A simple program showing how to capture from a Point Grey Research Camera and display the image using OpenCV

opencv_blackfly.cpp

#include "FlyCapture2.h"

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <iostream>

using namespace FlyCapture2;

int main()
{
    Error error;
    Camera camera;
    CameraInfo camInfo;

    // Connect the camera
    error = camera.Connect( 0 );
    if ( error != PGRERROR_OK )
    {
        std::cout << "Failed to connect to camera" << std::endl;     
        return false;
    }

    // Get the camera info and print it out
    error = camera.GetCameraInfo( &camInfo );
    if ( error != PGRERROR_OK )
    {
        std::cout << "Failed to get camera info from camera" << std::endl;     
        return false;
    }
    std::cout << camInfo.vendorName << " "
              << camInfo.modelName << " " 
              << camInfo.serialNumber << std::endl;
	
    error = camera.StartCapture();
    if ( error == PGRERROR_ISOCH_BANDWIDTH_EXCEEDED )
    {
        std::cout << "Bandwidth exceeded" << std::endl;     
        return false;
    }
    else if ( error != PGRERROR_OK )
    {
        std::cout << "Failed to start image capture" << std::endl;     
        return false;
    } 

    // capture loop
    char key = 0;
    while(key != 'q')
    {
        // Get the image
        Image rawImage;
        Error error = camera.RetrieveBuffer( &rawImage );
        if ( error != PGRERROR_OK )
        {
                std::cout << "capture error" << std::endl;
                continue;
        }

        // convert to rgb
        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);
        key = cv::waitKey(30);        
    }

    error = camera.StopCapture();
    if ( error != PGRERROR_OK )
    {
        // This may fail when the camera was removed, so don't show 
        // an error message
    }  

    camera.Disconnect();

    return 0;
}

Thanks, Kevin! This really great!

Thanks worked well for me! Note that the call the rgbImage.GetData() returns a pointer to the point grey image data. So if this this is used within a function that returns a cv::Mat, one must put the Image rawImage and Image rgbImage declarations within the scope that the resulting converted image (cv::Mat) rather than within the function body or a segfault will result.

How is the above code compiled? I tried g++ -o outputfile filename.cpp 'pkg-config opencv --cflags --libs'.
Im an getting an error as :Undefined reference to 'Flycapture2: : Error : : Error()' and so on..Is there any other method?
Thank you.

hey vandanv,
try: g++ -o balltrack balltrack.cpp pkg-config opencv --cflags --libs -L ../flycapture.2.9.3.43_armhf/lib -lflycapture
it is worked for me

I get a segmentaion fault when calling

camera.StartCapture();

Does anyone know this issue?

Update:
this helped:

sudo sh -c 'echo 1000 > /sys/module/usbcore/parameters/usbfs_memory_mb'

How do I run this file? I tried adding the package to CMakeLists but I get the same errors as @vandanv. I tried the g++ option, i get g++: error: pkg-config: No such file or directory
Thanks!

Thank you for sharing the code. It took no time to interface, just like a plug and play.

@ashnarayan13 to run the file you need to make sure that you include headers and libs for flycapture and opencv. You can use for example:

g++ -std=c++11 mycppfile.cpp -I/usr/include/flycapture -lflycapture `pkg-config --libs --cflags opencv` -o mycppfile

Also, make sure FlyCaptureSDK is properly installed.

Thanks for the code Kevin. Do you (or anyone else) by any chance have any experience with the SetUserBuffers function from FlyCapture2? The documentation is quite scarce and I was wondering if the image.convert operation also uses the same buffer for the rgbimage in this case.

My program gets stuck in line 53 on "camera.RetrieveBuffer( &rawImage );"
But I don't get any error message . I tried to make a console output immediately after that call, but I don't receive anything.
Do you have an idea what the problem could be?

hi, when run the code, the image that grabbing is in Gray format not RGB? Anyone have same problem?