void CCflycap_grab_next_frame_blocking_with_stride( CCflycap *ccntxt,
unsigned char *out_bytes,
intptr_t stride0,
float timeout ) {
CHECK_CC(ccntxt);
FlyCapture2::Camera *cam = (FlyCapture2::Camera *)ccntxt->inherited.cam;
cam_iface_backend_extras* backend_extras = (cam_iface_backend_extras*)(ccntxt->inherited.backend_extras);
// The main frame grabbing code goes here.
FlyCapture2::Image rawImage;
CIPGRCHK(cam->RetrieveBuffer( &rawImage ));
if (stride0 < (intptr_t)rawImage.GetStride()) {
CAM_IFACE_THROW_ERROR("stride too small for image");
}
if (stride0==(intptr_t)rawImage.GetStride()) {
// same stride
memcpy((void*)out_bytes, /*dest*/
(const void*)rawImage.GetData(),/*src*/
rawImage.GetDataSize());/*src*/
} else {
// different strides
for (int row=0; row<(int)rawImage.GetRows(); row++) {
memcpy((void*)(out_bytes+row*stride0), /*dest*/
(const void*)(rawImage.GetData() + row*rawImage.GetStride()),/*src*/
rawImage.GetStride());/*size*/
}
}
}
void CCflycap_get_num_framebuffers( CCflycap *ccntxt,
int *num_framebuffers ) {
CHECK_CC(ccntxt);
FlyCapture2::Camera *cam = (FlyCapture2::Camera *)ccntxt->inherited.cam;
FlyCapture2::FC2Config cfg;
CIPGRCHK(cam->GetConfiguration(&cfg));
*num_framebuffers = cfg.numBuffers;
}
void RawMultiTestApp::setup()
{
setFrameRate(60);
setWindowSize(1280, 480);
PGRGuid guid;
//////////////////
// setup camera 1
mErr = mBusManager.GetCameraFromIndex(0, &guid);
if (mErr != PGRERROR_OK) {
showError();
quit();
}
mCamera1 = new FlyCapture2::Camera();
mErr = mCamera1->Connect(&guid);
if (mErr != PGRERROR_OK) {
showError();
mCamera1 = 0;
quit();
}
mCam1Data.targetSurface = Surface8u(640, 480, false);
mErr = mCamera1->StartCapture(onImageGrabbed, &mCam1Data);
if (mErr != PGRERROR_OK) {
showError();
quit();
}
//////////////////
// setup camera 2
mErr = mBusManager.GetCameraFromIndex(1, &guid);
if (mErr != PGRERROR_OK) {
showError();
quit();
}
mCamera2 = new FlyCapture2::Camera();
mErr = mCamera2->Connect(&guid);
if (mErr != PGRERROR_OK) {
showError();
mCamera2 = 0;
quit();
}
mCam2Data.targetSurface = Surface8u(640, 480, false);
mErr = mCamera2->StartCapture(onImageGrabbed, &mCam2Data);
if (mErr != PGRERROR_OK) {
showError();
quit();
}
}
void CCflycap_set_num_framebuffers( CCflycap *ccntxt,
int num_framebuffers ) {
CHECK_CC(ccntxt);
FlyCapture2::Camera *cam = (FlyCapture2::Camera *)ccntxt->inherited.cam;
FlyCapture2::FC2Config cfg;
CIPGRCHK(cam->StopCapture());
CIPGRCHK(cam->GetConfiguration(&cfg));
cfg.numBuffers = num_framebuffers;
CIPGRCHK(cam->SetConfiguration(&cfg));
CIPGRCHK(cam->StartCapture());
}
void CCflycap_close(CCflycap *ccntxt) {
if (!ccntxt) {CAM_IFACE_THROW_ERROR("no CCflycap specified (NULL argument)");}
FlyCapture2::Camera *cam = (FlyCapture2::Camera *)ccntxt->inherited.cam;
CIPGRCHK(cam->StopCapture());
CIPGRCHK(cam->Disconnect());
cam_iface_backend_extras* backend_extras = (cam_iface_backend_extras*)(ccntxt->inherited.backend_extras);
if (backend_extras!=NULL) {
delete backend_extras;
ccntxt->inherited.backend_extras = (void*)NULL;
}
delete cam;
ccntxt->inherited.cam = (void*)NULL;
}
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 set_cam_param ( FlyCapture2::Camera &camera)
{
Property prop;
prop.type = SHUTTER;
//Ensure the property is on.
prop.onOff = true;
//Ensure auto-adjust mode is off.
prop.autoManualMode = false;
//Ensure the property is set up to use absolute value control.
prop.absControl = true;
//Set the absolute value of shutter to 20 ms.
// prop.absValue = 39.3;
//Set the property.
err = camera.SetProperty( &prop );
prop.type = AUTO_EXPOSURE;
prop.onOff = true;
prop.autoManualMode = true;
prop.absControl = true;
prop.absValue = 2.0;
err = camera.SetProperty( &prop );
// Enable metadata
FlyCapture2::EmbeddedImageInfo info;
info.timestamp.onOff = true;
err = camera.SetEmbeddedImageInfo(&info);
if ( err == PGRERROR_PROPERTY_FAILED )
{
std::cout << "Property failed " << std::endl;
return false;
}
else if ( err == PGRERROR_PROPERTY_NOT_PRESENT )
{
std::cout << "Property not present" << std::endl;
return false;
}
else if (err != PGRERROR_OK)
{
std::cout << "Properties not set" << std::endl;
return false;
}
}
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;
}
void CCflycap_get_camera_property(CCflycap *ccntxt,
int property_number,
long* Value,
int* Auto ) {
CHECK_CC(ccntxt);
FlyCapture2::Camera *cam = (FlyCapture2::Camera *)ccntxt->inherited.cam;
if ((property_number<0) || (property_number>=NUM_CAM_PROPS)) {
BACKEND_GLOBAL(cam_iface_error) = CAM_IFACE_GENERIC_ERROR;
CAM_IFACE_ERROR_FORMAT("property invalid");
}
FlyCapture2::Property prop;
FlyCapture2::PropertyInfo propinfo;
prop.type = propno2prop(property_number);
CIPGRCHK(cam->GetProperty( &prop ));
*Value = prop.valueA;
*Auto = prop.autoManualMode;
}
void BACKEND_METHOD(cam_iface_get_camera_info)(int device_number, Camwire_id *out_camid) {
CAM_IFACE_CHECK_DEVICE_NUMBER(device_number);
if (out_camid==NULL) { CAM_IFACE_THROW_ERROR("return structure NULL"); }
FlyCapture2::PGRGuid guid;
CIPGRCHK( BACKEND_GLOBAL(busMgr_ptr)->GetCameraFromIndex(device_number, &guid));
FlyCapture2::CameraInfo camInfo;
FlyCapture2::Camera *cam = new FlyCapture2::Camera;
CIPGRCHK(cam->Connect(&guid));
CIPGRCHK(cam->GetCameraInfo(&camInfo));
CIPGRCHK(cam->Disconnect());
cam_iface_snprintf(out_camid->vendor, CAMWIRE_ID_MAX_CHARS, camInfo.vendorName);
cam_iface_snprintf(out_camid->model, CAMWIRE_ID_MAX_CHARS, camInfo.modelName);
cam_iface_snprintf(out_camid->chip, CAMWIRE_ID_MAX_CHARS, "GUID %x %x %x %x",
guid.value[0],
guid.value[1],
guid.value[2],
guid.value[3]);
}
int init_cam_capture ( FlyCapture2::Camera &camera, PGRGuid guid)
{
CameraInfo camInfo;
// Connect the camera
err = camera.Connect( &guid );
if ( err != PGRERROR_OK )
{
std::cout << "Failed to connect to camera" << std::endl;
return false;
}
// Get the camera info and print it out
err = camera.GetCameraInfo( &camInfo );
if ( err != PGRERROR_OK )
{
std::cout << "Failed to get camera info from camera" << std::endl;
return false;
}
std::cout << camInfo.vendorName << " "
<< camInfo.modelName << " "
<< camInfo.serialNumber << std::endl;
err = camera.StartCapture();
if ( err == PGRERROR_ISOCH_BANDWIDTH_EXCEEDED )
{
std::cout << "Bandwidth exceeded" << std::endl;
return false;
}
else if ( err != PGRERROR_OK )
{
std::cout << "Failed to start image capture" << std::endl;
return false;
}
}
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;
}
void CCflycap_get_camera_property_info(CCflycap *ccntxt,
int property_number,
CameraPropertyInfo *info) {
CHECK_CC(ccntxt);
FlyCapture2::Camera *cam = (FlyCapture2::Camera *)ccntxt->inherited.cam;
if (info==NULL) {
CAM_IFACE_THROW_ERROR("no info argument specified (NULL argument)");
}
if ((property_number<0) || (property_number>=NUM_CAM_PROPS)) {
BACKEND_GLOBAL(cam_iface_error) = CAM_IFACE_GENERIC_ERROR;
CAM_IFACE_ERROR_FORMAT("property invalid");
}
FlyCapture2::Property prop;
FlyCapture2::PropertyInfo propinfo;
prop.type = propno2prop(property_number);
propinfo.type = prop.type;
switch(prop.type) {
case FlyCapture2::BRIGHTNESS: info->name = "brightness"; break;
case FlyCapture2::AUTO_EXPOSURE: info->name = "auto exposure"; break;
case FlyCapture2::SHARPNESS: info->name = "sharpness"; break;
case FlyCapture2::WHITE_BALANCE: info->name = "white balance"; break;
case FlyCapture2::HUE: info->name = "hue"; break;
case FlyCapture2::SATURATION: info->name = "saturation"; break;
case FlyCapture2::GAMMA: info->name = "gamma"; break;
case FlyCapture2::IRIS: info->name = "iris"; break;
case FlyCapture2::FOCUS: info->name = "focus"; break;
case FlyCapture2::ZOOM: info->name = "zoom"; break;
case FlyCapture2::PAN: info->name = "pan"; break;
case FlyCapture2::TILT: info->name = "tilt"; break;
case FlyCapture2::SHUTTER: info->name = "shutter"; break;
case FlyCapture2::GAIN: info->name = "gain"; break;
case FlyCapture2::TRIGGER_MODE: info->name = "trigger mode"; break;
case FlyCapture2::TRIGGER_DELAY: info->name = "trigger delay"; break;
case FlyCapture2::FRAME_RATE: info->name = "frame rate"; break;
case FlyCapture2::TEMPERATURE: info->name = "temperature"; break;
}
FlyCapture2::Error error = cam->GetProperty( &prop );
if (error.GetType()==FlyCapture2::PGRERROR_PROPERTY_FAILED) {
info->is_present = 0;
return;
}
CIPGRCHK(error);
CIPGRCHK(cam->GetPropertyInfo( &propinfo ));
info->is_present = prop.present;
info->min_value = propinfo.min;
info->max_value = propinfo.max;
info->has_auto_mode = propinfo.autoSupported;
info->has_manual_mode = propinfo.manualSupported;
info->is_scaled_quantity = 0;
info->original_value = 0; // XXX FIXME
info->available = prop.present;
info->readout_capable = propinfo.readOutSupported;
info->on_off_capable = propinfo.onOffSupported;
info->absolute_capable = propinfo.absValSupported;
info->absolute_control_mode = 0;
info->absolute_min_value = propinfo.absMin;
info->absolute_max_value = propinfo.absMax;
return;
}
void CCflycap_stop_camera( CCflycap *ccntxt ) {
CHECK_CC(ccntxt);
FlyCapture2::Camera *cam = (FlyCapture2::Camera *)ccntxt->inherited.cam;
CIPGRCHK(cam->StopCapture());
}
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());
}
int get_mode_list(int device_number, std::vector<CamMode> &result ) {
FlyCapture2::Camera *cam = new FlyCapture2::Camera;
FlyCapture2::PGRGuid guid;
FlyCapture2::Error err;
CamMode mode;
FlyCapture2::Format7Info fmt7Info;
bool supported;
//FlyCapture2::Mode k_fmt7Mode;
//FlyCapture2::PixelFormat k_fmt7PixFmt;
std::ostringstream oss;
std::vector<FlyCapture2::Mode> fmt7modes;
fmt7modes.push_back(FlyCapture2::MODE_0);
fmt7modes.push_back(FlyCapture2::MODE_1);
fmt7modes.push_back(FlyCapture2::MODE_2);
fmt7modes.push_back(FlyCapture2::MODE_3);
fmt7modes.push_back(FlyCapture2::MODE_4);
fmt7modes.push_back(FlyCapture2::MODE_5);
fmt7modes.push_back(FlyCapture2::MODE_6);
fmt7modes.push_back(FlyCapture2::MODE_7);
fmt7modes.push_back(FlyCapture2::MODE_8);
fmt7modes.push_back(FlyCapture2::MODE_9);
fmt7modes.push_back(FlyCapture2::MODE_10);
fmt7modes.push_back(FlyCapture2::MODE_11);
fmt7modes.push_back(FlyCapture2::MODE_12);
fmt7modes.push_back(FlyCapture2::MODE_13);
fmt7modes.push_back(FlyCapture2::MODE_14);
fmt7modes.push_back(FlyCapture2::MODE_15);
fmt7modes.push_back(FlyCapture2::MODE_16);
fmt7modes.push_back(FlyCapture2::MODE_17);
fmt7modes.push_back(FlyCapture2::MODE_18);
fmt7modes.push_back(FlyCapture2::MODE_19);
fmt7modes.push_back(FlyCapture2::MODE_20);
fmt7modes.push_back(FlyCapture2::MODE_21);
fmt7modes.push_back(FlyCapture2::MODE_22);
fmt7modes.push_back(FlyCapture2::MODE_23);
fmt7modes.push_back(FlyCapture2::MODE_24);
fmt7modes.push_back(FlyCapture2::MODE_25);
fmt7modes.push_back(FlyCapture2::MODE_26);
fmt7modes.push_back(FlyCapture2::MODE_27);
fmt7modes.push_back(FlyCapture2::MODE_28);
fmt7modes.push_back(FlyCapture2::MODE_29);
fmt7modes.push_back(FlyCapture2::MODE_30);
fmt7modes.push_back(FlyCapture2::MODE_31);
std::vector<FlyCapture2::PixelFormat> pixfmts;
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_MONO8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_411YUV8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_422YUV8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_444YUV8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RGB8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_MONO16);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RGB16);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_S_MONO16);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_S_RGB16);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RAW8);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RAW16);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_MONO12);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RAW12);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_BGR);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_BGRU);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RGB);
pixfmts.push_back(FlyCapture2::PIXEL_FORMAT_RGBU);
err = BACKEND_GLOBAL(busMgr_ptr)->GetCameraFromIndex(device_number, &guid);
// if (err!=FlyCapture2::PGRERROR_OK) {
// goto errlabel2;
// }
err = cam->Connect(&guid);
// if (err!=FlyCapture2::PGRERROR_OK) {
// goto errlabel2;
// }
// FORMAT 7 -- test all modes
std::vector<FlyCapture2::Mode>::const_iterator fmt7mode;
for(fmt7mode=fmt7modes.begin(); fmt7mode!=fmt7modes.end(); fmt7mode++) {
fmt7Info.mode = *fmt7mode;
err = cam->GetFormat7Info( &fmt7Info, &supported );
// if (err != FlyCapture2::PGRERROR_OK) goto errlabel1;
// Do work
if (supported) {
std::vector<FlyCapture2::PixelFormat>::const_iterator pixfmt;
for(pixfmt=pixfmts.begin(); pixfmt!=pixfmts.end(); pixfmt++) {
if (*pixfmt & fmt7Info.pixelFormatBitField) {
std::ostringstream oss = std::ostringstream();
oss << "format 7, mode " << *fmt7mode << " (" << pixfmt2string(*pixfmt) << ", " << fmt7Info.maxWidth << "x" << fmt7Info.maxHeight <<")";
mode.descr = oss.str();
mode.videomode = FlyCapture2::VIDEOMODE_FORMAT7;
mode.fmt7ImageSettings.mode = *fmt7mode;
mode.fmt7ImageSettings.offsetX = 0;
mode.fmt7ImageSettings.offsetY = 0;
mode.fmt7ImageSettings.width = fmt7Info.maxWidth;
mode.fmt7ImageSettings.height = fmt7Info.maxHeight;
mode.fmt7ImageSettings.pixelFormat = *pixfmt;
bool valid;
err = cam->ValidateFormat7Settings( &mode.fmt7ImageSettings,
&valid,
&mode.fmt7PacketInfo );
if (err == FlyCapture2::PGRERROR_OK) {
result.push_back(mode);
}
}
}
}
}
// not format 7 -- test each videomode and framerate combination
std::vector<FlyCapture2::VideoMode> videomodes;
videomodes.push_back(FlyCapture2::VIDEOMODE_160x120YUV444);
videomodes.push_back(FlyCapture2::VIDEOMODE_320x240YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_640x480YUV411);
videomodes.push_back(FlyCapture2::VIDEOMODE_640x480YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_640x480RGB);
videomodes.push_back(FlyCapture2::VIDEOMODE_640x480Y8);
videomodes.push_back(FlyCapture2::VIDEOMODE_640x480Y16);
videomodes.push_back(FlyCapture2::VIDEOMODE_800x600YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_800x600RGB);
videomodes.push_back(FlyCapture2::VIDEOMODE_800x600Y8);
videomodes.push_back(FlyCapture2::VIDEOMODE_800x600Y16);
videomodes.push_back(FlyCapture2::VIDEOMODE_1024x768YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_1024x768RGB);
videomodes.push_back(FlyCapture2::VIDEOMODE_1024x768Y8);
videomodes.push_back(FlyCapture2::VIDEOMODE_1024x768Y16);
videomodes.push_back(FlyCapture2::VIDEOMODE_1280x960YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_1280x960RGB);
videomodes.push_back(FlyCapture2::VIDEOMODE_1280x960Y8);
videomodes.push_back(FlyCapture2::VIDEOMODE_1280x960Y16);
videomodes.push_back(FlyCapture2::VIDEOMODE_1600x1200YUV422);
videomodes.push_back(FlyCapture2::VIDEOMODE_1600x1200RGB);
videomodes.push_back(FlyCapture2::VIDEOMODE_1600x1200Y8);
videomodes.push_back(FlyCapture2::VIDEOMODE_1600x1200Y16);
std::vector<FlyCapture2::FrameRate> framerates;
framerates.push_back(FlyCapture2::FRAMERATE_1_875);
framerates.push_back(FlyCapture2::FRAMERATE_3_75);
framerates.push_back(FlyCapture2::FRAMERATE_7_5);
framerates.push_back(FlyCapture2::FRAMERATE_15);
framerates.push_back(FlyCapture2::FRAMERATE_30);
framerates.push_back(FlyCapture2::FRAMERATE_60);
framerates.push_back(FlyCapture2::FRAMERATE_120);
framerates.push_back(FlyCapture2::FRAMERATE_240);
std::vector<FlyCapture2::VideoMode>::const_iterator videomode;
for(videomode=videomodes.begin(); videomode!=videomodes.end(); videomode++) {
std::vector<FlyCapture2::FrameRate>::const_iterator framerate;
for(framerate=framerates.begin(); framerate!=framerates.end(); framerate++) {
err = cam->GetVideoModeAndFrameRateInfo(*videomode, *framerate, &supported);
if (err == FlyCapture2::PGRERROR_OK) {
if (supported) {
std::ostringstream oss = std::ostringstream();
oss << "videomode " << *videomode << " framerate " << *framerate;
mode.descr = oss.str();
mode.videomode = *videomode;
mode.framerate = *framerate;
}
}
}
}
// err = cam->Disconnect();
cam->Disconnect();
return 0;
// errlabel1:
// err = cam->Disconnect();
// errlabel2:
// return 1;
}
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;
}