wrapper for dual camera recording
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dualcamwrapper.cpp
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327
dualcamwrapper.cpp
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#include "dualcamwrapper.h"
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DualcamWrapper::DualcamWrapper(const CameraLayout &layout): valid(false), withLayout(true), camera0(nullptr), camera1(nullptr), cameras(2, nullptr) {
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qDebug() << "Constructor with layout";
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this->fullName = layout.devices[0];
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this->layout = layout;
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Pylon::PylonInitialize();
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}
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DualcamWrapper::~DualcamWrapper() {
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qDebug() << "wrapper destructor";
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if (camera0 != nullptr){
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if (camera0->IsOpen()) {
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qDebug() << "Camera 0 is open, closing it!";
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camera0->Close();
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}
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delete camera0;
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camera0 = nullptr;
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}
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if (camera1 != nullptr){
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if (camera1->IsOpen()) {
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qDebug() << "Camera 1 is open, closing it!";
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camera1->Close();
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}
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delete camera1;
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camera1 = nullptr;
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}
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terminate();
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qDebug() << "Successfully deleted cameras";
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}
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void DualcamWrapper::terminate() {
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qDebug() << "Terminate";
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try {
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Pylon::PylonTerminate();
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} catch (const Pylon::GenericException &e) {
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std::cerr << e.GetDescription() << std::endl;
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}
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}
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bool DualcamWrapper::isOpen() {
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return valid;
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}
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double DualcamWrapper::maxFrameRate() {
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double max_rate = -1;
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// FIXME max framerate of both cameras!
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if (valid) {
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GenApi::INodeMap& nodemap = camera0->GetNodeMap();
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GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
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Pylon::CFloatParameter framerate( n );
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return framerate.GetMax();
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}
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return max_rate;
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}
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bool DualcamWrapper::frameRate(uint new_framerate) {
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if (valid) {
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GenApi::INodeMap& nodemap = camera0->GetNodeMap();
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GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
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Pylon::CBooleanParameter enableframerate(n);
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enableframerate.SetValue(true);
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n = nodemap.GetNode( "AcquisitionFrameRate" );
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Pylon::CFloatParameter framerate( n );
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framerate.SetValue( new_framerate );
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nodemap = camera1->GetNodeMap();
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n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
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Pylon::CBooleanParameter enableframerate1(n);
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enableframerate1.SetValue(true);
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n = nodemap.GetNode( "AcquisitionFrameRate" );
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Pylon::CFloatParameter framerate1( n );
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framerate1.SetValue( new_framerate );
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return true;
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}
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return false;
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}
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double DualcamWrapper::frameRate() {
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double rate = -1.;
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//FIXME read framerate setting from both cameras
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if (valid) {
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GenApi::INodeMap& nodemap = camera0->GetNodeMap();
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GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
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Pylon::CFloatParameter framerate( n );
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rate = framerate.GetValue();
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}
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return rate;
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}
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double DualcamWrapper::exposureTime() {
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//FIXME exposure setting from both cameras
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double time = -1.;
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if (valid) {
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GenApi::INodeMap& nodemap = camera0->GetNodeMap();
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GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
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Pylon::CFloatParameter exposure_time( n );
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time = exposure_time.GetValue();
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}
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return time;
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}
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bool DualcamWrapper::exposureTime(double exposure_time, int camindex) {
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// FIXME support setting exposure individually
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if (valid) {
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GenApi::INodeMap& nodemap = camera0->GetNodeMap();
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double d = GenApi::CFloatPtr(nodemap.GetNode("ExposureTime"))->GetValue();
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GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
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try {
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GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Standard");
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} catch (...) {
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qWarning() << "Could not set exposure for cam0";
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}
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Pylon::CFloatParameter exp_time( n );
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exp_time.SetValue( exposure_time );
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nodemap = camera1->GetNodeMap();
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d = GenApi::CFloatPtr(nodemap.GetNode("ExposureTime"))->GetValue();
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n = nodemap.GetNode( "ExposureTime" );
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try {
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GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Standard");
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} catch (...) {
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qWarning() << "Could not set exposure for cam1";
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}
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Pylon::CFloatParameter exp_time1( n );
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exp_time1.SetValue( exposure_time );
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return true;
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}
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return false;
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}
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double DualcamWrapper::gain() {
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double gain = -1.;
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if (valid) {
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GenApi::INodeMap& nodemap = camera0->GetNodeMap();
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GenApi::INode* n = nodemap.GetNode( "Gain" );
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Pylon::CFloatParameter detector_gain( n );
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gain = detector_gain.GetValue();
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}
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return gain;
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}
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bool DualcamWrapper::gain(double gain_db, int camindex) {
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if (valid) {
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GenApi::INodeMap& nodemap = camera0->GetNodeMap();
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GenApi::CFloatPtr(nodemap.GetNode("Gain"))->SetValue(gain_db);
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nodemap = camera1->GetNodeMap();
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GenApi::CFloatPtr(nodemap.GetNode("Gain"))->SetValue(gain_db);
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return true;
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}
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return false;
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}
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ImageSettings DualcamWrapper::getImageSettings(int camindex) {
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ImageSettings settings;
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if (valid) {
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GenApi::INodeMap &nodemap = getNodemap(camindex);
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// GenApi::INodeMap& nodemap;
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// if (camindex == 0) {
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// nodemap = camera0->GetNodeMap();
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// } else {
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// nodemap = camera1->GetNodeMap();
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// }
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Pylon::CEnumParameter pixelFormat( nodemap, "PixelFormat" );
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Pylon::CPixelTypeMapper pixelTypeMapper( &pixelFormat );
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Pylon::EPixelType pixelType = pixelTypeMapper.GetPylonPixelTypeFromNodeValue( pixelFormat.GetIntValue() );
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Pylon::CIntegerParameter width( nodemap, "Width" );
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Pylon::CIntegerParameter height( nodemap, "Height" );
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settings.pixelType = pixelType;
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settings.width = (uint32_t)width.GetValue();
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settings.height = (uint32_t)height.GetValue();
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settings.orientation = Pylon::EImageOrientation::ImageOrientation_TopDown;
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}
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return settings;
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}
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bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
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Pylon::CGrabResultPtr frame;
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Pylon::CInstantCamera* camera;
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qDebug() << "grabFrame from camera " << camindex;
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if (valid) {
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GenApi::INodeMap &nodemap = getNodemap(camindex);
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// GenApi::INodeMap& nodemap;
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// if (camindex == 0) {
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// nodemap = camera0->GetNodeMap();
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// camera = camera0;
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// } else {
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// nodemap = camera1->GetNodeMap();
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// camera = camera1;
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// }
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qDebug() << "Setting width" << layout.rois[0].width;
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Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[0].width);
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qDebug() << "Setting height" << layout.rois[0].height;
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Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[0].height);
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qDebug() << "Setting xoffset" << layout.rois[0].x;
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Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[0].x);
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qDebug() << "Setting yoffset" << layout.rois[0].y;
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Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[0].y);
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camera->StartGrabbing();
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camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
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camera->StopGrabbing();
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}
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img.setFrame(frame);
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return frame.IsValid();
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}
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void DualcamWrapper::resetCamera(int camindex) {
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GenApi::INodeMap &nodemap = getNodemap(camindex);
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// ->GetNodeMap();;
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// if (camindex == 1){
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// nodemap = camera1->GetNodeMap();
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// }
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int64_t dfltWidth = 2048;
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int64_t dfltHeight = 1536;
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qDebug() << "resetting camera to default ROI (" << dfltWidth << ", " << dfltHeight << ")";
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try {
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// std::cerr << "MaxWidth: " << Pylon::CIntegerParameter(nodemap, "WidthMax").GetValue() << std::endl;
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Pylon::CIntegerParameter(nodemap, "Width").SetValue(dfltWidth, false);
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// std::cerr << "MaxHeight: " << Pylon::CIntegerParameter(nodemap, "HeightMax").GetValue() << std::endl;
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Pylon::CIntegerParameter(nodemap, "Height").SetValue(dfltHeight, false);
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Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(0);
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Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(0);
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} catch (const Pylon::GenericException &e) {
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std::string message = e.GetDescription();
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std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
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valid = false;
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}
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}
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bool DualcamWrapper::openCameras(std::string &message) {
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qDebug() << "opening cameras";
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bool valid = true;
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try {
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camera0 = new Pylon::CInstantCamera();
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Pylon::String_t fname(layout.devices[0].c_str());
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Pylon::IPylonDevice *pDevice = Pylon::CTlFactory::GetInstance().CreateDevice(fname);
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camera0->Attach(pDevice);
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camera0->Open();
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valid = camera0->IsOpen();
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message = "Successfully opened camera!";
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} catch (const Pylon::GenericException &e) {
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message = e.GetDescription();
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std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
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valid = false;
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return valid;
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}
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resetCamera(0);
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try {
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camera1 = new Pylon::CInstantCamera();
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Pylon::String_t fname(layout.devices[1].c_str());
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Pylon::IPylonDevice *pDevice = Pylon::CTlFactory::GetInstance().CreateDevice(fname);
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camera1->Attach(pDevice);
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camera1->Open();
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valid = valid & camera1->IsOpen();
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message = "Successfully opened camera!";
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} catch (const Pylon::GenericException &e) {
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message = e.GetDescription();
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std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
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valid = false;
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return valid;
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}
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resetCamera(1);
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return valid;
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}
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void DualcamWrapper::closeCameras() {
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qDebug() << "Close cameras!";
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if (camera0->IsOpen()) {
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try {
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camera0->Close();
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valid = false;
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delete camera0;
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camera0 = nullptr;
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} catch (const Pylon::GenericException &e) {
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qWarning() << "An exception occurred." << e.GetDescription();
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}
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}
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if (camera1->IsOpen()) {
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try {
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camera1->Close();
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valid = false;
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delete camera1;
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camera1 = nullptr;
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} catch (const Pylon::GenericException &e) {
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qWarning() << "An exception occurred." << e.GetDescription();
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}
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}
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}
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Pylon::CInstantCamera *DualcamWrapper::getCamera(int camindex) {
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if (camindex == 0) {
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return camera0;
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} else {
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return camera1;
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}
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}
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GenApi::INodeMap& DualcamWrapper::getNodemap(int camindex){
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GenApi::INodeMap &nodemap = camera0->GetNodeMap();;
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if (camindex == 1){
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nodemap = camera1->GetNodeMap();
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}
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return nodemap;
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}
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44
dualcamwrapper.h
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44
dualcamwrapper.h
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#ifndef DUALCAMWRAPPER_H
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#define DUALCAMWRAPPER_H
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#include <pylon/PylonIncludes.h>
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#include <pylon/BaslerUniversalInstantCamera.h>
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#include "mylogger.h"
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#include "util.h"
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#include "myimage.h"
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class DualcamWrapper
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{
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public:
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// DualcamWrapper(const std::string &name);
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DualcamWrapper(const CameraLayout &layout);
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~DualcamWrapper();
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ImageSettings getImageSettings(int camindex);
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bool isOpen();
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void terminate();
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bool openCameras(std::string &message);
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void closeCameras();
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bool grabFrame(MyImage &img, int camindex=0);
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bool frameRate(uint framerate);
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double frameRate();
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double maxFrameRate();
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double exposureTime();
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bool exposureTime(double exposure_time, int camindex=-1);
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double gain();
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bool gain(double gain_db, int camindex=-1);
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Pylon::CInstantCamera *getCamera(int camindex);
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private:
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void resetCamera(int camindex);
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GenApi::INodeMap& getNodemap(int camindex);
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std::vector<Pylon::CInstantCamera*> cameras;
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Pylon::CInstantCamera *camera0, *camera1;
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bool valid, withLayout;
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std::string fullName;
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CameraLayout layout;
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};
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#endif // DUALCAMWRAPPER_H
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