pylon_input.cpp

// Grab.cpp
/*
Note: Before getting started, Basler recommends reading the Programmer's Guide topic
in the pylon C++ API documentation that gets installed with pylon.
If you are upgrading to a higher major version of pylon, Basler also
strongly recommends reading the Migration topic in the pylon C++ API documentation.
This sample illustrates how to grab and process images using the CInstantCamera class.
The images are grabbed and processed asynchronously, i.e.,
while the application is processing a buffer, the acquisition of the next buffer is done
in parallel.
The CInstantCamera class uses a pool of buffers to retrieve image data
from the camera device. Once a buffer is filled and ready,
the buffer can be retrieved from the camera object for processing. The buffer
and additional image data are collected in a grab result. The grab result is
held by a smart pointer after retrieval. The buffer is automatically reused
when explicitly released or when the smart pointer object is destroyed.
*/
#include <pylon/PylonIncludes.h>
#ifdef PYLON_WIN_BUILD
#include <pylon/PylonGUI.h>
#endif

#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/core/core.hpp"
#include <pylon/PylonImage.h>
#include <pylon/Pixel.h>
#include <pylon/ImageFormatConverter.h>
#include <time.h>
#include <ctime>

using namespace cv;

// Namespace for using pylon objects.
using namespace Pylon;


// Namespace for using cout.
using namespace std;

// Number of images to be grabbed.
static const uint32_t c_countOfImagesToGrab = 100;

int main(int argc, char* argv[])
{
	time_t time_now;
	time_now = time(NULL);


	VideoWriter out_capture("F:\\D2CO_dataset\\video\\test\\" + to_string(time_now) + ".avi", CV_FOURCC('M', 'J', 'P', 'G'), 30, Size(1280, 1024));
	// The exit code of the sample application.
	int exitCode = 0;

	// Automagically call PylonInitialize and PylonTerminate to ensure
	// the pylon runtime system is initialized during the lifetime of this object.
	Pylon::PylonAutoInitTerm autoInitTerm;


	CGrabResultPtr ptrGrabResult;
	namedWindow("CV_Image", WINDOW_AUTOSIZE);
	try
	{

		CInstantCamera camera(CTlFactory::GetInstance().CreateFirstDevice());
		cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
		camera.Open();

		GenApi::CIntegerPtr width(camera.GetNodeMap().GetNode("Width"));
		GenApi::CIntegerPtr height(camera.GetNodeMap().GetNode("Height"));
		Mat cv_img(width->GetValue(), height->GetValue(), CV_8UC3);

		camera.StartGrabbing();
		CPylonImage image;
		CImageFormatConverter fc;
		fc.OutputPixelFormat = PixelType_RGB8packed;

		while (camera.IsGrabbing()) {
			camera.RetrieveResult(500, ptrGrabResult, TimeoutHandling_ThrowException);
			if (ptrGrabResult->GrabSucceeded()) {
				fc.Convert(image, ptrGrabResult);

				cv_img = cv::Mat(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC3, (uint8_t*)image.GetBuffer());
				out_capture << cv_img;
				imshow("CV_Image", cv_img);
				waitKey(1);
				if (waitKey(30) == 27) {
					camera.StopGrabbing();
				}
			}
		}
		out_capture.release();

	}

	catch (GenICam::GenericException &e)
	{
		// Error handling.
		cerr << "An exception occurred." << endl
			<< e.GetDescription() << endl;
		exitCode = 1;
	}

	// Comment the following two lines to disable waiting on exit
	cerr << endl << "Press Enter to exit." << endl;
	while (cin.get() != '\n');

	return exitCode;
}