Pointgrey相机代码和资料

打开单目Pointgrey相机

 Error error;
 Camera camera;
 // Get the image
 error=camera.Connect(NULL);//灰点的库函数调用，检测相机
 error=camera.StartCapture();//开启相机
 char key = 0;
 int i=0;
 while(1)
 {
     Image rawImage;
     error = camera.RetrieveBuffer( &rawImage );//捕获帧

     if (error!=PGRERROR_OK)
     {
         AfxMessageBox("Capture error!");捕获失败弹出错误
         continue;
     }
    // convert to rgb Kevin的例子，图像格式转换
     Image rgbImage;
     rawImage.Convert( FlyCapture2::PIXEL_FORMAT_BGR, &rgbImage );

     // convert to OpenCV Mat
     unsigned int rowBytes = (double)rgbImage.GetReceivedDataSize()/(double)rgbImage.GetRows();       

     cv::Mat image = cv::Mat(rgbImage.GetRows(), rgbImage.GetCols(), CV_8UC3, rgbImage.GetData(),rowBytes);

     //cv::imshow("image", image);

    IplImage *pImg=cvLoadImage("Lre.bmp");//在MFC中定义了一个显示控件，m_picture为控件的成员变量

    *pImg=IplImage(image);
    CDC* pDC = m_picture.GetWindowDC(); 
    CvvImage limg;
    CRect rect;
    m_picture.GetClientRect(&rect);
    limg.CopyOf(pImg);
    limg.DrawToHDC(pDC -> m_hDC,&rect);


    key = cv::waitKey(30); 
 }
 if (error!=PGRERROR_OK)
 {
 }
 camera.Disconnect();

打开双目PointGrey相机

Error error;
BusManager busMgr;
unsigned int numCameras=0;
error=busMgr.GetNumOfCameras(&numCameras);//检测相机个数
if (error!=PGRERROR_OK)
{
 AfxMessageBox("Insufficient number of cameras");
}
Camera** ppCameras = new 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 Camera();
     PGRGuid guid;
     error = busMgr.GetCameraFromIndex( i, &guid );//获取每个相机的唯一ID
     // Connect to a camera
     error = ppCameras[i]->Connect( &guid );//连接相机
     if (error != PGRERROR_OK)
     {
        AfxMessageBox("GUID=NO!");
     }
     // Set all cameras to a specific mode and frame rate so they
     // can be synchronized
     CameraInfo camInfo;
     error = ppCameras[i]->GetCameraInfo( &camInfo );//获取相机的基本信息，可以忽略
     if (error != PGRERROR_OK)
     {
         AfxMessageBox("INFORMATION ERROR");
     }

    // error = ppCameras[i]->SetVideoModeAndFrameRate( VIDEOMODE_1600x1200Y8,FRAMERATE_15 );
    //if (error!=PGRERROR_OK)
    // {
    //   AfxMessageBox("MODEL error!");
    // }
}
//Camera cameras;
//error = cameras.StartSyncCapture( numCameras, (const Camera**)ppCameras,NULL,NULL );//works for FireWire cameras,not work for USB cameras
error=ppCameras[0]->StartCapture();//开始拍照
error=ppCameras[1]->StartCapture();
if (error!=PGRERROR_OK)
{
    AfxMessageBox("Startcapture error!");
}
char key = 0;
int i=0;
while(1)
{
 //Image rawImage;
 Image image0,image1;
error=ppCameras[0]->RetrieveBuffer( &image0 );//获取下一帧图像
error=ppCameras[1]->RetrieveBuffer( &image1 );
if (error!=PGRERROR_OK)
{
    AfxMessageBox("RetrieveBuffer error!");
}
 // convert to rgb
 Image rgbImage0,rgbImage1;
 //BMPOption option;//指定存储的图像
 image0.Convert( FlyCapture2::PIXEL_FORMAT_BGR, &rgbImage0 );
 image1.Convert( FlyCapture2::PIXEL_FORMAT_BGR, &rgbImage1 );
 // convert to OpenCV Mat对图像进行压缩，转换成CV矩阵
 unsigned int rowBytes0 = (double)rgbImage0.GetReceivedDataSize()/(double)rgbImage0.GetRows();    
 cv::Mat imageR = cv::Mat(rgbImage0.GetRows(), rgbImage0.GetCols(), CV_8UC3, rgbImage0.GetData(),rowBytes0);
 unsigned int rowBytes1 = (double)rgbImage1.GetReceivedDataSize()/(double)rgbImage1.GetRows();     
 cv::Mat imageL = cv::Mat(rgbImage1.GetRows(), rgbImage1.GetCols(), CV_8UC3, rgbImage1.GetData(),rowBytes1);
 //cv::imshow("image", imageR);
 //将cv::Mat转换成IplImage格式
 IplImage *pImgR=cvCreateImage(cvSize(1600,1200),8,3);//简单的初始化Lre.bmp，工程中任意的一张图像。
 *pImgR=IplImage(imageR);
 //MFC图像显示控件
 CDC* pDC = m_picture2.GetWindowDC(); 
 CvvImage limg;
 CRect rect;
 m_picture2.GetClientRect(&rect);
 limg.CopyOf(pImgR);
 limg.DrawToHDC(pDC -> m_hDC,&rect);
 cvSaveImage("RIGHT.BMP",pImgR);

 IplImage *pImgL=cvCreateImage(cvSize(1600,1200),8,3);
 *pImgL=IplImage(imageL);
 CDC* pDC1 = m_picture.GetWindowDC(); 
 CvvImage limg1;
 CRect rect1;
 m_picture.GetClientRect(&rect1);
 limg1.CopyOf(pImgL);
 limg1.DrawToHDC(pDC1 -> m_hDC,&rect1);
 cvSaveImage("LEFT.BMP",pImgL);
 key = cv::waitKey(50); 

资料汇总

Example	Language	Description
AsyncTriggerEx	C++	Demonstrates some of the basic asynchronous trigger capabilities of compatible PGR Imaging Products.
AsyncTriggerExCSharp	C#	Equivalent to AsnycTriggerEx, except written in C#.
BusEvents_CSharp	C#	Demonstrates how to handle bus events such as bus arrivals, removals and resets through the Managed interface.
CustomImageEx	C++	Demonstrates how to configure a PGR Imaging Product to output custom sized images.
CustomImageExCSharp	C#	Equivalent to CustomImageEx, except written in C#.
ExtendedShutterEx	C++	Demonstrates how to enable and calculate extended integration times for applicable Point Grey Imaging Products.
FlyCap2	C++	The main Point Grey Research application used to work with single lens cameras.
FlyCap2MFC	C++	Equivalent to FlyCap2, except uses features of the Microsoft Foundation Class Library.
FlyCapture2GUI	C++	This example contains the same source code that is used for the Camera Selection and Camera Control dialogs in FlyCapture.
FlyCapture2Test	C++	Tests basic functionality of a single camera and reports information related to all compatible cameras attached to the host system.
FlyCapture2Test_C	C	Equivalent to FlyCapture2Test, except written in C.
FlyCapture2Test_CSharp	C#	Equivalent to FlyCapture2Test, except written in C#.
GigEGrabEx	C++	Demonstrates how to grab images with GigE Vision cameras.
GigEGrabEx_C	C	Equivalent to GigEGrabEx, except written in C.
GigEGrabEx_CSharp	C#	Equivalent to GigEGrabEx, except written in C#.
GrabCallbackEx	C++	Demonstrates how to use the image callback functionality to receive images instead of using RetrieveBuffer().
GrabCallbackEx_CSharp	C#	Equivalent to GrabCallbackEx, except written in C#.
HighDynamicRangeEx	C++	Demonstrates the use of High Dynamic Range (HDR) functionality.
ImageEventEx	C++	Demonstrates how to implement partial image event notification. Partial image event notification is a mechanism that provides the user with access to image data as it arrives in the PC’s memory, before the entire image is available.
MultipleCameraEx	C++	Synchronizes image grabbing across multiple cameras.
SaveImageToAviEx	C++	Demonstrates saving a series of images to an AVI file.
SaveImageToFlashEx	C++	Demonstrates saving images to the data flash on the camera.
SerialPortEx	C++	Demonstrates how to transmit and receive characters by using the camera’s serial buffer system.