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simplify setter and support setting of indicidual values

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This commit is contained in:
Jan Grewe 2024-03-11 16:06:14 +01:00
parent e259d668ad
commit a013ab1153
2 changed files with 106 additions and 171 deletions
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259
dualcamwrapper.cpp
View File

@ -1,8 +1,7 @@
#include "dualcamwrapper.h"
DualcamWrapper::DualcamWrapper(const CameraLayout &layout): valid(false), withLayout(true), camera0(nullptr), camera1(nullptr), cameras(2, nullptr) {
DualcamWrapper::DualcamWrapper(const CameraLayout &layout): valid(false), withLayout(true) {
qDebug() << "Constructor with layout";
this->fullName = layout.devices[0];
this->layout = layout;
Pylon::PylonInitialize();
}
@ -10,21 +9,11 @@ DualcamWrapper::DualcamWrapper(const CameraLayout &layout): valid(false), withLa
DualcamWrapper::~DualcamWrapper() {
qDebug() << "wrapper destructor";
if (camera0 != nullptr){
if (camera0->IsOpen()) {
qDebug() << "Camera 0 is open, closing it!";
camera0->Close();
for (int i =0; i < cameras.GetSize(); ++i) {
if (cameras[i].IsOpen()) {
cameras[i].Close();
qDebug() << "Camera " << i << " is open, closing it!";
}
delete camera0;
camera0 = nullptr;
}
if (camera1 != nullptr){
if (camera1->IsOpen()) {
qDebug() << "Camera 1 is open, closing it!";
camera1->Close();
}
delete camera1;
camera1 = nullptr;
}
terminate();
qDebug() << "Successfully deleted cameras";
@ -46,49 +35,47 @@ bool DualcamWrapper::isOpen() {
}
double DualcamWrapper::maxFrameRate() {
double max_rate = -1;
// FIXME max framerate of both cameras!
if (valid) {
GenApi::INodeMap& nodemap = camera0->GetNodeMap();
GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
Pylon::CFloatParameter framerate( n );
return framerate.GetMax();
}
double DualcamWrapper::maxFrameRate(int camindex) {
assert(camindex >= 0 && camindex < 2);
double max_rate = -1;
if (valid) {
GenApi::INodeMap& nodemap = getNodemap(camindex);
GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
Pylon::CFloatParameter framerate( n );
return framerate.GetMax();
}
return max_rate;
}
bool DualcamWrapper::frameRate(uint new_framerate) {
bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
if (valid) {
GenApi::INodeMap& nodemap = camera0->GetNodeMap();
GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
Pylon::CBooleanParameter enableframerate(n);
enableframerate.SetValue(true);
n = nodemap.GetNode( "AcquisitionFrameRate" );
Pylon::CFloatParameter framerate( n );
framerate.SetValue( new_framerate );
nodemap = camera1->GetNodeMap();
n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
Pylon::CBooleanParameter enableframerate1(n);
enableframerate1.SetValue(true);
n = nodemap.GetNode( "AcquisitionFrameRate" );
Pylon::CFloatParameter framerate1( n );
framerate1.SetValue( new_framerate );
return true;
if (camindex == -1) {
frameRate(new_framerate, 0);
frameRate(new_framerate, 1);
return true;
} else if (camindex == 0 && camindex ==1) {
GenApi::INodeMap& nodemap = getNodemap(0);
GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
Pylon::CBooleanParameter enableframerate(n);
enableframerate.SetValue(true);
n = nodemap.GetNode( "AcquisitionFrameRate" );
Pylon::CFloatParameter framerate( n );
framerate.SetValue( new_framerate );
return true;
} else {
return false;
}
}
return false;
}
double DualcamWrapper::frameRate() {
double DualcamWrapper::frameRate(int camindex) {
assert(camindex > 0 && camindex < 2);
double rate = -1.;
//FIXME read framerate setting from both cameras
if (valid) {
GenApi::INodeMap& nodemap = camera0->GetNodeMap();
GenApi::INodeMap& nodemap = getNodemap(camindex);
GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
Pylon::CFloatParameter framerate( n );
rate = framerate.GetValue();
@ -97,11 +84,11 @@ double DualcamWrapper::frameRate() {
}
double DualcamWrapper::exposureTime() {
//FIXME exposure setting from both cameras
double DualcamWrapper::exposureTime(int camindex) {
assert(camindex > 0 && camindex < 2);
double time = -1.;
if (valid) {
GenApi::INodeMap& nodemap = camera0->GetNodeMap();
GenApi::INodeMap& nodemap = getNodemap(camindex);
GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
Pylon::CFloatParameter exposure_time( n );
time = exposure_time.GetValue();
@ -111,39 +98,32 @@ double DualcamWrapper::exposureTime() {
bool DualcamWrapper::exposureTime(double exposure_time, int camindex) {
// FIXME support setting exposure individually
if (valid) {
GenApi::INodeMap& nodemap = camera0->GetNodeMap();
double d = GenApi::CFloatPtr(nodemap.GetNode("ExposureTime"))->GetValue();
GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
try {
GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Standard");
} catch (...) {
qWarning() << "Could not set exposure for cam0";
}
Pylon::CFloatParameter exp_time( n );
exp_time.SetValue( exposure_time );
nodemap = camera1->GetNodeMap();
d = GenApi::CFloatPtr(nodemap.GetNode("ExposureTime"))->GetValue();
n = nodemap.GetNode( "ExposureTime" );
try {
GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Standard");
} catch (...) {
qWarning() << "Could not set exposure for cam1";
if (camindex == -1) {
exposureTime(exposure_time, 0);
exposureTime(exposure_time, 1);
} else {
GenApi::INodeMap& nodemap = getNodemap(camindex);
double d = GenApi::CFloatPtr(nodemap.GetNode("ExposureTime"))->GetValue();
GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
try {
GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Standard");
} catch (...) {
qWarning() << "Could not set exposure for cam0";
}
Pylon::CFloatParameter exp_time( n );
exp_time.SetValue( exposure_time );
}
Pylon::CFloatParameter exp_time1( n );
exp_time1.SetValue( exposure_time );
return true;
}
return false;
}
double DualcamWrapper::gain() {
double DualcamWrapper::gain(int camindex) {
assert(camindex >= 0 && camindex < 2);
double gain = -1.;
if (valid) {
GenApi::INodeMap& nodemap = camera0->GetNodeMap();
GenApi::INodeMap& nodemap = getNodemap(camindex);
GenApi::INode* n = nodemap.GetNode( "Gain" );
Pylon::CFloatParameter detector_gain( n );
gain = detector_gain.GetValue();
@ -154,13 +134,17 @@ double DualcamWrapper::gain() {
bool DualcamWrapper::gain(double gain_db, int camindex) {
if (valid) {
GenApi::INodeMap& nodemap = camera0->GetNodeMap();
GenApi::CFloatPtr(nodemap.GetNode("Gain"))->SetValue(gain_db);
nodemap = camera1->GetNodeMap();
GenApi::CFloatPtr(nodemap.GetNode("Gain"))->SetValue(gain_db);
return true;
}
if (camindex == -1) {
gain(gain_db, 0);
gain(gain_db, 1);
} else if (camindex >= 0 && camindex < 2) {
GenApi::INodeMap& nodemap = getNodemap(camindex);
GenApi::CFloatPtr(nodemap.GetNode("Gain"))->SetValue(gain_db);
return true;
} else{
return false;
}
}
return false;
}
@ -169,22 +153,16 @@ ImageSettings DualcamWrapper::getImageSettings(int camindex) {
ImageSettings settings;
if (valid) {
GenApi::INodeMap &nodemap = getNodemap(camindex);
// GenApi::INodeMap& nodemap;
// if (camindex == 0) {
// nodemap = camera0->GetNodeMap();
// } else {
// nodemap = camera1->GetNodeMap();
// }
Pylon::CEnumParameter pixelFormat( nodemap, "PixelFormat" );
Pylon::CPixelTypeMapper pixelTypeMapper( &pixelFormat );
Pylon::EPixelType pixelType = pixelTypeMapper.GetPylonPixelTypeFromNodeValue( pixelFormat.GetIntValue() );
Pylon::CIntegerParameter width( nodemap, "Width" );
Pylon::CIntegerParameter height( nodemap, "Height" );
settings.pixelType = pixelType;
settings.width = (uint32_t)width.GetValue();
settings.height = (uint32_t)height.GetValue();
settings.orientation = Pylon::EImageOrientation::ImageOrientation_TopDown;
}
Pylon::CEnumParameter pixelFormat( nodemap, "PixelFormat" );
Pylon::CPixelTypeMapper pixelTypeMapper( &pixelFormat );
Pylon::EPixelType pixelType = pixelTypeMapper.GetPylonPixelTypeFromNodeValue( pixelFormat.GetIntValue() );
Pylon::CIntegerParameter width( nodemap, "Width" );
Pylon::CIntegerParameter height( nodemap, "Height" );
settings.pixelType = pixelType;
settings.width = (uint32_t)width.GetValue();
settings.height = (uint32_t)height.GetValue();
settings.orientation = Pylon::EImageOrientation::ImageOrientation_TopDown;
}
return settings;
}
@ -195,14 +173,6 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
qDebug() << "grabFrame from camera " << camindex;
if (valid) {
GenApi::INodeMap &nodemap = getNodemap(camindex);
// GenApi::INodeMap& nodemap;
// if (camindex == 0) {
// nodemap = camera0->GetNodeMap();
// camera = camera0;
// } else {
// nodemap = camera1->GetNodeMap();
// camera = camera1;
// }
qDebug() << "Setting width" << layout.rois[0].width;
Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[0].width);
qDebug() << "Setting height" << layout.rois[0].height;
@ -222,11 +192,7 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
void DualcamWrapper::resetCamera(int camindex) {
GenApi::INodeMap &nodemap = getNodemap(camindex);
// ->GetNodeMap();;
// if (camindex == 1){
// nodemap = camera1->GetNodeMap();
// }
GenApi::INodeMap &nodemap = getNodemap( camindex );
int64_t dfltWidth = 2048;
int64_t dfltHeight = 1536;
qDebug() << "resetting camera to default ROI (" << dfltWidth << ", " << dfltHeight << ")";
@ -248,13 +214,14 @@ void DualcamWrapper::resetCamera(int camindex) {
bool DualcamWrapper::openCameras(std::string &message) {
qDebug() << "opening cameras";
bool valid = true;
Pylon::CTlFactory& tlFactory = Pylon::CTlFactory::GetInstance();
// Pylon::CInstantCameraArray cameras(2);
cameras.Initialize(2);
try {
camera0 = new Pylon::CInstantCamera();
Pylon::String_t fname(layout.devices[0].c_str());
Pylon::IPylonDevice *pDevice = Pylon::CTlFactory::GetInstance().CreateDevice(fname);
camera0->Attach(pDevice);
camera0->Open();
valid = camera0->IsOpen();
cameras[0].Attach( tlFactory.CreateDevice( layout.devices[0].c_str() ) );
cameras[1].Attach( tlFactory.CreateDevice( layout.devices[1].c_str() ) );
valid = cameras[0].IsOpen();
valid = valid & cameras[1].IsOpen();
message = "Successfully opened camera!";
} catch (const Pylon::GenericException &e) {
message = e.GetDescription();
@ -263,21 +230,6 @@ bool DualcamWrapper::openCameras(std::string &message) {
return valid;
}
resetCamera(0);
try {
camera1 = new Pylon::CInstantCamera();
Pylon::String_t fname(layout.devices[1].c_str());
Pylon::IPylonDevice *pDevice = Pylon::CTlFactory::GetInstance().CreateDevice(fname);
camera1->Attach(pDevice);
camera1->Open();
valid = valid & camera1->IsOpen();
message = "Successfully opened camera!";
} catch (const Pylon::GenericException &e) {
message = e.GetDescription();
std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
valid = false;
return valid;
}
resetCamera(1);
return valid;
@ -286,42 +238,25 @@ bool DualcamWrapper::openCameras(std::string &message) {
void DualcamWrapper::closeCameras() {
qDebug() << "Close cameras!";
if (camera0->IsOpen()) {
try {
camera0->Close();
valid = false;
delete camera0;
camera0 = nullptr;
} catch (const Pylon::GenericException &e) {
qWarning() << "An exception occurred." << e.GetDescription();
}
}
if (camera1->IsOpen()) {
try {
camera1->Close();
valid = false;
delete camera1;
camera1 = nullptr;
} catch (const Pylon::GenericException &e) {
qWarning() << "An exception occurred." << e.GetDescription();
}
}
if (cameras[0].IsOpen()) {
cameras[0].Close();
}
if (cameras[1].IsOpen()) {
cameras[1].Close();
}
valid = false;
}
Pylon::CInstantCamera *DualcamWrapper::getCamera(int camindex) {
if (camindex == 0) {
return camera0;
} else {
return camera1;
}
Pylon::CInstantCameraArray &DualcamWrapper::getCameraArray() {
return cameras;
}
// Pylon::CInstantCamera DualcamWrapper::getCamera(int camindex) {
// return this.cameras[camindex];
// }
GenApi::INodeMap& DualcamWrapper::getNodemap(int camindex){
GenApi::INodeMap &nodemap = camera0->GetNodeMap();;
if (camindex == 1){
nodemap = camera1->GetNodeMap();
}
GenApi::INodeMap &nodemap = cameras[camindex].GetNodeMap();
return nodemap;
}

18
dualcamwrapper.h
View File

@ -15,28 +15,28 @@ public:
DualcamWrapper(const CameraLayout &layout);
~DualcamWrapper();
ImageSettings getImageSettings(int camindex);
bool isOpen();
void terminate();
bool openCameras(std::string &message);
void closeCameras();
bool grabFrame(MyImage &img, int camindex=0);
bool frameRate(uint framerate);
double frameRate();
double maxFrameRate();
double exposureTime();
bool frameRate(uint framerate, int camindex=-1);
double frameRate(int camindex);
double maxFrameRate(int camindex);
double exposureTime(int camindex);
bool exposureTime(double exposure_time, int camindex=-1);
double gain();
double gain(int camindex);
bool gain(double gain_db, int camindex=-1);
Pylon::CInstantCamera *getCamera(int camindex);
Pylon::CInstantCameraArray &getCameraArray();
// Pylon::CInstantCamera getCamera(int camindex);
private:
void resetCamera(int camindex);
Pylon::CInstantCameraArray cameras;
GenApi::INodeMap& getNodemap(int camindex);
std::vector<Pylon::CInstantCamera*> cameras;
Pylon::CInstantCamera *camera0, *camera1;
bool valid, withLayout;
std::string fullName;
CameraLayout layout;
};