main.cpp

#include <iostream>
#include <opencv2/highgui/highgui.hpp>
#include "PtGrayCamera.hpp"

int main(int argc, const char * argv[]) {
    auto available_cameras = PtGrayCamera::list_cameras();
    if (available_cameras.empty()) {
        std::cerr << "No camera found." << std::endl;
        return 1;
    }
    std::cout << "Found " << available_cameras.size() << " camera(s)." << std::endl;

    PtGrayCamera camera = PtGrayCamera::create(available_cameras[0]);

    auto supported_modes = camera.get_supported_video_modes();
    std::cout << " ... with " << supported_modes.size() << " supported modes." << std::endl;

    camera.capture_setup();
    camera.set_transmission(true);

    cv::namedWindow("PtGrey");
    while (cv::waitKey(1) != 27) {
        cv::Mat mat = camera.capture_one();
        cv::imshow("PtGrey", mat);
    }

    camera.set_transmission(false);
    camera.capture_stop();

    return 0;
}

PtGrayCamera.cpp

//
//  PtGrayCamera.hpp
//  PtGrey
//

#ifndef PtGrayCamera_hpp
#define PtGrayCamera_hpp

#include <dc1394/dc1394.h>
#include <stdexcept>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <vector>

/**
 * Read feed from PtGrey camera.
 *
 * A lot of features are not supported by this implementation yet. If you want to add more of them,
 * just get in touch with Tom.
 *
 * To run this, you need OpenCV and libdc1394 (brew install libdc1394).
 * You may also want to try pydc1394.
 *
 * Possible features:
 *  - Capture only ROI
 *  - Change framerate
 *  - Change resolution
 *  - Produce gray images only
 *  - Get temperature of camera (useful for calibration)
 *  - Set/get/lock exposure
 *  -  ... a lot more
 */
class PtGrayCamera {
public:
    PtGrayCamera(PtGrayCamera&& other);

    PtGrayCamera& operator=(const PtGrayCamera& other) = delete;
    PtGrayCamera& operator=(PtGrayCamera&& other);

    static std::vector<dc1394camera_id_t> list_cameras();
    static PtGrayCamera create(dc1394camera_id_t camera_id);

    void set_transmission(bool transmission);
    void capture_setup();
    void capture_stop();
    cv::Mat capture_one(bool blocking = true);

    std::vector<dc1394video_mode_t> get_supported_video_modes();

    ~PtGrayCamera();

private:
    dc1394_t *d;
    dc1394camera_t *camera;
    uint32_t selected_mode;

    PtGrayCamera(dc1394_t *d, dc1394camera_t *camera, uint32_t selected_mode);

    cv::Mat process_raw(cv::Mat mat_raw, dc1394color_filter_t color_filter);
};

#endif /* PtGrayCamera_hpp */

PtGrayCamera.hpp

//
//  PtGrayCamera.hpp
//  PtGrey
//

#ifndef PtGrayCamera_hpp
#define PtGrayCamera_hpp

#include <dc1394/dc1394.h>
#include <stdexcept>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <vector>

/**
 * Read feed from PtGrey camera.
 *
 * A lot of features are not supported by this implementation yet. If you want to add more of them,
 * just get in touch with [email protected].
 *
 * To run this, you need OpenCV and libdc1394 (brew install libdc1394).
 * You may also want to try pydc1394.
 *
 * Possible features:
 *  - Capture only ROI
 *  - Change framerate
 *  - Change resolution
 *  - Produce gray images only
 *  - Get temperature of camera (useful for calibration)
 *  - Set/get/lock exposure
 *  -  ... a lot more
 */
class PtGrayCamera {
public:
    PtGrayCamera(PtGrayCamera&& other);

    PtGrayCamera& operator=(const PtGrayCamera& other) = delete;
    PtGrayCamera& operator=(PtGrayCamera&& other);

    static std::vector<dc1394camera_id_t> list_cameras();
    static PtGrayCamera create(dc1394camera_id_t camera_id);

    void set_transmission(bool transmission);
    void capture_setup();
    void capture_stop();
    cv::Mat capture_one(bool blocking = true);

    std::vector<dc1394video_mode_t> get_supported_video_modes();

    ~PtGrayCamera();

private:
    dc1394_t *d;
    dc1394camera_t *camera;
    uint32_t selected_mode;

    PtGrayCamera(dc1394_t *d, dc1394camera_t *camera, uint32_t selected_mode);

    cv::Mat process_raw(cv::Mat mat_raw, dc1394color_filter_t color_filter);
};

#endif /* PtGrayCamera_hpp */