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[dualcam] properly read rois

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This commit is contained in:
Jan Grewe 2024-03-14 15:14:47 +01:00
parent d78b9d8b02
commit dadce69944
3 changed files with 64 additions and 18 deletions
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36
dualcamgrabber.cpp
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@ -2,6 +2,11 @@
#include <iostream> #include <iostream>
#include <pylon/PylonIncludes.h> #include <pylon/PylonIncludes.h>
#include <stitchimage.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() { void DualcamGrabber::run() {
stop_request = false; stop_request = false;
@ -9,9 +14,10 @@ void DualcamGrabber::run() {
if (wrapper->isOpen()) { if (wrapper->isOpen()) {
Pylon::CInstantCameraArray &cameras = wrapper->getCameraArray(); Pylon::CInstantCameraArray &cameras = wrapper->getCameraArray();
wrapper->frameRate(static_cast<uint>(framerate)); wrapper->frameRate(static_cast<uint>(framerate), -1);
wrapper->exposureTime(exposure); wrapper->exposureTime(exposure);
wrapper->gain(gain); wrapper->gain(gain);
cameras.StartGrabbing(); cameras.StartGrabbing();
Pylon::CGrabResultPtr frame0, frame1; Pylon::CGrabResultPtr frame0, frame1;
Pylon::CPylonImage leftImage; Pylon::CPylonImage leftImage;
@ -19,14 +25,27 @@ void DualcamGrabber::run() {
Pylon::CPylonImage stitchedImage; Pylon::CPylonImage stitchedImage;
std::string errorMessage = ""; 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) { 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(); MyImage *img = new MyImage();
// auto stop1 = high_resolution_clock::now();
cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException ); cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
// auto stop2 = high_resolution_clock::now();
cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException ); cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
// auto stop3 = high_resolution_clock::now();
leftImage.AttachGrabResultBuffer( frame0 ); leftImage.AttachGrabResultBuffer( frame0 );
rightImage.AttachGrabResultBuffer( frame1 ); rightImage.AttachGrabResultBuffer( frame1 );
if (leftImage.IsValid() && rightImage.IsValid()) { if (leftImage.IsValid() && rightImage.IsValid()) {
try { try {
StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage); StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
@ -36,6 +55,17 @@ void DualcamGrabber::run() {
std::cerr << e.what() << '\n'; 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; counter += 1;
} }
cameras.StopGrabbing(); cameras.StopGrabbing();

44
dualcamwrapper.cpp
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@ -54,8 +54,8 @@ bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
frameRate(new_framerate, 0); frameRate(new_framerate, 0);
frameRate(new_framerate, 1); frameRate(new_framerate, 1);
return true; return true;
} else if (camindex == 0 && camindex ==1) { } else if (camindex >= 0 && camindex < 2) {
GenApi::INodeMap& nodemap = getNodemap(0); GenApi::INodeMap& nodemap = getNodemap(camindex);
GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" ); GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
Pylon::CBooleanParameter enableframerate(n); Pylon::CBooleanParameter enableframerate(n);
enableframerate.SetValue(true); enableframerate.SetValue(true);
@ -72,7 +72,7 @@ bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
double DualcamWrapper::frameRate(int camindex) { double DualcamWrapper::frameRate(int camindex) {
assert(camindex > 0 && camindex < 2); assert(camindex >= 0 && camindex < 2);
double rate = -1.; double rate = -1.;
if (valid) { if (valid) {
GenApi::INodeMap& nodemap = getNodemap(camindex); GenApi::INodeMap& nodemap = getNodemap(camindex);
@ -173,14 +173,14 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
qDebug() << "grabFrame from camera " << camindex; qDebug() << "grabFrame from camera " << camindex;
if (valid) { if (valid) {
GenApi::INodeMap &nodemap = getNodemap(camindex); GenApi::INodeMap &nodemap = getNodemap(camindex);
qDebug() << "Setting width" << layout.rois[0].width; qDebug() << "Setting width" << layout.rois[camindex].width;
Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[0].width); Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[camindex].width);
qDebug() << "Setting height" << layout.rois[0].height; qDebug() << "Setting height" << layout.rois[0].height;
Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[0].height); Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[camindex].height);
qDebug() << "Setting xoffset" << layout.rois[0].x; qDebug() << "Setting xoffset" << layout.rois[camindex].x;
Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[0].x); Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[camindex].x);
qDebug() << "Setting yoffset" << layout.rois[0].y; qDebug() << "Setting yoffset" << layout.rois[camindex].y;
Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[0].y); Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[camindex].y);
camera->StartGrabbing(); camera->StartGrabbing();
camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException); 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) { void DualcamWrapper::resetCamera(int camindex) {
GenApi::INodeMap &nodemap = getNodemap( camindex ); GenApi::INodeMap &nodemap = getNodemap( camindex );
int64_t dfltWidth = 2048; int64_t dfltWidth = 2048;
int64_t dfltHeight = 1536; int64_t dfltHeight = 1536;
qDebug() << "resetting camera to default ROI (" << dfltWidth << ", " << dfltHeight << ")"; qDebug() << "resetting camera to default ROI (" << dfltWidth << ", " << dfltHeight << ")";
try { try {
// std::cerr << "MaxWidth: " << Pylon::CIntegerParameter(nodemap, "WidthMax").GetValue() << std::endl;
Pylon::CIntegerParameter(nodemap, "Width").SetValue(dfltWidth, false); 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, "Height").SetValue(dfltHeight, false);
Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(0); Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(0);
Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(0); Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(0);
@ -229,8 +244,9 @@ bool DualcamWrapper::openCameras(std::string &message) {
valid = false; valid = false;
return valid; return valid;
} }
resetCamera(0); // resetCamera(0);
resetCamera(1); // resetCamera(1);
setROI();
return valid; return valid;
} }

2
dualcamwrapper.h
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@ -15,7 +15,6 @@ public:
DualcamWrapper(const CameraLayout &layout); DualcamWrapper(const CameraLayout &layout);
~DualcamWrapper(); ~DualcamWrapper();
ImageSettings getImageSettings(int camindex); ImageSettings getImageSettings(int camindex);
bool isOpen(); bool isOpen();
void terminate(); void terminate();
@ -35,6 +34,7 @@ private:
void resetCamera(int camindex); void resetCamera(int camindex);
Pylon::CInstantCameraArray cameras; Pylon::CInstantCameraArray cameras;
GenApi::INodeMap& getNodemap(int camindex); GenApi::INodeMap& getNodemap(int camindex);
void setROI();
bool valid, withLayout; bool valid, withLayout;
CameraLayout layout; CameraLayout layout;