bool Flea3Camera::RequestSingle() {
if (config_.trigger_source == Flea3Dyn_ts_sw) {
if (PollForTriggerReady()) {
return FireSoftwareTrigger();
}
return false;
}
return true;
}
int CameraPointGrey::init(bool isTrigger)
{
PrintBuildInfo();
error = busMgr.GetNumOfCameras(&numCameras);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
printf("Number of cameras detected: %u\n", numCameras);
if (numCameras /*< 1*/ != 2)
{
printf( "Insufficient number of cameras! Please check.\n" );
return -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();
// PGRGuid guid
PGRGuid guid;
error = busMgr.GetCameraFromIndex(i, &guid);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
//停止捕获和连接，以防之前的错误
ppCameras[i]->StopCapture();
ppCameras[i]->Disconnect();
// Connect to a camera
error = ppCameras[i]->Connect(&guid);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
// Get the camera information
CameraInfo camInfo;
error = ppCameras[i]->GetCameraInfo(&camInfo);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
PrintCameraInfo(&camInfo);
{
// Check for external trigger support
TriggerModeInfo triggerModeInfo;
error = ppCameras[i]->GetTriggerModeInfo(&triggerModeInfo);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
if (triggerModeInfo.present != true) {
printf( "Camera does not support external trigger!\n" );
return -1;
}
// Get current trigger settings
TriggerMode triggerMode;
error = ppCameras[i]->GetTriggerMode(&triggerMode);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
// Set camera to trigger mode 0
triggerMode.onOff = isTrigger; // on or off
triggerMode.mode = 0;
triggerMode.parameter = 0;
triggerMode.source = 0; // Triggering the camera externally using source 0, i.e., GPIO0.
error = ppCameras[i]->SetTriggerMode(&triggerMode);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
if (isTrigger) {
// Poll to ensure camera is ready
bool retVal = PollForTriggerReady(ppCameras[i]);
if (!retVal) {
printf("\nError polling for trigger ready!\n");
return -1;
}
}
}
{
Mode k_fmt7Mode = MODE_0;
PixelFormat k_fmt7PixFmt = PIXEL_FORMAT_MONO8;
// Query for available Format 7 modes
Format7Info fmt7Info;
bool supported;
fmt7Info.mode = k_fmt7Mode;
error = ppCameras[i]->GetFormat7Info(&fmt7Info, &supported);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
PrintFormat7Capabilities( fmt7Info );
if ((k_fmt7PixFmt & fmt7Info.pixelFormatBitField) == 0) {
printf("Pixel format is not supported\n"); // Pixel format not supported!
return -1;
}
Format7ImageSettings fmt7ImageSettings;
fmt7ImageSettings.mode = k_fmt7Mode;
fmt7ImageSettings.offsetX = 0;
fmt7ImageSettings.offsetY = 0;
fmt7ImageSettings.width = fmt7Info.maxWidth;
fmt7ImageSettings.height = fmt7Info.maxHeight;
fmt7ImageSettings.pixelFormat = k_fmt7PixFmt;
bool valid;
Format7PacketInfo fmt7PacketInfo;
// Validate the settings to make sure that they are valid
error = ppCameras[i]->ValidateFormat7Settings(
&fmt7ImageSettings,
&valid,
&fmt7PacketInfo);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
if (!valid ) {
printf("Format7 settings are not valid\n"); // Settings are not valid
return -1;
}
// Set the settings to the camera
error = ppCameras[i]->SetFormat7Configuration(
&fmt7ImageSettings,
// fmt7PacketInfo.recommendedBytesPerPacket );
(unsigned int)516);
if (error != PGRERROR_OK) {
PrintError(error);
return -1;
}
}
VideoMode videoMode = VIDEOMODE_1024x768Y8;
FrameRate frameRate = FRAMERATE_3_75;
bool isSupported;
ppCameras[i]->GetVideoModeAndFrameRateInfo(videoMode, frameRate, &isSupported);
if (!isSupported) {
printf("Video mode 1024x768 8bit, Frame rate 3.75, are not supported!\n");
return -1;
}
ppCameras[i]->SetVideoModeAndFrameRate(videoMode, frameRate);
// Camera is ready, start capturing images
error = ppCameras[i]->StartCapture();
if (error != PGRERROR_OK) {
PrintError( error );
return -1;
}
// Set all cameras to a specific mode and frame rate so they can be synchronized
// Retrieve frame rate property
Property frmRate;
frmRate.type = FRAME_RATE;
error = ppCameras[i]->GetProperty(&frmRate);
if (error != PGRERROR_OK)
{
PrintError( error );
return -1;
}
printf( "Framse rate is %3.2f fps\n", frmRate.absValue );
/*************** property setting ***************/
Property prop;
//prop.type = BRIGHTNESS;
//prop.type = AUTO_EXPOSURE;
//prop.type = SHARPNESS;
prop.type = GAMMA;
ppCameras[i]->GetProperty(&prop);
prop.absValue = 1.0f;
ppCameras[i]->SetProperty(&prop, true);
//prop.type = PAN;
//prop.type = TILT;
/*
prop.type = SHUTTER;
ppCameras[i]->GetProperty(&prop);
prop.absValue = 28.0f;
ppCameras[i]->SetProperty(&prop, true);
*/
prop.type = GAIN;
ppCameras[i]->GetProperty(&prop);
prop.absValue = 0.0f;
ppCameras[i]->SetProperty(&prop, true);
}
return 0;
}
