/*!
Connect the active camera.
\sa disconnect()
*/
void vpFlyCaptureGrabber::connect()
{
if (m_connected == false) {
FlyCapture2::Error error;
m_numCameras = this->getNumCameras();
if (m_numCameras == 0) {
throw (vpException(vpException::fatalError, "No camera found on the bus"));
}
FlyCapture2::BusManager busMgr;
error = busMgr.GetCameraFromIndex(m_index, &m_guid);
if (error != FlyCapture2::PGRERROR_OK) {
error.PrintErrorTrace();
throw (vpException(vpException::fatalError,
"Cannot retrieve guid of camera with index %u.",
m_index) );
}
// Connect to a camera
error = m_camera.Connect(&m_guid);
if (error != FlyCapture2::PGRERROR_OK) {
error.PrintErrorTrace();
throw (vpException(vpException::fatalError,
"Cannot connect to camera with guid 0x%lx", m_guid));
}
m_connected = true;
}
if (m_connected && m_capture)
init = true;
else
init = false;
}
bool Camera::setup()
{
///////////////////////////////////////////////////////
// Get a camera:
FlyCapture2::Error error;
FlyCapture2::BusManager busMgr;
unsigned int N;
if ((error = busMgr.GetNumOfCameras(&N)) != PGRERROR_OK)
ROS_ERROR (error.GetDescription ());
if (camSerNo == 0)
{
if ((error = busMgr.GetCameraFromIndex(0, &guid_)) != PGRERROR_OK)
PRINT_ERROR_AND_RETURN_FALSE;
ROS_INFO ("did busMgr.GetCameraFromIndex(0, &guid)");
}
else
{
if ((error = busMgr.GetCameraFromSerialNumber(camSerNo, &guid_)) != PGRERROR_OK)
PRINT_ERROR_AND_RETURN_FALSE;
}
ROS_INFO ("Setup: Camera GUID = %u %u %u %u", guid_.value[0], guid_.value[1], guid_.value[2], guid_.value[3]);
ROS_INFO ("Setup successful");
return true;
}
/*!
\return Return the number of cameras connected on the bus.
*/
unsigned int vpFlyCaptureGrabber::getNumCameras()
{
unsigned int numCameras;
FlyCapture2::BusManager busMgr;
FlyCapture2::Error error = busMgr.GetNumOfCameras(&numCameras);
if (error != FlyCapture2::PGRERROR_OK) {
numCameras = 0;
}
return numCameras;
}
int VideoHandler::start() {
if (m_stopped) {
if ( m_camera) {
FlyCapture2::BusManager busMgr;
FlyCapture2::Error error;
FlyCapture2::PGRGuid guid;
cout << m_camIdx << endl;
error = busMgr.GetCameraFromIndex( m_camIdx, &guid );
if (error != PGRERROR_OK)
{
error.PrintErrorTrace();
return -1;
}
cout << "got camera from index" << endl;
pVideoSaver = new VideoSaver();
cout << "created VideoSaver" << endl;
if (pVideoSaver->init(guid)!=0){
cout << "Warning: Error in initializing the camera\n" ;
return -1;
}
if (fname.empty()) {
cout << "start capture thread" << endl;
if (pVideoSaver->startCapture()!=0) {
cout << "Warning: Error in starting the capture thread the camera \n";
return -1;
}
}
else {
cout << "start capture and write threads" << endl;
if (pVideoSaver->startCaptureAndWrite(fname,string("X264"))!=0) {
cout << "Warning: Error in starting the writing thread the camera \n";
return -1;
}
}
}
else {
pVideoCapture = new VideoCapture(fname);
//pVideoCapture->set(cv::CAP_PROP_CONVERT_RGB,true); // output RGB
}
if (knnMethod)
pBackgroundSubtractor = cv::createBackgroundSubtractorKNN(250,400,false);
else
pBackgroundThresholder = new BackgroundThresholder();
m_stopped=false;
startThreads();
}
return 0;
}
void printCameras()
{
FlyCapture2::BusManager busMgr;
unsigned int cameraNum;
if(!check_success(busMgr.GetNumOfCameras(&cameraNum))) return;
ROS_INFO ("Found %d cameras", cameraNum);
for (unsigned int i = 0; i < cameraNum; i++)
{
unsigned int serNo;
if(check_success(busMgr.GetCameraSerialNumberFromIndex(i, &serNo))) {
ROS_INFO ("Camera %u: S/N %u", i, serNo);
}
}
}
int main(int argc, char *argv[])
{
get_param();
std::string t_stamp = get_timestamp();
sprintf (data_filename, "%s/data_%s.out", save_dir, t_stamp.c_str());
std::cout << "data_filename: " << data_filename << std::endl;
FlyCapture2::BusManager busMgr;
PGRGuid guid;
err = busMgr.GetCameraFromSerialNumber(cam_serial, &guid);
if (err != PGRERROR_OK) {
std::cout << "Index error" << std::endl;
return false;
}
// Point Grey cam init
init_cam_capture(pt_grey, guid);
if (use_calib)
load_calib_param();
imageCallback(&pt_grey);
printf("Stopping...\n");
err = pt_grey.StopCapture();
if ( err != PGRERROR_OK )
{
// This may fail when the camera was removed, so don't show
// an error message
}
pt_grey.Disconnect();
}
int VideoSaverFlyCapture::init(int camIdx){
m_isFlyCapture = false;
// check whether FlyCap camera exists
FlyCapture2::PGRGuid guid;
FlyCapture2::BusManager busMgr;
FlyCapture2::Error error;
error = busMgr.GetCameraFromIndex(camIdx, &guid );
if (error == FlyCapture2::PGRERROR_OK) {
return init(guid);
}
else { // try OpenCV
cout << "Cannot find FlyCapture camera. Use OpenCV instead." << endl;
return VideoSaver::init(camIdx);
}
}
oneCame::oneCame(int id, FlyCapture2::BusManager &busMgr, cv::Mat* img):_cameraId(id), _imgOPENCV(img), _readyFlag(false)
{
PGR_SAFE_CALL(busMgr.GetCameraFromIndex(_cameraId, &_guid));
PGR_SAFE_CALL(_cam.Connect(&_guid));
// restart cam:
//restartCam();
int centerX = 1328/2;
int centerY = 1024/2;
//_allImgs = new FlyCapture2::Image[_numOfCams];
_fmt7ImageSettings.mode = FlyCapture2::MODE_7;;
_fmt7ImageSettings.width = 800;
_fmt7ImageSettings.height = 600;
_fmt7ImageSettings.offsetX = centerX - _fmt7ImageSettings.width /2;
_fmt7ImageSettings.offsetY = centerY - _fmt7ImageSettings.height /2;
_fmt7ImageSettings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RGB8;
// Validate the settings to make sure that they are valid
bool valid;
PGR_SAFE_CALL( _cam.ValidateFormat7Settings(&_fmt7ImageSettings,&valid, &_fmt7PacketInfo ));
PGR_SAFE_CALL( _cam.SetFormat7Configuration( &_fmt7ImageSettings, _fmt7PacketInfo.recommendedBytesPerPacket ));
FlyCapture2::Property prop;
// set gain
prop.type = FlyCapture2::GAIN; prop.autoManualMode = false; prop.absControl = true; prop.absValue = 10;
PGR_SAFE_CALL(_cam.SetProperty( &prop ));
// set shutter
prop.type = FlyCapture2::SHUTTER; prop.autoManualMode = false; prop.onOff = true;
prop.absControl = true; prop.absValue = 45; PGR_SAFE_CALL(_cam.SetProperty( &prop ));
// set frame rate
prop.type = FlyCapture2::FRAME_RATE; prop.autoManualMode = false; prop.onOff = true;
prop.absControl = true; prop.absValue = 20; PGR_SAFE_CALL(_cam.SetProperty( &prop ));
// set auto white balance
FlyCapture2::Property prop1;
prop1.type = FlyCapture2::WHITE_BALANCE; prop1.onOff = true; prop1.autoManualMode = false;
prop1.valueA = 490; prop1.valueB = 790; PGR_SAFE_CALL(_cam.SetProperty( &prop1 ));
// disable sharpness
FlyCapture2::Property sharpnessProp;
sharpnessProp.type = FlyCapture2::SHARPNESS; sharpnessProp.onOff = false; PGR_SAFE_CALL(_cam.SetProperty( &sharpnessProp ));
// diable gamma
FlyCapture2::Property gammaProp;
gammaProp.type = FlyCapture2::GAMMA; gammaProp.onOff = false; PGR_SAFE_CALL(_cam.SetProperty( &gammaProp ));
// set trigger mode
_triggerMode.onOff = true;
_triggerMode.mode = 15;
_triggerMode.parameter = 10;
_triggerMode.source = 0;
PGR_SAFE_CALL(_cam.SetTriggerMode( &_triggerMode));
std::cout<< getFrameRate() << std::endl;
}
vector<CameraInfo> CameraPointGrey::getCameraList(){
FlyCapture2::Error error;
FlyCapture2::BusManager busManager;
unsigned int numCameras;
error = busManager.GetNumOfCameras(&numCameras);
vector<CameraInfo> ret;
if (error != FlyCapture2::PGRERROR_OK){
PrintError(error);
return ret;
}
for (unsigned int i=0; i < numCameras; i++){
FlyCapture2::PGRGuid guid;
error = busManager.GetCameraFromIndex(i, &guid);
if (error != FlyCapture2::PGRERROR_OK)
PrintError(error);
// Connect to camera
FlyCapture2::Camera cam;
error = cam.Connect(&guid);
if (error != FlyCapture2::PGRERROR_OK)
PrintError( error );
// Get the camera information
FlyCapture2::CameraInfo camInfo;
error = cam.GetCameraInfo(&camInfo);
if (error != FlyCapture2::PGRERROR_OK)
PrintError( error );
CameraInfo camera;
camera.busID = camInfo.nodeNumber;
camera.model = camInfo.modelName;
camera.vendor = "Point Grey Research";
ret.push_back(camera);
}
return ret;
}
/*!
Return the serial id of a camera with \e index.
\param index : Camera index.
The following code shows how to retrieve the serial id of all the cameras that
are connected on the bus.
\code
#include <visp3/flycapture/vpFlyCaptureGrabber.h>
int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
vpFlyCaptureGrabber g;
unsigned int num_cameras = vpFlyCaptureGrabber::getNumCameras();
for (unsigned int i=0; i<num_cameras; i++) {
unsigned int serial_id = vpFlyCaptureGrabber::getCameraSerial(i);
std::cout << "Camera with index " << i << " has serial id: " << serial_id << std::endl;
}
#endif
}
\endcode
When two cameras are connected (PGR Flea3 in our case), we get the following:
\code
Camera with index 0 has serial id: 15372913
Camera with index 1 has serial id: 15290004
\endcode
\sa setCameraSerial()
*/
unsigned int vpFlyCaptureGrabber::getCameraSerial(unsigned int index)
{
unsigned int num_cameras = vpFlyCaptureGrabber::getNumCameras();
if(index >= num_cameras) {
throw (vpException(vpException::badValue,
"The camera with index %u is not present. Only %d cameras connected.",
index, num_cameras) );
}
unsigned int serial_id;
FlyCapture2::BusManager busMgr;
FlyCapture2::Error error;
error = busMgr.GetCameraSerialNumberFromIndex(index, &serial_id);
if (error != FlyCapture2::PGRERROR_OK) {
error.PrintErrorTrace();
throw (vpException(vpException::fatalError,
"Cannot get camera with index %d serial id.", index) );
}
return serial_id;
}
void TrackerDataSource::list_serial_numbers(){
std::cout << "Serial numbers of cameras on the system: \n";
FlyCapture2::BusManager busMgr;
FlyCapture2::PGRGuid guid;
unsigned int n_cams;
FlyCapture2::CameraInfo camInfo;
busMgr.GetNumOfCameras(&n_cams);
FlyCapture2::Camera *this_camera = new FlyCapture2::Camera();
for(int i = 0; i < n_cams; i++){
busMgr.GetCameraFromIndex(i, &guid);
this_camera->Connect( &guid );
this_camera->GetCameraInfo( &camInfo );
std::cout << "Camera " << i
<< " serial number: " << camInfo.serialNumber
<< std::endl;
this_camera->Disconnect();
}
delete this_camera;
std::cout << "Serial numbers requested in config file" << std::endl;
for(int g = 0; g < opt.group_size(); g++){
for(int c = 0; c < opt.group(g).cam_size(); c++){
std::cout << "Group " << g << " camera " << c
<< " serial number: " << opt.group(g).cam(c).serial_number()
<< std::endl;
}
}
}
void init()
{
FlyCapture2::Error error;
FlyCapture2::BusManager busMgr;
for (int tries = 0; tries < 5; ++tries)
{
if ((error = busMgr.GetNumOfCameras(&cameraNum)) != PGRERROR_OK)
ROS_ERROR (error.GetDescription ());
if (cameraNum)
{
ROS_INFO ("Found %d cameras", cameraNum);
unsigned int serNo;
for (unsigned int i = 0; i < cameraNum; i++)
{
if ((error = busMgr.GetCameraSerialNumberFromIndex(i, &serNo)) != PGRERROR_OK)
ROS_ERROR (error.GetDescription ());
else
ROS_INFO ("Camera %u: S/N %u", i, serNo);
}
}
return;
usleep(200000);
}
}
CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){
FlyCapture2::Error error;
// Connect to camera
FlyCapture2::BusManager busManager;
FlyCapture2::PGRGuid camGuid;
busManager.GetCameraFromIndex(camNum, &camGuid);
error = cam.Connect(&camGuid);
if (error != FlyCapture2::PGRERROR_OK)
PrintError(error);
// // Configure video mode and frame rate (legacy modes)
// FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_640x480Y8;
// FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_30;
// cam.SetVideoModeAndFrameRate(videoMode, frameRate);
// Configure Format7 mode (2x2 binning)
FlyCapture2::Format7ImageSettings format7Settings;
format7Settings.mode = FlyCapture2::MODE_0;
format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_MONO8;
format7Settings.width = 1280;
format7Settings.height = 960;
format7Settings.offsetX = 0;
format7Settings.offsetY = 0;
// Validate and set mode
FlyCapture2::Format7PacketInfo packetInfo;
bool valid;
error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);
if (error != FlyCapture2::PGRERROR_OK)
PrintError(error);
// packetsize configures maximum frame rate
error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);
if (error != FlyCapture2::PGRERROR_OK)
PrintError(error);
// Turn off gamma
FlyCapture2::Property property;
property.type = FlyCapture2::AUTO_EXPOSURE;
property.onOff = false;
error = cam.SetProperty(&property);
if (error != FlyCapture2::PGRERROR_OK)
PrintError(error);
property.type = FlyCapture2::GAMMA;
property.onOff = true;
property.absControl = true;
property.absValue = 1.0;
error = cam.SetProperty(&property);
if (error != FlyCapture2::PGRERROR_OK)
PrintError(error);
// Get the camera information
FlyCapture2::CameraInfo camInfo;
error = cam.GetCameraInfo(&camInfo);
if (error != FlyCapture2::PGRERROR_OK)
PrintError(error);
std::cout << camInfo.vendorName << " " << camInfo.modelName << " " << camInfo.serialNumber << std::endl;
// Set reasonable default settings
CameraSettings settings;
//settings.shutter = 8.33;
settings.shutter = 33.33;
settings.gain = 0.0;
this->setCameraSettings(settings);
return;
}
Camera::Camera(unsigned int serNo) : frameRate(FlyCapture2::FRAMERATE_30)
{
FlyCapture2::BusManager busMgr;
throw_if_error(busMgr.GetCameraFromSerialNumber(serNo, &guid));
}
Camera::Camera() : frameRate(FlyCapture2::FRAMERATE_30)
{
FlyCapture2::BusManager busMgr;
throw_if_error(busMgr.GetCameraFromIndex(0, &guid));
}
//! \brief Connect cameras and return camera objects
//!
//! \return unsigned int &numCameras
//! \return FlyCapture2::Camera** &ppCameras
//!
//!
void prepareCameras(unsigned int &numCameras,
FlyCapture2::Camera** &ppCameras)
{
FlyCapture2::Error error;
//!<
//!< Get camera bus
//!<
FlyCapture2::BusManager busMgr;
error = busMgr.GetNumOfCameras( &numCameras );
PRINT_ERROR( error );
std::cout << "Number of cameras detected: " << numCameras << std::endl;
if ( numCameras < 1 )
{
std::cerr << "Insufficient number of cameras... press Enter to exit." << std::endl;
getchar();
exit(-1);
}
ppCameras = new FlyCapture2::Camera* [ numCameras ];
//!<
//!< Connect to all detected cameras and attempt to set them to a common video mode and frame rate
//!<
for ( unsigned int i = 0; i < numCameras; i++)
{
ppCameras[i] = new FlyCapture2::Camera();
std::cout << "setting camera " << i << std::endl;
FlyCapture2::PGRGuid guid;
error = busMgr.GetCameraFromIndex( i, &guid );
PRINT_ERROR( error );
//!< Connect to a camera
error = ppCameras[i]->Connect( &guid );
PRINT_ERROR( error );
PrintCameraInfo( ppCameras[i] );
PrintCameraPropertyInfo( ppCameras[i] );
//!< Set all cameras to a specific mode and frame rate so they can be synchronized
error = ppCameras[i]->SetVideoModeAndFrameRate(FlyCapture2::VIDEOMODE_640x480Y8, //!< size of 640x480, format Mono8bit (Y8)
FlyCapture2::FRAMERATE_30 );
PRINT_ERROR_MSG( error,
"Error starting cameras. \n"
"This example requires cameras to be able to set to 640x480 Y8 at 30fps. \n"
"If your camera does not support this mode, please edit the source code and recompile the application. \n"
"Press Enter to exit. \n");
}
std::cout << "all camera set to specific mode." << std::endl;
error = FlyCapture2::Camera::StartSyncCapture( numCameras, (const FlyCapture2::Camera**)ppCameras );
PRINT_ERROR_MSG( error,
"Error starting cameras. \n"
"This example requires cameras to be able to set to 640x480 Y8 at 30fps. \n"
"If your camera does not support this mode, please edit the source code and recompile the application. \n"
"Press Enter to exit. \n");
std::cout << "StartSyncCapture." << std::endl;
}
Camera::Camera(ros::NodeHandle _comm_nh, ros::NodeHandle _param_nh) :
node(_comm_nh), pnode(_param_nh), it(_comm_nh),
info_mgr(_comm_nh, "camera"), cam() {
FlyCapture2::Error error;
/* default config values */
width = 640;
height = 480;
fps = 10;
frame = "camera";
rotate = false;
/* set up information manager */
std::string url;
pnode.getParam("camera_info_url", url);
info_mgr.loadCameraInfo(url);
/* pull other configuration */
pnode.getParam("serial", serial);
pnode.getParam("fps", fps);
pnode.getParam("skip_frames", skip_frames);
pnode.getParam("width", width);
pnode.getParam("height", height);
pnode.getParam("frame_id", frame);
/* advertise image streams and info streams */
pub = it.advertise("image_raw", 1);
info_pub = node.advertise<CameraInfo>("camera_info", 1);
/* initialize the cameras */
FlyCapture2::BusManager busMgr;
FlyCapture2::PGRGuid guid;
error = busMgr.GetCameraFromSerialNumber(serial, &guid);
// Connect to a camera
error = cam.Connect(&guid);
if (error != FlyCapture2::PGRERROR_OK)
{
//PrintError( error );
//return -1;
}
// Get the camera information
FlyCapture2::CameraInfo camInfo;
error = cam.GetCameraInfo(&camInfo);
if (error != FlyCapture2::PGRERROR_OK)
{
//PrintError( error );
//return -1;
}
PrintCameraInfo(&camInfo);
FlyCapture2::GigEImageSettingsInfo imageSettingsInfo;
error = cam.GetGigEImageSettingsInfo( &imageSettingsInfo );
if (error != FlyCapture2::PGRERROR_OK)
{
// PrintError( error );
//P return -1;
}
FlyCapture2::GigEImageSettings imageSettings;
imageSettings.offsetX = 0;
imageSettings.offsetY = 0;
imageSettings.height = imageSettingsInfo.maxHeight;
imageSettings.width = imageSettingsInfo.maxWidth;
imageSettings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;
printf( "Setting GigE image settings...\n" );
error = cam.SetGigEImageSettings( &imageSettings );
if (error != FlyCapture2::PGRERROR_OK)
{
// PrintError( error );
// return -1;
}
/* and turn on the streamer */
error = cam.StartCapture();
if (error != FlyCapture2::PGRERROR_OK)
{
// PrintError( error );
// return -1;
}
ok = true;
image_thread = boost::thread(boost::bind(&Camera::feedImages, this));
}
int main()
{
FlyCapture2::Error error;
FlyCapture2::PGRGuid guid;
FlyCapture2::BusManager busMgr;
FlyCapture2::Camera cam;
FlyCapture2::VideoMode vm;
FlyCapture2::FrameRate fr;
FlyCapture2::Image rawImage;
//Initializing camera
error = busMgr.GetCameraFromIndex(0, &guid);
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
vm = FlyCapture2::VIDEOMODE_640x480Y8;
fr = FlyCapture2::FRAMERATE_60;
error = cam.Connect(&guid);
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
cam.SetVideoModeAndFrameRate(vm, fr);
//Starting the capture
error = cam.StartCapture();
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
while(1)
{
Mat frame (Size(640,480),CV_8UC1);
// Mat img_scene (Size(640,480),CV_8UC3);
Mat img_object = imread( "bitslogo.png", CV_LOAD_IMAGE_GRAYSCALE );
cam.RetrieveBuffer(&rawImage);
memcpy(frame.data, rawImage.GetData(), rawImage.GetDataSize());
cvtColor(frame,frame,CV_BayerBG2RGB);
imwrite("temp.bmp",frame);
// cvtColor(img_scene,img_scene,CV_RGB2GRAY);
Mat img_scene = imread( "temp.bmp", CV_LOAD_IMAGE_GRAYSCALE );
if( !img_object.data || !img_scene.data )
{ std::cout<< " --(!) Error reading images " << std::endl; return -1; }
//-- Step 1: Detect the keypoints using SURF Detector
int minHessian = 400;
SurfFeatureDetector detector( minHessian );
std::vector<KeyPoint> keypoints_object, keypoints_scene;
detector.detect( img_object, keypoints_object );
detector.detect( img_scene, keypoints_scene );
//-- Step 2: Calculate descriptors (feature vectors)
SurfDescriptorExtractor extractor;
Mat descriptors_object, descriptors_scene;
extractor.compute( img_object, keypoints_object, descriptors_object );
extractor.compute( img_scene, keypoints_scene, descriptors_scene );
//-- Step 3: Matching descriptor vectors using FLANN matcher
FlannBasedMatcher matcher;
std::vector< DMatch > matches;
matcher.match( descriptors_object, descriptors_scene, matches );
double max_dist = 0; double min_dist = 100;
//-- Quick calculation of max and min distances between keypoints
for( int i = 0; i < descriptors_object.rows; i++ )
{ double dist = matches[i].distance;
if( dist < min_dist ) min_dist = dist;
if( dist > max_dist ) max_dist = dist;
}
printf("-- Max dist : %f \n", max_dist );
printf("-- Min dist : %f \n", min_dist );
//-- Draw only "good" matches (i.e. whose distance is less than 3*min_dist )
std::vector< DMatch > good_matches;
for( int i = 0; i < descriptors_object.rows; i++ )
{ if( matches[i].distance < 3*min_dist )
{ good_matches.push_back( matches[i]); }
}
Mat img_matches;
drawMatches( img_object, keypoints_object, img_scene, keypoints_scene,
good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
//-- Localize the object
std::vector<Point2f> obj;
std::vector<Point2f> scene;
for( int i = 0; i < good_matches.size(); i++ )
{
//-- Get the keypoints from the good matches
obj.push_back( keypoints_object[ good_matches[i].queryIdx ].pt );
scene.push_back( keypoints_scene[ good_matches[i].trainIdx ].pt );
}
Mat H = findHomography( obj, scene, CV_RANSAC );
//-- Get the corners from the image_1 ( the object to be "detected" )
std::vector<Point2f> obj_corners(4);
obj_corners[0] = cvPoint(0,0); obj_corners[1] = cvPoint( img_object.cols, 0 );
obj_corners[2] = cvPoint( img_object.cols, img_object.rows ); obj_corners[3] = cvPoint( 0, img_object.rows );
std::vector<Point2f> scene_corners(4);
perspectiveTransform( obj_corners, scene_corners, H);
//-- Draw lines between the corners (the mapped object in the scene - image_2 )
line( img_matches, scene_corners[0] + Point2f( img_object.cols, 0), scene_corners[1] + Point2f( img_object.cols, 0), Scalar(0, 255, 0), 4 );
line( img_matches, scene_corners[1] + Point2f( img_object.cols, 0), scene_corners[2] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 );
line( img_matches, scene_corners[2] + Point2f( img_object.cols, 0), scene_corners[3] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 );
line( img_matches, scene_corners[3] + Point2f( img_object.cols, 0), scene_corners[0] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 );
//-- Show detected matches
imshow( "Good Matches & Object detection", img_matches );
int c = cvWaitKey(100);
if(c == 27)
break;
}
return 0;
}
int main()
{
FlyCapture2::Error error;
FlyCapture2::PGRGuid guid;
FlyCapture2::BusManager busMgr;
FlyCapture2::Camera cam;
FlyCapture2::VideoMode vm;
FlyCapture2::FrameRate fr;
FlyCapture2::Image rawImage;
//Initializing camera
error = busMgr.GetCameraFromIndex(0, &guid);
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
vm = FlyCapture2::VIDEOMODE_640x480Y8;
fr = FlyCapture2::FRAMERATE_60;
error = cam.Connect(&guid);
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
cam.SetVideoModeAndFrameRate(vm, fr);
//Starting the capture
error = cam.StartCapture();
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
//Image Variables
Mat frame (Size(640,480),CV_8UC1);
Mat img_bgr (Size(640,480),CV_8UC3);
Mat img_hsv (Size(640,480),CV_8UC3); //Image in HSV color space
Mat threshy (Size(640,480),CV_8UC1); //Threshed Image
// Mat labelImg (Size(640,480),CV_8UC1); //Image Variable for blobs
IplImage* histogram= cvCreateImage(cvSize(640,480),8,3); //Image histograms
Mat histograms (Size(640,480),CV_8UC1); //greyscale image for histogram
Mat empty (Size(640,480),CV_8UC3);
// CvBlobs blobs;
while(1)
{
cam.RetrieveBuffer(&rawImage);
memcpy(frame.data, rawImage.GetData(), rawImage.GetDataSize());
// histogram = empty.clone();
cvZero(histogram);
// cvAddS(frame, cvScalar(70,70,70), frame);
cvtColor(frame,img_bgr,CV_BayerBG2BGR);
// cout<<"\n1";
cvtColor(img_bgr,img_hsv,CV_BGR2HSV);
// cout<<"\n2";
//Thresholding the frame for yellow
inRange(img_hsv, Scalar(20, 100, 20), Scalar(70, 255, 255), threshy);
// cvInRangeS(img_hsv, cvScalar(0, 120, 100), cvScalar(255, 255, 255), threshy);
//Filtering the frame - subsampling??
// smooth(threshy,threshy,CV_MEDIAN,7,7);
//Finding the blobs
// unsigned int result=cvLabel(threshy,labelImg,blobs);
//Filtering the blobs
// cvFilterByArea(blobs,500,1000);
//Rendering the blobs
// cvRenderBlobs(labelImg,blobs,img_bgr,img_bgr);
CvPoint prev = cvPoint(0,0);
for(int x=0;x<640;++x)
{
Mat col = threshy.col(x);
int y = 480 - countNonZero(col);
for(int i=0 ; i<480 ; ++i)
histograms.at<uchar>(x,i) = y;
CvPoint next = cvPoint(x,y);
cvLine(histogram,prev,next,cColor);
// cvCircle(histogram,next,2,cColor,3);
prev=next;
}
//Showing the images
imshow("Live",img_bgr);
imshow("Threshed",threshy);
cvShowImage("Histogram",histogram);
int c= cvWaitKey(10);
if(c == 27)
break;
}
//Cleanup
// cvReleaseImage(&frame);
// cvReleaseImage(&threshy);
// cvReleaseImage(&img_hsv);
// cvReleaseImage(&labelImg);
// cvReleaseImage(&histogram);
cvDestroyAllWindows();
return 0;
}
// Fill out physical_cameras_p vector
int TrackerDataSource::init_cameras(){
// we don't yet know whether we're reading from camera or file
file_sources = BOU_UNSET;
FlyCapture2::BusManager busMgr;
FlyCapture2::Error error;
unsigned int n_cams;
ptgr_err( busMgr.GetNumOfCameras(&n_cams) );
if(n_cams < 1){
std::cerr << "No cameras found.\n";
return -1;
}
int n_software_cams = 0;
for(int g = 0; g < opt.group_size(); g++){
for(int c = 0; c < opt.group(g).cam_size(); c++){
n_software_cams++;
bool_or_unset this_cam_from_file =
opt.group(g).cam(c).has_input_file_name() ? BOU_TRUE : BOU_FALSE ;
// Complain if some cameras want input files and others don't
if( (this_cam_from_file != file_sources) && (file_sources != BOU_UNSET) ){
std::cerr << "Configuration error: group " << g << " camera " << c
<< " has input_file settings inconsistent with other cameras.";
} else {
file_sources = this_cam_from_file;
}
if(file_sources == BOU_FALSE){
// Get guid
FlyCapture2::PGRGuid guid;
ptgr_err( error =
busMgr.GetCameraFromSerialNumber(opt.group(g).cam(c).serial_number(),
&guid) );
if(error != FlyCapture2::PGRERROR_OK){
std::cerr << "Error getting guid from serial number "
<< opt.group(g).cam(c).serial_number()
<< std::endl;
list_serial_numbers();
}
// Connect
FlyCapture2::Camera *this_camera_p = new FlyCapture2::Camera ();
ptgr_err( error = this_camera_p->Connect( &guid ) );
if(error != FlyCapture2::PGRERROR_OK){
std::cerr << "Error connecting to camera with serial number "
<< opt.group(g).cam(c).serial_number() << std::endl;
}
// Find videomode
// I don't know the type of these macros, auto for now TODO: fix type
auto the_mode = FlyCapture2::VIDEOMODE_640x480Y8;
auto the_rate = FlyCapture2::FRAMERATE_30;
if( FRAME_WIDTH == 640 && FRAME_HEIGHT == 480 ){
the_mode = FlyCapture2::VIDEOMODE_640x480Y8;
} else {
std::cerr << "Unsupported image size\n";
}
if( FRAME_RATE == 30 ){
the_rate = FlyCapture2::FRAMERATE_30;
} else if (FRAME_RATE == 15) {
the_rate = FlyCapture2::FRAMERATE_15;
} else {
std::cerr << "Unsupported frame rate\n";
}
// Setup camera
ptgr_err( error = this_camera_p->
SetVideoModeAndFrameRate(the_mode, the_rate) );
if( error != FlyCapture2::PGRERROR_OK ){
std::cerr << "Error in setup for camera with serial number "
<< opt.group(g).cam(c).serial_number() << std::endl;
}
// Register camera with tracker
// Insert a pair into the camera listing map
// camera_pointer -> image_pointer
physical_cameras_p[this_camera_p] = (*frames)[g][c];
// Initialize the capture
// Build the camera list in the way that flycapture2 wants it: pointer array
std::map<FlyCapture2::Camera*, ArteFrame*>::iterator it;
int n_cams = physical_cameras_p.size();
ppCameras = new FlyCapture2::Camera*[n_cams];
it = physical_cameras_p.begin();
for(int i = 0; i < n_cams; i++){
ppCameras[i] = it->first;
it++;
}
} // endif this camera really is camera soure
if(file_sources == BOU_TRUE){
// Create the opencv file capture
CvCapture *this_file_capture =
cvCreateFileCapture( opt.group(g).cam(c).input_file_name().c_str() );
if(!this_file_capture){
std::cerr << "TrackerDataSource error opening file "
<< opt.group(g).cam(c).input_file_name().c_str() << std::endl;
}
// Register the file capture with tracker
simulated_cameras_p[this_file_capture] = (*frames)[g][c];
} // endif this camera has file source
} // done with this camera
} // done with this camera group
}
void StereoCamera::initCamera(FlyCapture2::GigECamera &cam, const int serial) {
FlyCapture2::Error error;
FlyCapture2::BusManager busMgr;
FlyCapture2::PGRGuid guid;
error = busMgr.GetCameraFromSerialNumber(serial, &guid);
if (error != FlyCapture2::PGRERROR_OK)
{
printf( "Error\n" );
//PrintError( error );
//return -1;
}
// Connect to a camera
error = cam.Connect(&guid);
if (error != FlyCapture2::PGRERROR_OK)
{
printf( "Error\n" );
//PrintError( error );
//return -1;
}
// Get the camera information
FlyCapture2::CameraInfo camInfo;
error = cam.GetCameraInfo(&camInfo);
if (error != FlyCapture2::PGRERROR_OK)
{
printf( "Error\n" );
//PrintError( error );
//return -1;
}
//PrintCameraInfo(&camInfo);
FlyCapture2::GigEImageSettingsInfo imageSettingsInfo;
error = cam.GetGigEImageSettingsInfo( &imageSettingsInfo );
if (error != FlyCapture2::PGRERROR_OK)
{
printf( "Error\n" );
// PrintError( error );
//P return -1;
}
FlyCapture2::GigEImageSettings imageSettings;
imageSettings.offsetX = 0;
imageSettings.offsetY = 0;
imageSettings.height = imageSettingsInfo.maxHeight;
imageSettings.width = imageSettingsInfo.maxWidth;
imageSettings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;
printf( "Setting GigE image settings...\n" );
error = cam.SetGigEImageSettings( &imageSettings );
if (error != FlyCapture2::PGRERROR_OK)
{
printf( "Error\n" );
// PrintError( error );
// return -1;
}
}