// Initialize camera input
bool CvCaptureCAM_XIMEA::open( int wIndex )
{
int mvret = XI_OK;
if(numDevices == 0)
return false;
if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
{
errMsg("Open XI_DEVICE failed", mvret);
return false;
}
// always use auto exposure/gain
xiSetParamInt( hmv, XI_PRM_AEAG, 1);
// always use auto white ballance
xiSetParamInt( hmv, XI_PRM_AUTO_WB, 1);
xiGetParamInt( hmv, XI_PRM_WIDTH, &width);
xiGetParamInt( hmv, XI_PRM_HEIGHT, &height);
// default image format RGB24
xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_RGB24);
format = XI_RGB24;
// allocate frame buffer for RGB24 image
frame = cvCreateImage(cvSize( width, height), IPL_DEPTH_8U, 3);
//default capture timeout 10s
timeout = 10000;
return true;
}
int _tmain(int argc, _TCHAR* argv[])
{
// image buffer
XI_IMG image;
memset(&image,0,sizeof(image));
image.size = sizeof(XI_IMG);
// Sample for XIMEA API V4.05
HANDLE xiH = NULL;
XI_RETURN stat = XI_OK;
// Retrieving a handle to the camera device
printf("Opening first camera...\n");
stat = xiOpenDevice(0, &xiH);
HandleResult(stat,"xiOpenDevice");
// Setting "exposure" parameter (10ms=10000us)
stat = xiSetParamInt(xiH, XI_PRM_EXPOSURE, 10000);
HandleResult(stat,"xiSetParam (exposure set)");
// Note:
// The default parameters of each camera might be different in different API versions
// In order to ensure that your application will have camera in expected state,
// please set all parameters expected by your application to required value.
printf("Starting acquisition...\n");
stat = xiStartAcquisition(xiH);
HandleResult(stat,"xiStartAcquisition");
#define EXPECTED_IMAGES 10
for (int images=0;images < EXPECTED_IMAGES;images++)
{
// getting image from camera
stat = xiGetImage(xiH, 5000, &image);
HandleResult(stat,"xiGetImage");
unsigned char pixel = *(unsigned char*)image.bp;
printf("Image %d (%dx%d) received from camera. First pixel value: %d\n", images, (int)image.width, (int)image.height, pixel);
}
printf("Stopping acquisition...\n");
xiStopAcquisition(xiH);
xiCloseDevice(xiH);
finish:
printf("Done\n");
#ifdef WIN32
Sleep(2000);
#endif
return 0;
}
void CRCamera::initialize() {
DWORD dwNumberOfDevices = 0;
float maxFps;
xiGetNumberDevices(&dwNumberOfDevices);
if (!dwNumberOfDevices) {
LOG("Camera was NOT found.");
}
xiOpenDevice(0, &this->xiH);
int exposure = (int)(1000000.0 / Global::crConfig->frameRate);
xiSetParamInt(this->xiH, XI_PRM_EXPOSURE, exposure);
xiGetParamFloat(this->xiH, XI_PRM_FRAMERATE XI_PRM_INFO_MAX, &maxFps);
LOG("Max framerate : %f [fps]", maxFps);
LOG("Exposure time : %d [us]", exposure);
xiSetParamInt(this->xiH, XI_PRM_ACQ_TIMING_MODE, XI_ACQ_TIMING_MODE_FRAME_RATE);
xiSetParamFloat(this->xiH, XI_PRM_FRAMERATE, Global::crConfig->frameRate);
xiSetParamInt(this->xiH, XI_PRM_IMAGE_DATA_FORMAT, XI_RGB24);
}
bool Camera::open(int serial) {
std::cout << "! Searching for a camera with serial: " << serial << std::endl;
DWORD deviceCount = 0;
xiGetNumberDevices(&deviceCount);
if (deviceCount == 0) {
std::cout << "- Failed to detect any cameras" << std::endl;
return false;
}
if (serial != 0) {
std::cout << " > found " << deviceCount << " available devices" << std::endl;
}
int sn = 0;
bool found = false;
for (unsigned int i = 0; i < deviceCount; i++) {
std::cout << " > opening camera #" << i << ".. ";
xiOpenDevice(i, &device);
std::cout << "done!" << std::endl;
xiGetParamInt(device, XI_PRM_DEVICE_SN, &sn);
std::cout << " > found camera with serial number: " << sn << ".. ";
if (serial == 0 || serial == sn) {
found = true;
std::cout << "match found!" << std::endl;
break;
} else {
std::cout << "not the right one, closing it" << std::endl;
xiCloseDevice(device);
}
}
if (!found) {
std::cout << "- No camera with serial #" << serial << " could be found" << std::endl;
return false;
}
xiSetParamInt(device, XI_PRM_EXPOSURE, 16000);
//xiSetParamInt(device, XI_PRM_IMAGE_DATA_FORMAT, XI_MONO8);
//xiSetParamInt(device, XI_PRM_IMAGE_DATA_FORMAT, XI_RGB24);
xiSetParamInt(device, XI_PRM_BUFFER_POLICY, XI_BP_UNSAFE);
//xiSetParamInt(device, XI_PRM_FRAMERATE, 60);
//xiSetParamInt(device, XI_PRM_DOWNSAMPLING, 2); // @TEMP
//xiSetParamInt(device, XI_PRM_DOWNSAMPLING_TYPE, XI_BINNING);
//xiSetParamFloat(device, XI_PRM_GAIN, 5.0f);
//xiSetParamInt(device, XI_PRM_ACQ_BUFFER_SIZE, 70*1000*1000);
xiSetParamInt(device, XI_PRM_BUFFERS_QUEUE_SIZE, 1);
//xiSetParamInt(device, XI_PRM_RECENT_FRAME, 1);
xiSetParamInt(device, XI_PRM_AUTO_WB, 0);
//xiSetParamFloat(device, XI_PRM_WB_KR, 1.0f);
//xiSetParamFloat(device, XI_PRM_WB_KG, 1.0f);
//xiSetParamFloat(device, XI_PRM_WB_KB, 1.0f);
//xiSetParamFloat(device, XI_PRM_GAMMAY, 1.0f);
//xiSetParamFloat(device, XI_PRM_GAMMAC, 1.0f);
//xiSetParamFloat(device, XI_PRM_SHARPNESS, 0.0f);
xiSetParamInt(device, XI_PRM_AEAG, 0);
//xiSetParamInt(device, XI_PRM_BPC, 1); // fixes bad pixel
//xiSetParamInt(device, XI_PRM_HDR, 1);
opened = true;
serialNumber = serial;
return true;
}
// Initialize camera input
bool CvCaptureCAM_XIMEA::open( int wIndex )
{
#define HandleXiResult(res) if (res!=XI_OK) goto error;
int mvret = XI_OK;
if(numDevices == 0)
return false;
if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
{
#if defined WIN32 || defined _WIN32
errMsg("Open XI_DEVICE failed", mvret);
return false;
#else
// try opening second time if first fails
if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
{
errMsg("Open XI_DEVICE failed", mvret);
return false;
}
#endif
}
int width = 0;
int height = 0;
int isColor = 0;
// always use auto exposure/gain
mvret = xiSetParamInt( hmv, XI_PRM_AEAG, 1);
HandleXiResult(mvret);
mvret = xiGetParamInt( hmv, XI_PRM_WIDTH, &width);
HandleXiResult(mvret);
mvret = xiGetParamInt( hmv, XI_PRM_HEIGHT, &height);
HandleXiResult(mvret);
mvret = xiGetParamInt(hmv, XI_PRM_IMAGE_IS_COLOR, &isColor);
HandleXiResult(mvret);
if(isColor) // for color cameras
{
// default image format RGB24
mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_RGB24);
HandleXiResult(mvret);
// always use auto white balance for color cameras
mvret = xiSetParamInt( hmv, XI_PRM_AUTO_WB, 1);
HandleXiResult(mvret);
// allocate frame buffer for RGB24 image
frame = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
}
else // for mono cameras
{
// default image format MONO8
mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_MONO8);
HandleXiResult(mvret);
// allocate frame buffer for MONO8 image
frame = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
}
//default capture timeout 10s
timeout = 10000;
mvret = xiStartAcquisition(hmv);
if(mvret != XI_OK)
{
errMsg("StartAcquisition XI_DEVICE failed", mvret);
goto error;
}
return true;
error:
errMsg("Open XI_DEVICE failed", mvret);
xiCloseDevice(hmv);
hmv = NULL;
return false;
}
// Initialize camera input
bool CaptureCAM_XIMEA::open( int wIndex )
{
#define HandleXiResult(res) if (res!=XI_OK) goto error;
cout << "OPEN DEVICE BY ID" << endl;
int mvret = XI_OK;
if(numDevices == 0)
return false;
trigger = false;
if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
{
#if defined WIN32 || defined _WIN32
errMsg("Open XI_DEVICE failed", mvret);
return false;
#else
// try opening second time if first fails
if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
{
errMsg("Open XI_DEVICE failed", mvret);
return false;
}
#endif
}
int width = 0;
int height = 0;
int isColor = 0;
// always use auto exposure/gain
mvret = xiSetParamInt(hmv, XI_PRM_AEAG, 1);
HandleXiResult(mvret);
mvret = xiGetParamInt(hmv, XI_PRM_WIDTH, &width);
HandleXiResult(mvret);
mvret = xiGetParamInt(hmv, XI_PRM_HEIGHT, &height);
HandleXiResult(mvret);
mvret = xiGetParamInt(hmv, XI_PRM_IMAGE_IS_COLOR, &isColor);
HandleXiResult(mvret);
if(isColor) // for color cameras
{
// default image format RGB24
mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_RGB24);
HandleXiResult(mvret);
// always use auto white balance for color cameras
mvret = xiSetParamInt( hmv, XI_PRM_AUTO_WB, 1);
HandleXiResult(mvret);
}
else // for mono cameras
{
// default image format MONO8
mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_MONO8);
HandleXiResult(mvret);
}
//default capture timeout 10s
timeout = 10000;
/* NOT WORKING IF XI_PRM_BUFFERS_QUEUE_SIZE is set to a value < 3*/
mvret = xiSetParamInt(hmv, XI_PRM_BUFFERS_QUEUE_SIZE, 3);
if( mvret != XI_OK)
errMsg("Set parameter error (XI_PRM_BUFFERS_QUEUE_SIZE)", mvret);
mvret = xiSetParamInt(hmv, XI_PRM_RECENT_FRAME, 1);
if( mvret != XI_OK)
errMsg("Set parameter error (XI_PRM_RECENT_FRAME)", mvret);
mvret = xiSetParamInt(hmv, XI_PRM_TRG_SOURCE, XI_TRG_SOFTWARE);
if( mvret != XI_OK){
errMsg("Error while disabling external trigger source", mvret);
}
mvret = xiStartAcquisition(hmv);
if(mvret != XI_OK)
{
errMsg("StartAcquisition XI_DEVICE failed", mvret);
goto error;
}
xiSetParamInt(hmv, XI_PRM_TS_RST_MODE , XI_TS_RST_ARM_ONCE);
xiSetParamInt(hmv, XI_PRM_TS_RST_SOURCE , XI_TS_RST_SRC_SW);
isopened=true;
return true;
error:
errMsg("Open XI_DEVICE failed", mvret);
xiCloseDevice(hmv);
hmv = NULL;
return false;
}
CameraXIMEA::CameraXIMEA(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode), camera(NULL){
// Set debugging level
xiSetParamInt(0, XI_PRM_DEBUG_LEVEL, XI_DL_FATAL);
// Disable auto bandwidth determination (takes some seconds in initialization)
xiSetParamInt(0, XI_PRM_AUTO_BANDWIDTH_CALCULATION, XI_OFF);
// Retrieve a handle to the camera device
stat = xiOpenDevice(camNum, &camera);
HandleResult(stat,"xiOpenDevice");
// Configure unsafe buffers (prevents old buffers, memory leak)
xiSetParamInt(camera, XI_PRM_BUFFER_POLICY, XI_BP_UNSAFE);
// // Output frame signal
// xiSetParamInt(camera, XI_PRM_GPO_SELECTOR, 1);
// xiSetParamInt(camera, XI_PRM_GPO_MODE, XI_GPO_ON);
// Configure buffer size
// stat = xiSetParamInt(camera, XI_PRM_ACQ_BUFFER_SIZE, 128*1024);
// HandleResult(stat,"xiSetParam (XI_PRM_ACQ_BUFFER_SIZE)");
stat = xiSetParamInt(camera, XI_PRM_BUFFERS_QUEUE_SIZE, 10);
HandleResult(stat,"xiSetParam (XI_PRM_BUFFERS_QUEUE_SIZE)");
// Configure queue mode (0 = next frame in queue, 1 = most recent frame)
stat = xiSetParamInt(camera, XI_PRM_RECENT_FRAME, 0);
HandleResult(stat,"xiSetParam (XI_PRM_RECENT_FRAME)");
// Configure image type
stat = xiSetParamInt(camera, XI_PRM_IMAGE_DATA_FORMAT, XI_RAW8);
HandleResult(stat,"xiSetParam (XI_PRM_IMAGE_DATA_FORMAT)");
// Configure input pin 1 as trigger input
xiSetParamInt(camera, XI_PRM_GPI_SELECTOR, 1);
stat = xiSetParamInt(camera, XI_PRM_GPI_MODE, XI_GPI_TRIGGER);
HandleResult(stat,"xiSetParam (XI_PRM_GPI_MODE)");
// // Configure frame rate
// stat = xiSetParamFloat(camera, XI_PRM_FRAMERATE, 10);
// HandleResult(stat,"xiSetParam (XI_PRM_FRAMERATE)");
// // Downsample to half size
// stat = xiSetParamInt(camera, XI_PRM_DOWNSAMPLING_TYPE, XI_BINNING);
// HandleResult(stat,"xiSetParam (XI_PRM_DOWNSAMPLING_TYPE)");
// stat = xiSetParamInt(camera, XI_PRM_DOWNSAMPLING, 2);
// HandleResult(stat,"xiSetParam (XI_PRM_DOWNSAMPLING)");
// Define ROI
stat = xiSetParamInt(camera, XI_PRM_WIDTH, 1024);
HandleResult(stat,"xiSetParam (XI_PRM_WIDTH)");
stat = xiSetParamInt(camera, XI_PRM_HEIGHT, 544);
HandleResult(stat,"xiSetParam (XI_PRM_HEIGHT)");
stat = xiSetParamInt(camera, XI_PRM_OFFSET_X, 512);
HandleResult(stat,"xiSetParam (XI_PRM_OFFSET_X)");
stat = xiSetParamInt(camera, XI_PRM_OFFSET_Y, 272-50);
HandleResult(stat,"xiSetParam (XI_PRM_OFFSET_Y)");
// Setting reasonable default settings
xiSetParamFloat(camera, XI_PRM_GAMMAY, 1.0);
xiSetParamInt(camera, XI_PRM_EXPOSURE, 16666); //us
xiSetParamFloat(camera, XI_PRM_GAIN, 0);
}
