIDL, bufIDR;
char *rawBufferLeft = NULL;
char *rawBufferRight = NULL;
HIDS mCameraLeft;
HIDS mCameraRight;
mCameraLeft = capInterface->leftCamera.mCamera;
is_GetActSeqBuf(mCameraLeft, &bufIDL, NULL, &rawBufferLeft);
is_LockSeqBuf (mCameraLeft, IS_IGNORE_PARAMETER, rawBufferLeft);
mCameraRight = capInterface->rightCamera.mCamera;
is_GetActSeqBuf(mCameraRight, &bufIDR, NULL, &rawBufferRight);
is_LockSeqBuf (mCameraRight, IS_IGNORE_PARAMETER, rawBufferRight);
// SYNC_PRINT(("We have locked buffers [%d and %d]\n", bufIDL, bufIDR));
/* Now exchange the buffer that is visible from */
capInterface->protectFrame.lock();
UEYEIMAGEINFO imageInfo;
if (capInterface->currentLeft)
is_UnlockSeqBuf (mCameraLeft, IS_IGNORE_PARAMETER, (char *)capInterface->currentLeft->buffer);
is_GetImageInfo (mCameraLeft, bufIDL, &imageInfo, sizeof(UEYEIMAGEINFO));
capInterface->currentLeft = capInterface->leftCamera.getDescriptorByAddress(rawBufferLeft);
capInterface->currentLeft->internalTimestamp = imageInfo.u64TimestampDevice;
capInterface->currentLeft->pcTimestamp = imageInfo.TimestampSystem;
if (capInterface->currentRight)
is_UnlockSeqBuf (mCameraRight, IS_IGNORE_PARAMETER, (char *)capInterface->currentRight->buffer);
is_GetImageInfo (mCameraRight, bufIDR, &imageInfo, sizeof(UEYEIMAGEINFO));
capInterface->currentRight = capInterface->rightCamera.getDescriptorByAddress(rawBufferRight);
capInterface->currentRight->internalTimestamp = imageInfo.u64TimestampDevice;
capInterface->currentRight->pcTimestamp = imageInfo.TimestampSystem;
capInterface->skippedCount++;
capInterface->triggerSkippedCount = is_CameraStatus (mCameraRight, IS_TRIGGER_MISSED, IS_GET_STATUS);
capInterface->protectFrame.unlock();
/* For statistics */
if (capInterface->lastFrameTime.usecsTo(PreciseTimer()) != 0)
{
capInterface->frameDelay = capInterface->lastFrameTime.usecsToNow();
}
capInterface->lastFrameTime = PreciseTimer::currentTime();
frame_data_t frameData;
frameData.timestamp = (capInterface->currentLeft->usecsTimeStamp() / 2) + (capInterface->currentRight->usecsTimeStamp() / 2);
capInterface->notifyAboutNewFrame(frameData);
capInterface->spinRunning.unlock();
if (capInterface->shouldStopSpinThread)
{
qDebug("Break command received");
break;
}
}
qDebug("new frame thread finished");
}
