Exemplo n.º 1
0
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;

}
Exemplo n.º 2
0
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();


}
Exemplo n.º 3
0
Camera::Camera(unsigned int serNo) : frameRate(FlyCapture2::FRAMERATE_30)
{
  FlyCapture2::BusManager busMgr;
  throw_if_error(busMgr.GetCameraFromSerialNumber(serNo, &guid));
}
Exemplo n.º 4
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


}
Exemplo n.º 5
0
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;
  }
}
Exemplo n.º 6
0
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));
    }