/// <summary>
/// Check if the camera can be triggered by a software
/// </summary>
/// <returns>True if it can, false if not</returns>
public bool CheckSoftwareTriggerPresence()
{
const uint TriggerInquiry = 0x530;
uint triggerInquiryValue = cam.ReadRegister(TriggerInquiry);
if ((triggerInquiryValue & 0x10000) != 0x10000)
{
return(false);
}
return(true);
}
static bool CheckSoftwareTriggerPresence(ManagedCamera cam)
{
const uint k_triggerInq = 0x530;
uint regVal = cam.ReadRegister(k_triggerInq);
if ((regVal & 0x10000) != 0x10000)
{
return false;
}
return true;
}
static bool CheckSoftwareTriggerPresence(ManagedCamera cam)
{
const uint k_triggerInq = 0x530;
uint regVal = cam.ReadRegister(k_triggerInq);
if ((regVal & 0x10000) != 0x10000)
{
return(false);
}
return(true);
}
static bool PollForTriggerReady(ManagedCamera cam)
{
const uint SoftwareTrigger = 0x62C;
uint softwareTriggerValue = 0;
do
{
softwareTriggerValue = cam.ReadRegister(SoftwareTrigger);
}while ((softwareTriggerValue >> 31) != 0);
return(true);
}
static bool PollForTriggerReady(ManagedCamera cam)
{
const uint k_softwareTrigger = 0x62C;
uint regVal = 0;
do
{
regVal = cam.ReadRegister(k_softwareTrigger);
}while ((regVal >> 31) != 0);
return(true);
}
static bool PollForTriggerReady(ManagedCamera cam)
{
const uint k_softwareTrigger = 0x62C;
uint regVal = 0;
do
{
regVal = cam.ReadRegister(k_softwareTrigger);
}
while ((regVal >> 31) != 0);
return true;
}
static void Main(string[] args)
{
PrintBuildInfo();
const int NumImages = 10;
bool useSoftwareTrigger = true;
ManagedBusManager busMgr = new ManagedBusManager();
uint numCameras = busMgr.GetNumOfCameras();
Console.WriteLine("Number of cameras detected: {0}", numCameras);
// Finish if there are no cameras
if (numCameras == 0)
{
Console.WriteLine("Not enough cameras!");
Console.WriteLine("Press Enter to exit...");
Console.ReadLine();
return;
}
ManagedPGRGuid guid = busMgr.GetCameraFromIndex(0);
ManagedCamera cam = new ManagedCamera();
cam.Connect(guid);
// Power on the camera
const uint CameraPower = 0x610;
const uint CameraPowerValue = 0x80000000;
cam.WriteRegister(CameraPower, CameraPowerValue);
const Int32 MillisecondsToSleep = 100;
uint cameraPowerValueRead = 0;
// Wait for camera to complete power-up
do
{
System.Threading.Thread.Sleep(MillisecondsToSleep);
cameraPowerValueRead = cam.ReadRegister(CameraPower);
}while ((cameraPowerValueRead & CameraPowerValue) == 0);
// Get the camera information
CameraInfo camInfo = cam.GetCameraInfo();
PrintCameraInfo(camInfo);
if (!useSoftwareTrigger)
{
// Check for external trigger support
TriggerModeInfo triggerModeInfo = cam.GetTriggerModeInfo();
if (triggerModeInfo.present != true)
{
Console.WriteLine("Camera does not support external trigger!");
Console.WriteLine("Press enter to exit...");
Console.ReadLine();
return;
}
}
// Get current trigger settings
TriggerMode triggerMode = cam.GetTriggerMode();
// Set camera to trigger mode 0
// A source of 7 means software trigger
triggerMode.onOff = true;
triggerMode.mode = 0;
triggerMode.parameter = 0;
if (useSoftwareTrigger)
{
// A source of 7 means software trigger
triggerMode.source = 7;
}
else
{
// Triggering the camera externally using source 0.
triggerMode.source = 0;
}
// Set the trigger mode
cam.SetTriggerMode(triggerMode);
// Poll to ensure camera is ready
bool retVal = PollForTriggerReady(cam);
if (retVal != true)
{
Console.WriteLine("Poll for trigger read failed!");
Console.WriteLine("Press enter to exit...");
Console.ReadLine();
return;
}
// Get the camera configuration
FC2Config config = cam.GetConfiguration();
// Set the grab timeout to 5 seconds
config.grabTimeout = 5000;
// Set the camera configuration
cam.SetConfiguration(config);
// Camera is ready, start capturing images
cam.StartCapture();
if (useSoftwareTrigger)
{
if (CheckSoftwareTriggerPresence(cam) == false)
{
Console.WriteLine("SOFT_ASYNC_TRIGGER not implemented on this camera! Stopping application\n");
Console.WriteLine("Press enter to exit...");
Console.ReadLine();
return;
}
}
else
{
Console.WriteLine("Trigger the camera by sending a trigger pulse to GPIO%d.\n",
triggerMode.source);
}
ManagedImage rawImage = new ManagedImage();
for (int iImageCount = 0; iImageCount < NumImages; iImageCount++)
{
if (useSoftwareTrigger)
{
// Check that the trigger is ready
retVal = PollForTriggerReady(cam);
Console.WriteLine("Press the Enter key to initiate a software trigger.\n");
Console.ReadLine();
// Fire software trigger
retVal = FireSoftwareTrigger(cam);
if (retVal != true)
{
Console.WriteLine("Error firing software trigger!");
Console.WriteLine("Press enter to exit...");
Console.ReadLine();
return;
}
}
try
{
// Retrieve an image
cam.RetrieveBuffer(rawImage);
}
catch (FC2Exception ex)
{
Console.WriteLine("Error retrieving buffer : {0}", ex.Message);
continue;
}
Console.WriteLine(".\n");
}
Console.WriteLine("Finished grabbing images");
// Stop capturing images
cam.StopCapture();
// Turn off trigger mode
triggerMode.onOff = false;
cam.SetTriggerMode(triggerMode);
// Disconnect the camera
cam.Disconnect();
Console.WriteLine("Done! Press enter to exit...");
Console.ReadLine();
}
public FlyCapture()
{
ColorProcessing = ColorProcessingAlgorithm.Default;
source = Observable.Create <FlyCaptureDataFrame>((observer, cancellationToken) =>
{
return(Task.Factory.StartNew(() =>
{
lock (captureLock)
{
ManagedCamera camera;
using (var manager = new ManagedBusManager())
{
var guid = manager.GetCameraFromIndex((uint)Index);
camera = new ManagedCamera();
camera.Connect(guid);
// Power on the camera
const uint CameraPower = 0x610;
const uint CameraPowerValue = 0x80000000;
camera.WriteRegister(CameraPower, CameraPowerValue);
// Wait for camera to complete power-up
const Int32 MillisecondsToSleep = 100;
uint cameraPowerValueRead = 0;
do
{
Thread.Sleep(MillisecondsToSleep);
cameraPowerValueRead = camera.ReadRegister(CameraPower);
}while ((cameraPowerValueRead & CameraPowerValue) == 0);
}
var capture = 0;
try
{
// Set frame rate
var prop = new CameraProperty(PropertyType.FrameRate);
prop.absControl = true;
prop.absValue = FramesPerSecond;
prop.autoManualMode = false;
prop.onOff = true;
camera.SetProperty(prop);
// Enable/disable blackfly pull up
const uint pullUp = 0x19D0;
if (EnableBlackflyOutputVoltage)
{
camera.WriteRegister(pullUp, 0x10000001);
}
else
{
camera.WriteRegister(pullUp, 0x10000000);
}
// Acquisition parameters
var colorProcessing = ColorProcessing;
var autoExposure = !AutoExposure; // Horrible hack to trigger update inititally
var shutter = Shutter;
var gain = Gain;
// Configure embedded info
const uint embeddedInfo = 0x12F8;
uint embeddedInfoState = camera.ReadRegister(embeddedInfo);
if (EnableEmbeddedFrameCounter)
{
embeddedInfoState |= (uint)1 << 6;
}
else
{
embeddedInfoState &= ~((uint)1 << 6);
}
if (EnableEmbeddedFrameTimeStamp)
{
embeddedInfoState |= (uint)1 << 0;
}
else
{
embeddedInfoState &= ~((uint)1 << 0);
}
camera.WriteRegister(embeddedInfo, embeddedInfoState);
using (var image = new ManagedImage())
using (var notification = cancellationToken.Register(() =>
{
Interlocked.Exchange(ref capture, 0);
camera.StopCapture();
}))
{
camera.StartCapture();
Interlocked.Exchange(ref capture, 1);
while (!cancellationToken.IsCancellationRequested)
{
IplImage output;
BayerTileFormat bayerTileFormat;
if (autoExposure != AutoExposure && AutoExposure)
{
prop = new CameraProperty(PropertyType.AutoExposure);
prop.autoManualMode = true;
prop.onOff = true;
camera.SetProperty(prop);
autoExposure = AutoExposure;
// Shutter
prop = new CameraProperty(PropertyType.Shutter);
prop.absControl = true;
prop.autoManualMode = true;
prop.onOff = true;
camera.SetProperty(prop);
// Shutter
prop = new CameraProperty(PropertyType.Gain);
prop.absControl = true;
prop.autoManualMode = true;
prop.onOff = true;
camera.SetProperty(prop);
autoExposure = AutoExposure;
}
else if (autoExposure != AutoExposure && !AutoExposure)
{
shutter = -0.1f; // Hack
gain = -0.1f;
autoExposure = AutoExposure;
}
if (shutter != Shutter && !AutoExposure)
{
// Figure out max shutter time given current frame rate
var info = camera.GetPropertyInfo(PropertyType.Shutter);
var delta = info.absMax - info.absMin;
prop = new CameraProperty(PropertyType.Shutter);
prop.absControl = true;
prop.absValue = Shutter * delta + info.absMin;
prop.autoManualMode = false;
prop.onOff = true;
camera.SetProperty(prop);
shutter = Shutter;
}
if (gain != Gain && !AutoExposure)
{
// Figure out max shutter time given current frame rate
var info = camera.GetPropertyInfo(PropertyType.Shutter);
var delta = info.absMax - info.absMin;
prop = new CameraProperty(PropertyType.Gain);
prop.absControl = true;
prop.absValue = Gain * delta + info.absMin;;
prop.autoManualMode = false;
prop.onOff = true;
camera.SetProperty(prop);
gain = Gain;
}
try { camera.RetrieveBuffer(image); }
catch (FC2Exception ex)
{
if (capture == 0)
{
break;
}
else if (IgnoreImageConsistencyError && ex.CauseType == ErrorType.ImageConsistencyError)
{
continue;
}
else
{
throw;
}
}
if (image.pixelFormat == PixelFormat.PixelFormatMono8 ||
image.pixelFormat == PixelFormat.PixelFormatMono16 ||
(image.pixelFormat == PixelFormat.PixelFormatRaw8 &&
(image.bayerTileFormat == BayerTileFormat.None ||
colorProcessing == ColorProcessingAlgorithm.NoColorProcessing)))
{
unsafe
{
bayerTileFormat = image.bayerTileFormat;
var depth = image.pixelFormat == PixelFormat.PixelFormatMono16 ? IplDepth.U16 : IplDepth.U8;
var bitmapHeader = new IplImage(new Size((int)image.cols, (int)image.rows), depth, 1, new IntPtr(image.data));
output = new IplImage(bitmapHeader.Size, bitmapHeader.Depth, bitmapHeader.Channels);
CV.Copy(bitmapHeader, output);
}
}
else
{
unsafe
{
bayerTileFormat = BayerTileFormat.None;
output = new IplImage(new Size((int)image.cols, (int)image.rows), IplDepth.U8, 3);
using (var convertedImage = new ManagedImage(
(uint)output.Height,
(uint)output.Width,
(uint)output.WidthStep,
(byte *)output.ImageData.ToPointer(),
(uint)(output.WidthStep * output.Height),
PixelFormat.PixelFormatBgr))
{
convertedImage.colorProcessingAlgorithm = colorProcessing;
image.Convert(PixelFormat.PixelFormatBgr, convertedImage);
}
}
}
observer.OnNext(new FlyCaptureDataFrame(output, image.imageMetadata, bayerTileFormat));
}
}
}
finally
{
// Power off the camera
const uint CameraPower = 0x610;
const uint CameraPowerValue = 0x00000000;
camera.WriteRegister(CameraPower, CameraPowerValue);
if (capture != 0)
{
camera.StopCapture();
}
camera.Disconnect();
camera.Dispose();
}
}
},
cancellationToken,
TaskCreationOptions.LongRunning,
TaskScheduler.Default));
})
.PublishReconnectable()
.RefCount();
}