From dadce6994403939ade24689be293c5cb6216a8b7 Mon Sep 17 00:00:00 2001
From: Jan Grewe <jan.grewe@g-node.org>
Date: Thu, 14 Mar 2024 15:14:47 +0100
Subject: [PATCH] [dualcam] properly read rois
---
dualcamgrabber.cpp | 36 +++++++++++++++++++++++++++++++++---
dualcamwrapper.cpp | 44 ++++++++++++++++++++++++++++++--------------
dualcamwrapper.h | 2 +-
3 files changed, 64 insertions(+), 18 deletions(-)
diff --git a/dualcamgrabber.cpp b/dualcamgrabber.cpp
index 15b9de3..8407695 100644
--- a/dualcamgrabber.cpp
+++ b/dualcamgrabber.cpp
@@ -2,6 +2,11 @@
#include <iostream>
#include <pylon/PylonIncludes.h>
#include <stitchimage.h>
+#include <chrono>
+using namespace std::chrono;
+typedef high_resolution_clock Time;
+typedef milliseconds ms;
+typedef duration<float> fsec;
void DualcamGrabber::run() {
stop_request = false;
@@ -9,9 +14,10 @@ void DualcamGrabber::run() {
if (wrapper->isOpen()) {
Pylon::CInstantCameraArray &cameras = wrapper->getCameraArray();
- wrapper->frameRate(static_cast<uint>(framerate));
+ wrapper->frameRate(static_cast<uint>(framerate), -1);
wrapper->exposureTime(exposure);
wrapper->gain(gain);
+
cameras.StartGrabbing();
Pylon::CGrabResultPtr frame0, frame1;
Pylon::CPylonImage leftImage;
@@ -19,14 +25,27 @@ void DualcamGrabber::run() {
Pylon::CPylonImage stitchedImage;
std::string errorMessage = "";
+ // int ifi = 0;
+ // int deviation = 0;
+ // std::cerr << wrapper->frameRate(0) << "\t" << wrapper->frameRate(1) << "\t" << framerate << std::endl;
+ // int desired_ifi = (1./wrapper->frameRate(0) * 1000000);
+ // auto framestart = high_resolution_clock::now();
while (cameras.IsGrabbing() && !stop_request) {
+ // if (counter > 0) {
+ // deviation = desired_ifi - ifi;
+ // if (deviation > 0)
+ // // usleep(deviation);
+ // std::cerr << desired_ifi << "\t" << deviation << std::endl;
+ // }
+ // auto start = high_resolution_clock::now();
MyImage *img = new MyImage();
+ // auto stop1 = high_resolution_clock::now();
cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
+ // auto stop2 = high_resolution_clock::now();
cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
-
+ // auto stop3 = high_resolution_clock::now();
leftImage.AttachGrabResultBuffer( frame0 );
rightImage.AttachGrabResultBuffer( frame1 );
-
if (leftImage.IsValid() && rightImage.IsValid()) {
try {
StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
@@ -36,6 +55,17 @@ void DualcamGrabber::run() {
std::cerr << e.what() << '\n';
}
}
+ // auto stop4 = high_resolution_clock::now();
+ // auto duration1 = duration_cast<microseconds>(stop1 - start);
+ // auto duration2 = duration_cast<microseconds>(stop2 - stop1);
+ // auto duration3 = duration_cast<microseconds>(stop3 - stop2);
+ // auto duration4 = duration_cast<microseconds>(stop4 - stop3);
+ // std::cerr << "framecount: " << counter << " image constr: " << duration1.count() << "\t" << " retrieve1: " << duration2.count() << "\t" << " retrieve2: " << duration3.count() << "\t" << "conversion: " << duration4.count() << std::endl;
+ // ifi = duration_cast<microseconds>(stop4 - framestart).count();
+ // framestart = stop4;
+ // if (counter > 0) {
+ // std::cerr << "frame " << counter << " inter frame interval: " << ifi << "microseconds" << std::endl;
+ // }
counter += 1;
}
cameras.StopGrabbing();
diff --git a/dualcamwrapper.cpp b/dualcamwrapper.cpp
index 0af1e9c..9c7e7fb 100644
--- a/dualcamwrapper.cpp
+++ b/dualcamwrapper.cpp
@@ -54,8 +54,8 @@ bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
frameRate(new_framerate, 0);
frameRate(new_framerate, 1);
return true;
- } else if (camindex == 0 && camindex ==1) {
- GenApi::INodeMap& nodemap = getNodemap(0);
+ } else if (camindex >= 0 && camindex < 2) {
+ GenApi::INodeMap& nodemap = getNodemap(camindex);
GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
Pylon::CBooleanParameter enableframerate(n);
enableframerate.SetValue(true);
@@ -72,7 +72,7 @@ bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
double DualcamWrapper::frameRate(int camindex) {
- assert(camindex > 0 && camindex < 2);
+ assert(camindex >= 0 && camindex < 2);
double rate = -1.;
if (valid) {
GenApi::INodeMap& nodemap = getNodemap(camindex);
@@ -173,14 +173,14 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
qDebug() << "grabFrame from camera " << camindex;
if (valid) {
GenApi::INodeMap &nodemap = getNodemap(camindex);
- qDebug() << "Setting width" << layout.rois[0].width;
- Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[0].width);
+ qDebug() << "Setting width" << layout.rois[camindex].width;
+ Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[camindex].width);
qDebug() << "Setting height" << layout.rois[0].height;
- Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[0].height);
- qDebug() << "Setting xoffset" << layout.rois[0].x;
- Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[0].x);
- qDebug() << "Setting yoffset" << layout.rois[0].y;
- Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[0].y);
+ Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[camindex].height);
+ qDebug() << "Setting xoffset" << layout.rois[camindex].x;
+ Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[camindex].x);
+ qDebug() << "Setting yoffset" << layout.rois[camindex].y;
+ Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[camindex].y);
camera->StartGrabbing();
camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
@@ -191,15 +191,30 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
}
+void DualcamWrapper::setROI() {
+ std::cerr << "Setting ROI" << std::endl;
+ for (int camindex = 0; camindex < 2; camindex++){
+ std::cerr << "\t" << camindex << std::endl;
+ GenApi::INodeMap &nodemap = getNodemap(camindex);
+ qDebug() << "Setting width" << layout.rois[camindex].width;
+ Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[camindex].width);
+ qDebug() << "Setting height" << layout.rois[0].height;
+ Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[camindex].height);
+ qDebug() << "Setting xoffset" << layout.rois[camindex].x;
+ Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[camindex].x);
+ qDebug() << "Setting yoffset" << layout.rois[camindex].y;
+ Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[camindex].y);
+ }
+}
+
+
void DualcamWrapper::resetCamera(int camindex) {
GenApi::INodeMap &nodemap = getNodemap( camindex );
int64_t dfltWidth = 2048;
int64_t dfltHeight = 1536;
qDebug() << "resetting camera to default ROI (" << dfltWidth << ", " << dfltHeight << ")";
try {
- // std::cerr << "MaxWidth: " << Pylon::CIntegerParameter(nodemap, "WidthMax").GetValue() << std::endl;
Pylon::CIntegerParameter(nodemap, "Width").SetValue(dfltWidth, false);
- // std::cerr << "MaxHeight: " << Pylon::CIntegerParameter(nodemap, "HeightMax").GetValue() << std::endl;
Pylon::CIntegerParameter(nodemap, "Height").SetValue(dfltHeight, false);
Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(0);
Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(0);
@@ -229,8 +244,9 @@ bool DualcamWrapper::openCameras(std::string &message) {
valid = false;
return valid;
}
- resetCamera(0);
- resetCamera(1);
+ // resetCamera(0);
+ // resetCamera(1);
+ setROI();
return valid;
}
diff --git a/dualcamwrapper.h b/dualcamwrapper.h
index 8c48757..284e1e8 100644
--- a/dualcamwrapper.h
+++ b/dualcamwrapper.h
@@ -15,7 +15,6 @@ public:
DualcamWrapper(const CameraLayout &layout);
~DualcamWrapper();
-
ImageSettings getImageSettings(int camindex);
bool isOpen();
void terminate();
@@ -35,6 +34,7 @@ private:
void resetCamera(int camindex);
Pylon::CInstantCameraArray cameras;
GenApi::INodeMap& getNodemap(int camindex);
+ void setROI();
bool valid, withLayout;
CameraLayout layout;