add optional suffix to getFilename

CMakeLists.txt

@@ -5,7 +5,7 @@ message ("-------------------------------------------")
 cmake_minimum_required ( VERSION 3.7 )
 set ( CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake" )
 
-project( recorder VERSION 0.1.0 LANGUAGES CXX )
+project( recorder VERSION 0.2.0 LANGUAGES CXX )
 
 configure_file( recorder_config.h.in recorder_config.h )
 
@@ -41,21 +41,21 @@ message ("=> finding nix ...")
 find_package (NIX REQUIRED)
 include_directories (AFTER ${NIX_INCLUDE_DIR})
 
-#######################################
+# #######################################
-# OPENCV
+# # OPENCV
-find_package(OpenCV REQUIRED opencv_highgui opencv_core)
+# find_package(OpenCV REQUIRED opencv_highgui opencv_core)
-include_directories(AFTER ${OpenCV_INCLUDE_DIRS} )
+# include_directories(AFTER ${OpenCV_INCLUDE_DIRS} )
-set(LINK_LIBS ${LINK_LIBS} ${OpenCV_LIBRARIES})
+# set(LINK_LIBS ${LINK_LIBS} ${OpenCV_LIBRARIES})
 
 #######################################
 # Pylon
-#include_directories ( AFTER "/opt/pylon/include" )
+message ("=> finding pylon ...")
-#file (GLOB PYLON_LIBRARIES "/opt/pylon/lib/*.so")
+find_package(pylon 7.1.0 REQUIRED)
-include_directories ( AFTER "/opt/pylon5/include" )
+
-file (GLOB PYLON_LIBRARIES "/opt/pylon5/lib64/*.so")
+
 file (GLOB RECORDER_SOURCES *.cpp)
 file (GLOB RECORDER_INCLUDES *.hpp) 
-
 add_executable ( recorder ${RECORDER_SOURCES} ${RECORDER_INCLUDES} ${RECORDER_RES_SOURCES} )
 target_include_directories ( recorder PUBLIC "${PROJECT_BINARY_DIR}" )  
-target_link_libraries ( recorder Qt5::PrintSupport Qt5::Core Qt5::Widgets Qt5::Gui ${NIX_LIBRARIES} ${PYLON_LIBRARIES} ${OpenCV_LIBRARIES})
+target_link_libraries ( recorder Qt5::PrintSupport Qt5::Core Qt5::Widgets Qt5::Gui ${NIX_LIBRARIES} pylon::pylon)
+# ${PYLON_LIBRARIES} ${OpenCV_LIBRARIES})

camconfig.cpp

@@ -3,7 +3,7 @@
 #include "util.h"
 
 
-CamConfigurator::CamConfigurator(Pylon::DeviceInfoList_t &deviceList, QWidget *parent) :
+CamConfigurator::CamConfigurator(Pylon::DeviceInfoList &deviceList, QWidget *parent) :
     deviceList(deviceList), QDialog(parent), preview(nullptr) {
     mode_combo = new QComboBox(this);
     mode_combo->addItem("camera mode");

camerapreview.cpp

@@ -56,6 +56,7 @@ CameraPreview::CameraPreview(QWidget *parent):cameraname(""), camera(nullptr), Q
     takeStill();
 }
 
+
 void CameraPreview::setCamera(QString &device){
     qDebug() << "update camera! ";// << device.toStdString();
     cameraname = device;
@@ -199,6 +200,6 @@ CameraPreview::~CameraPreview(){
         delete camera;
         camera = nullptr;
     }
-    qDebug() << "preview: deleted camera";
+    qDebug() << "deleted camera";
 
 }

dualcamgrabber.cpp

@@ -0,0 +1,29 @@
+#include "dualcamgrabber.h"
+#include <iostream>
+#include <pylon/PylonIncludes.h>
+
+void DualcamGrabber::run() {
+  stop_request = false;
+  size_t framecount = 0;
+  if (wrapper->isOpen()) {
+      Pylon::CInstantCameraArray &cameras = wrapper->getCameraArray();
+      wrapper->frameRate(static_cast<uint>(framerate));
+      wrapper->exposureTime(exposure);
+      wrapper->gain(gain);
+      cameras.StartGrabbing();
+      Pylon::CGrabResultPtr frame0, frame1;
+
+      while (cameras.IsGrabbing() && !stop_request) {
+          MyImage *img = new MyImage();
+          cameras.RetrieveResult( 5000, framecount % 2 == 0 ? frame0 : frame1, Pylon::TimeoutHandling_ThrowException );
+          img->setFrame(framecount % 2 == 0 ? frame0 : frame1);
+          if (framecount % 2 == 0) {
+            buffer0->push(img);
+          } else {
+            buffer1->push(img);
+          }
+          framecount += 1;
+      }
+      cameras.StopGrabbing();
+    }
+}

dualcamgrabber.h

@@ -0,0 +1,58 @@
+#ifndef DUALCAMGRABBER_H
+#define DUALCAMGRABBER_H
+
+#include <QObject>
+#include <QThread>
+#include "dualcamwrapper.h"
+#include "imagebuffer.h"
+
+class DualcamGrabber : public QThread
+{
+  Q_OBJECT
+public:
+  DualcamGrabber(DualcamWrapper *wrapper, ImageBuffer *buffer0, ImageBuffer * buffer1, int framerate, QObject *parent = nullptr) :
+    QThread(parent), wrapper(wrapper), buffer0(buffer0), buffer1(buffer1), framerate(framerate) {}
+
+  void run() override;
+  void stop();
+  int currentFramerate() {
+    return framerate;
+  }
+
+  double currentExposureTime() {
+      return exposure;
+  }
+
+  double currentGain() {
+      return gain;
+  }
+
+private:
+  bool stop_request = false;
+  DualcamWrapper *wrapper;
+  ImageBuffer *buffer0, *buffer1;
+  int framerate;
+  double exposure, gain;
+
+public slots:
+  void requestStop() {
+    stop_request=true;
+  }
+
+  void setFrameRate(int newFramerate) {
+    framerate = newFramerate;
+  }
+
+  void setExposureTime(double newExposureTime) {
+    exposure = newExposureTime;
+  }
+
+  void setGain(double gain_db) {
+    gain = gain_db;
+  }
+
+signals:
+  void terminated();
+};
+
+#endif // DUALCAMGRABBER_H

dualcamwrapper.cpp

@@ -0,0 +1,262 @@
+#include "dualcamwrapper.h"
+
+DualcamWrapper::DualcamWrapper(const CameraLayout &layout): valid(false), withLayout(true) {
+  qDebug() << "Constructor with layout";
+  this->layout = layout;
+  Pylon::PylonInitialize();
+}
+
+
+DualcamWrapper::~DualcamWrapper() {
+  qDebug() << "wrapper destructor";
+  for (int i =0; i < cameras.GetSize(); ++i) {
+    if (cameras[i].IsOpen()) {
+        cameras[i].Close();
+        qDebug() << "Camera " << i << " is open, closing it!";
+    }
+  }
+  terminate();
+  qDebug() << "Successfully deleted cameras";
+}
+
+
+void DualcamWrapper::terminate() {
+  qDebug() << "Terminate";
+  try {
+    Pylon::PylonTerminate();
+  } catch (const Pylon::GenericException &e) {
+    std::cerr << e.GetDescription() << std::endl;
+  }
+}
+
+
+bool DualcamWrapper::isOpen() {
+  return valid;
+}
+
+
+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, int camindex) {
+  if (valid) {
+      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(int camindex) {
+  assert(camindex > 0 && camindex < 2);
+  double rate = -1.;
+  if (valid) {
+      GenApi::INodeMap& nodemap = getNodemap(camindex);
+      GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
+      Pylon::CFloatParameter framerate( n );
+      rate = framerate.GetValue();
+    }
+  return rate;
+}
+
+
+double DualcamWrapper::exposureTime(int camindex) {
+  assert(camindex > 0 && camindex < 2);
+  double time = -1.;
+  if (valid) {
+      GenApi::INodeMap& nodemap = getNodemap(camindex);
+      GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
+      Pylon::CFloatParameter exposure_time( n );
+      time = exposure_time.GetValue();
+    }
+  return time;
+}
+
+
+bool DualcamWrapper::exposureTime(double exposure_time, int camindex) {
+    if (valid) {
+        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 );
+        }
+      }
+    return false;
+}
+
+
+double DualcamWrapper::gain(int camindex) {
+  assert(camindex >= 0 && camindex < 2);
+  double gain = -1.;
+  if (valid) {
+      GenApi::INodeMap& nodemap = getNodemap(camindex);
+      GenApi::INode* n = nodemap.GetNode( "Gain" );
+      Pylon::CFloatParameter detector_gain( n );
+      gain = detector_gain.GetValue();
+    }
+  return gain;
+}
+
+
+bool DualcamWrapper::gain(double gain_db, int camindex) {
+    if (valid) {
+        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;
+}
+
+
+ImageSettings DualcamWrapper::getImageSettings(int camindex) {
+  ImageSettings settings;
+  if (valid) {
+    GenApi::INodeMap &nodemap = getNodemap(camindex);
+    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;
+}
+
+
+bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
+  Pylon::CGrabResultPtr frame;
+  Pylon::CInstantCamera* camera;
+  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 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);
+
+    camera->StartGrabbing();
+    camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
+    camera->StopGrabbing();
+  }
+  img.setFrame(frame);
+  return frame.IsValid();
+}
+
+
+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);
+  } catch (const Pylon::GenericException &e) {
+    std::string message = e.GetDescription();
+    std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
+    valid = false;
+  }
+}
+
+
+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 {
+        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();
+        std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
+        valid = false;
+        return valid;
+    }
+    resetCamera(0);
+    resetCamera(1);
+
+    return valid;
+}
+
+
+void DualcamWrapper::closeCameras() {
+  qDebug() << "Close cameras!";
+  if (cameras[0].IsOpen()) {
+    cameras[0].Close();
+  }
+  if (cameras[1].IsOpen()) {
+    cameras[1].Close();
+  }
+  valid = false;
+}
+
+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 = cameras[camindex].GetNodeMap();
+    return nodemap;
+}

dualcamwrapper.h

@@ -0,0 +1,44 @@
+#ifndef DUALCAMWRAPPER_H
+#define DUALCAMWRAPPER_H
+
+#include <pylon/PylonIncludes.h>
+#include <pylon/BaslerUniversalInstantCamera.h>
+#include "mylogger.h"
+#include "util.h"
+#include "myimage.h"
+
+
+class DualcamWrapper
+{
+public:
+    // DualcamWrapper(const std::string &name);
+    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, 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(int camindex);
+    bool gain(double gain_db, int camindex=-1);
+    Pylon::CInstantCameraArray &getCameraArray();
+    // Pylon::CInstantCamera getCamera(int camindex);
+
+private:
+    void resetCamera(int camindex);
+    Pylon::CInstantCameraArray cameras;
+    GenApi::INodeMap& getNodemap(int camindex);
+    bool valid, withLayout;
+    CameraLayout layout;
+
+};
+
+#endif // DUALCAMWRAPPER_H

grabber.cpp

@@ -1,8 +1,6 @@
 #include "grabber.h"
 #include <iostream>
 #include <pylon/PylonIncludes.h>
-#include <chrono>
-using namespace std::chrono;
 
 void Grabber::run() {
   stop_request = false;
@@ -11,19 +9,14 @@ void Grabber::run() {
       camera->frameRate(static_cast<uint>(framerate));
       camera->exposureTime(exposure);
       camera->gain(gain);
-      Pylon::CGrabResultPtr frame;
       Pylon::CInstantCamera *cam = camera->getCamera();
+      Pylon::CGrabResultPtr frame;
       cam->StartGrabbing();
       while (camera->isOpen() && !stop_request) {
           MyImage *img = new MyImage();
-          auto start = high_resolution_clock::now();
           cam->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
-          auto stop1 = high_resolution_clock::now();
           img->setFrame(frame);
-          auto stop2 = high_resolution_clock::now();
           buffer->push(img);
-          auto duration1 = duration_cast<microseconds>(stop1 - start);
-          auto duration2 = duration_cast<microseconds>(stop2 - stop1);
           count += 1;
       }
       cam->StopGrabbing();

imagebuffer.cpp

@@ -1,82 +1,77 @@
 #include "imagebuffer.h"
+#include "mylogger.h"
 #include <chrono>
 using namespace std::chrono;
 
 ImageBuffer::ImageBuffer(size_t buffer_size, QObject *parent) : QObject(parent), buffer_size(buffer_size) {
   buffer.resize(buffer_size, nullptr);
-  std::cerr << "imagebuffer constructor!" << std::endl;
+  qDebug() << "Imagebuffer constructor!";
 }
 
 void ImageBuffer::clear() {
-  std::cerr << "Clear Image buffer!" << std::endl;
+  qDebug() << "Clear Image buffer!";
 
   for (auto & img: buffer) {
-    std::cerr << "Clear Image buffer!" << std::endl;
-
     if (img != nullptr)
       delete(img);
       img = nullptr;
   }
-    std::cerr << "Clear Image buffer!" << std::endl;
-
   resize(buffer_size);
-  std::cerr << "Clear Image buffer! done" << std::endl;
-
 }
 
 size_t ImageBuffer::capacity() {
   return buffer.capacity();
 }
 
-double ImageBuffer::bufferPreassure() {
+double ImageBuffer::bufferPressure() {
-  double preassure;
+  double pressure;
+  size_t l = bufferLoad();
   mutex.lock();
-  preassure = static_cast<double>(load)/static_cast<double>(buffer.capacity());
+  pressure = l / buffer_size * 100;
   mutex.unlock();
-  return preassure * 100;
+  return pressure;
 }
 
 size_t ImageBuffer::bufferLoad() {
   size_t l;
   mutex.lock();
-  l = load;
+  if (read_idx > head_idx){
+    l = buffer_size - read_idx - head_idx;
+  } else {
+    l = head_idx - read_idx;
+  }
   mutex.unlock();
   return l;
 }
 
 void ImageBuffer::resize(size_t new_size) {
-  std::cerr << "Buffer Resize" << std::endl;
+  qDebug() << "Buffer Resize";
   mutex.lock();
-  
   buffer_size = new_size;
   buffer.clear();
-  buffer.resize(new_size, nullptr);
+  buffer.resize(buffer_size, nullptr);
-  current_read_index = 0;
+  framecounts.clear();
-  current_write_index = 0;
+  framecounts.resize(buffer_size, 0);
+  read_idx = 0;
+  head_idx = 0;
   load = 0;
+  framecount = 0;
   mutex.unlock();
 }
 
 void ImageBuffer::push(MyImage *img) {
   mutex.lock();
-  if (buffer[current_write_index] != nullptr) {
+  head_idx += 1;
-    std::cerr << "possible frame drop detected!!" << std::endl;
+  framecount +=1;
-    std::cerr << "buffer.push write: " << current_write_index << " read: " << current_read_index << " load: " << load << std::endl;
+  if (head_idx >= buffer_size) {
- 
+    head_idx = 0;
-    delete(buffer[current_write_index]);
   }
-  buffer[current_write_index] = img;
+  if (buffer[head_idx] != nullptr) {
-  current_write_index += 1;
+    delete(buffer[head_idx]);
-  load += 1;
-  if (current_write_index >= buffer_size){
-    current_write_index = 0;
-  } 
-  if (load >= buffer_size){
-    load = buffer_size;
-    if (current_read_index == current_write_index)
-      current_read_index = current_write_index < buffer_size - 1 ? current_write_index + 1 : 0;
   }
-  // std::cout << "Buffer.afterpush: load = " << load << " write index =" << current_write_index << " read index = " << current_read_index << std::endl;
+  buffer[head_idx] = img;
+  framecounts[head_idx] = framecount;
+  load = load < buffer_size ? load +=1 : buffer_size;
 
   mutex.unlock();
 }
@@ -89,33 +84,28 @@ bool ImageBuffer::bufferNotEmpty() {
   return res;
 }
 
-MyImage* ImageBuffer::pop() {
+MyImage* ImageBuffer::read(size_t &framecount){
-  bool ret = false;
+  MyImage *img = nullptr;
-  MyImage * img;
   mutex.lock();
-  if (load > 0) {
+  if (read_idx < head_idx) {
-    img = buffer[current_read_index];
+    read_idx += 1;
-    current_read_index < (buffer_size - 1) ? current_read_index += 1 : current_read_index = 0;
+  } else if (read_idx > head_idx) {
-    load -= 1;
+    read_idx < buffer_size ? read_idx += 1 : read_idx = 0;
+  } else {
+    framecount = 0;
+    return img;
   }
+  img = buffer[read_idx];
+  framecount = framecounts[read_idx];
   mutex.unlock();
-  std::cerr << "buffer.pop write: " << current_write_index << " read: " << current_read_index << " load: " << load << std::endl;
-
   return img;
 }
 
-MyImage* ImageBuffer::readLast() {
+MyImage* ImageBuffer::readLast(size_t &framecount) {
-  MyImage *img;
+  MyImage *img = nullptr;
   mutex.lock();
-  if (load > 0) {
+  img = buffer[head_idx];
-    size_t idx = current_write_index - 1;
+  framecount = framecounts[head_idx];
-
-    if (idx < 0) {
-      std::cerr << "Bank" << std::endl;
-      idx = buffer_size - 1;
-    }
-    img = buffer[idx];
-  }
   mutex.unlock();
   return img;
 }

imagebuffer.h

@@ -17,10 +17,10 @@ public:
   void clear();
   void resize(size_t new_size);
   void push(MyImage *img);
-  MyImage* pop();
+  MyImage* read(size_t &framecount);
-  MyImage* readLast();
+  MyImage* readLast(size_t &framecount);
   size_t capacity();
-  double bufferPreassure();
+  double bufferPressure();
   size_t bufferLoad();
   bool bufferNotEmpty();
 
@@ -29,10 +29,12 @@ private:
   int numUsedBytes = 0;
 
   std::vector<MyImage*> buffer;
-  size_t current_write_index = 0;
+  std::vector<size_t> framecounts;
-  size_t current_read_index = 0;
+  size_t head_idx = 0;
+  size_t read_idx = 0;
   size_t load = 0;
   size_t buffer_size;
+  size_t framecount = 0;
 
 signals:
 

notes.md

@@ -3,12 +3,34 @@
 Recorder for up to two Basler cameras.
 
 ## TODOs
+
 * implement grabbing from 2 joined cameras
 * set the region of interest
 * save properly
 
-## FIXMEs & improvements
+## FIXMEs
 
-* make the max image sizes depend on camera
+* dualcamwrapper: remove hardcode
+* dualcamwrapper: support setting exposure individually
+* dualcamwrapper: support setting gain individually
+* pylonrecorder somehow remembers the old layout:
+* display of images during recording of both cameras.
+* 
 
+## Improvements
 
+* make the max image sizes depend on camera
+* detect framedrops based on the framecounts
+* support reading out camera health (temperature)
+* add interface to change camera DeviceUserID to provided an user friendly name for the cameras
+* code cleanup check import guards
+* check private public 
+* add interface for single- dual- multi-camera support
+* same for grabbing from single or multiple devices
+* support handling of multiple buffers in GUI (load, pessure)
+* remove the old open, save etc. functions.
+* improve dry run to not create panik by showing the buffer lad to go up
+* support buffer progress for two cams/buffers
+* add functionality to adjust the gain per camera (automatically?)
+* cleanup setter function on dual and single camera wrappers...
+* remove full name from SinglecamWrapper

pylonrecorder.cpp

@@ -21,7 +21,6 @@
 #include <iostream>
 #include <chrono>
 #include <cmath>
-#include "util.h"
 
 #if defined(QT_PRINTSUPPORT_LIB)
 #  include <QtPrintSupport/qtprintsupportglobal.h>
@@ -33,9 +32,13 @@
 #endif
 
 PylonRecorder::PylonRecorder(QWidget *parent)
-  : QMainWindow(parent), imageLabel(new QLabel), scrollArea(new QScrollArea), grabber(nullptr), writer(nullptr), buffer(nullptr), pyloncam(nullptr)
+  : QMainWindow(parent), imageLabel(new QLabel), scrollArea(new QScrollArea),
+    singlecamgrabber(nullptr), dualcamgrabber(nullptr), 
+    writer0(nullptr), writer1(nullptr),
+    buffer0(nullptr), buffer1(nullptr), 
+    singlecam(nullptr), dualcam(nullptr),
+    dryRun(false), cameraOpened(false), camsconfigured(false)
 {
-  dryRun = false;
   imageLabel->setBackgroundRole(QPalette::Base);
   imageLabel->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored);
   imageLabel->setScaledContents(true);
@@ -44,38 +47,21 @@ PylonRecorder::PylonRecorder(QWidget *parent)
   scrollArea->setWidget(imageLabel);
   scrollArea->setVisible(false);
   setCentralWidget(scrollArea);
-  // Pylon::DeviceInfoList_t deviceList = detectCameras();
+
-  // for (auto dev : deviceList) {
-  //   std::cout << dev.GetFullName() << " " << dev.GetFriendlyName() << std::endl;
-  // }
-  // std::cout << "peng\n";
-  // std::cout << deviceList.size() << std::endl;
-  // std::cout << "peng\n";
-
-  // if (deviceList.size() == 0) {
-  //   QErrorMessage message(this);
-  //   message.showMessage("No camera detected!");
-  // } else {
-  //   std::cout << "peng\n";
-  //   buffer = new ImageBuffer(defaultBufferSize);
-  //   grabber = new Grabber(pyloncam, buffer, defaultFrameRate);
-  //   writer = new Writer(buffer);
-  //   connect(writer, &Writer::writingDone, this, &PylonRecorder::writerDone);
-  // } 
   frameTimer = new QTimer(this);
   connect(frameTimer, &QTimer::timeout, this, &PylonRecorder::displaySingleFrame);
-  preassureTimer = new QTimer(this);
+  pressureTimer = new QTimer(this);
-  connect(preassureTimer, &QTimer::timeout, this, &PylonRecorder::displayBufferPressure);
+  connect(pressureTimer, &QTimer::timeout, this, &PylonRecorder::displayBufferPressure);
   labelTimer = new QTimer(this);
   connect(labelTimer, &QTimer::timeout, this, &PylonRecorder::displayActivity);
-  preassureBar = new QProgressBar(this);
+  pressureBar = new QProgressBar(this);
-  preassureBar->setRange(0, 100);
+  pressureBar->setRange(0, 100);
-  preassureBar->setTextVisible(true);
+  pressureBar->setTextVisible(true);
-  preassureBar->setFixedSize(200, 25);
+  pressureBar->setFixedSize(200, 25);
   QColor color = progressColor(0);
-  QPalette progressPalette = preassureBar->palette();
+  QPalette progressPalette = pressureBar->palette();
   progressPalette.setBrush(QPalette::Highlight, QBrush(color));
-  preassureBar->setPalette(progressPalette);
+  pressureBar->setPalette(progressPalette);
   QLabel *preassureLabel = new QLabel("Buffer preassure:", this);
   preassureLabel->setStyleSheet("QLabel{font-size: 11pt;font-family: Arial;font-weight: Bold}");
   loadBar = new QProgressBar(this);
@@ -105,7 +91,7 @@ PylonRecorder::PylonRecorder(QWidget *parent)
   statusBar()->addWidget(camHeader);
   statusBar()->addWidget(cameraConnectedLabel);
   statusBar()->addWidget(preassureLabel);
-  statusBar()->addWidget(preassureBar);
+  statusBar()->addWidget(pressureBar);
   statusBar()->addWidget(loadLabel);
   statusBar()->addWidget(loadBar);
   statusBar()->addWidget(statusHeader);
@@ -120,61 +106,65 @@ PylonRecorder::PylonRecorder(QWidget *parent)
   applySettings();
 }
 
-void PylonRecorder::setupCameras(){
-  for (auto dev : deviceList) {
-    std::cout << dev.GetFullName() << " " << dev.GetFriendlyName() << std::endl;
-  }
-  std::cout << "peng\n";
-  std::cout << deviceList.size() << std::endl;
-  std::cout << "peng\n";
-
-  if (deviceList.size() == 0) {
-    qWarning() << "device list is empty!";
-    QErrorMessage message(this);
-    message.showMessage("No camera detected!");
-  } else {
-    std::cout << "peng\n";
-    // std::string cname = (std::string)deviceList[0].GetFullName(); 
-    // pyloncam = new PylonWrapper(cname);
-    qDebug() << "Creating buffer, grabber, and writer";
-    buffer = new ImageBuffer(defaultBufferSize);
-    grabber = new Grabber(pyloncam, buffer, defaultFrameRate);
-    writer = new Writer(buffer);
-    connect(writer, &Writer::writingDone, this, &PylonRecorder::writerDone);
-  } 
-}
-
 void PylonRecorder::detectCameras() {
+  qDebug() << "Detecting devices!";
   Pylon::CTlFactory& TlFactory = Pylon::CTlFactory::GetInstance();
   TlFactory.EnumerateDevices(deviceList);
+  qDebug() << "Found devices!" << deviceList.size();
 }
 
 PylonRecorder::~PylonRecorder(){
   qDebug() << "Destructing PylonRecorder";
-  if (grabber != nullptr && grabber->isRunning()) { 
+  if (singlecamgrabber != nullptr && singlecamgrabber->isRunning()) { 
-      grabber->requestStop();
+      singlecamgrabber->requestStop();
-      grabber->wait(1000);
+      singlecamgrabber->wait(1000);
   }
-  if (writer != nullptr && writer->isRunning()) {
+  if (writer0 != nullptr && writer0->isRunning()) {
-      writer->forceStop();
+      writer0->forceStop();
-      writer->wait(1000);
+      writer0->wait(1000);
   }
   storeSettings();
-  if (pyloncam != nullptr) {
+  if (singlecam != nullptr) {
-    qDebug() << "Deleting pyloncam";
+    qDebug() << "Deleting singlecam";
-    delete pyloncam;
+    delete singlecam;
-    pyloncam = nullptr;
+    singlecam = nullptr;
+  }
+  if (dualcam != nullptr) {
+    qDebug() << "Deleting dualcam";
+    delete dualcam;
+    dualcam = nullptr;
   }
 
-  if (buffer != nullptr) {
+  if (buffer0 != nullptr) {
+    qDebug() << "Deleting buffer";
+    delete buffer0;
+    buffer0 = nullptr;
+  }
+  if (buffer1 != nullptr) {
     qDebug() << "Deleting buffer";
-    delete buffer;
+    delete buffer1;
-    buffer = nullptr;
+    buffer1 = nullptr;
+  }
+  if (singlecamgrabber != nullptr) {
+    qDebug() << "Deleting grabber";
+    delete singlecamgrabber;
+    singlecamgrabber = nullptr;
+  }
+  if (dualcamgrabber != nullptr) {
+    qDebug() << "Deleting grabber";
+    delete dualcamgrabber;
+    dualcamgrabber = nullptr;
+  }
+  if (writer0 != nullptr) {
+    qDebug() << "Deleting writer";
+    delete writer0;
+    writer0 = nullptr;
+  }
+  if (writer1 != nullptr) {
+    qDebug() << "Deleting writer";
+    delete writer1;
+    writer1 = nullptr;
   }
-  qDebug() << "Deleting grabber";
-  delete grabber;
-  qDebug() << "Deleting writer";
-  delete writer;
   qDebug() << "Deleting setting";
   delete settings;
 }
@@ -197,6 +187,7 @@ void PylonRecorder::applySettings() {
 
 
 void PylonRecorder::storeSettings() {
+  // FIXME store cam layout to settings
   settings->setValue("camera/exposure", exposureSpinner->value());
   settings->setValue("camera/framerate", framerateSpinner->value());
   settings->setValue("camera/gain", gainSpinner->value());
@@ -228,6 +219,7 @@ bool PylonRecorder::loadFile(const QString &fileName) {
 
 
 void PylonRecorder::setImage(const QImage &newImage) {
+  //FIXME figure out how to display both images. extract to extra class...
   image = newImage;
   // (image.colorSpace().isValid())
   //  image.convertToColorSpace(QColorSpace::SRgb);
@@ -237,12 +229,13 @@ void PylonRecorder::setImage(const QImage &newImage) {
   scrollArea->setVisible(true);
   printAct->setEnabled(true);
   fitToWindowAct->setEnabled(true);
-  updateActions();
+  //updateActions();
 
   if (!fitToWindowAct->isChecked()) {
     imageLabel->adjustSize();
     applyScaling();
   }
+  this->update();
 }
 
 
@@ -557,7 +550,8 @@ void PylonRecorder::updateActions() {
   disconnect_camera_action->setEnabled(deviceList.size() > 0);
   connect_camera_action->setEnabled(true);
   grab_still_action->setEnabled(deviceList.size() > 0);
-  //grab_continuous_action->setEnabled(deviceList.size() > 0 && pyloncam->isOpen() && !grabbing);
+  grab_continuous_action->setEnabled(cameraOpened && !grabbing);
+  // grab_continuous_action->setEnabled(!grabbing);
   grab_stop_action->setEnabled(grabbing);
 }
 
@@ -582,14 +576,15 @@ void PylonRecorder::applyScaling(){
 
 
 void PylonRecorder::quitApplication() {
-  qDebug() << "Quit Application!";
+  qDebug() << "QuitApplication: Quit Application!";
-
   if (grabbing) {
+    std::cerr << "QuitApplication: Stop grabbing\n";
     qDebug() << "QuitApplication: Stop grabbing";
     stopRecording();
   }
   qDebug() << "QuitApplication done!";
   this->close();
+  std::cerr << "QuitApplication: done,\n";
 }
 
 
@@ -598,105 +593,212 @@ void PylonRecorder::adjustScrollBar(QScrollBar *scrollBar, double factor) {
                           + ((factor - 1) * scrollBar->pageStep()/2)));
 }
 
+
 void PylonRecorder::cameraConfiguration(){
     d = new CamConfigurator(deviceList, this);
-    connect(d, SIGNAL(accepted()), SLOT(camerasetup()));
+    connect(d, SIGNAL(accepted()), SLOT(cameraConfigurationAccepted()));
+    connect(d, SIGNAL(rejected()),  SLOT(cameraConfigurationAborted()));
     // QObject::connect(&d, SIGNAL(column_visibility_changed(QString, QString,bool)), this, SLOT(visible_columns_update(QString, QString,bool)));
     d->exec();
 }
 
-void PylonRecorder::camerasetup() {
-  std::cerr << "camera settings accepted" << std::endl;
-  std::cerr << d->result() << std::endl;
-  std::cerr << "camera settings accepted" << std::endl;
-  CameraLayout l = d->layout();
-  std::cerr << l.rois.size() << l.devices.size() << std::endl;
-  std::cerr << "camera settings accepted" << std::endl;
 
+void PylonRecorder::cameraConfigurationAccepted() {
+  qDebug() << "Cameras setting " << ((d->result()) ? "Accepted" : "Discarded");
+  this->layout = d->layout();
+  camsconfigured = true;
   delete d;
 }
 
+
+void PylonRecorder::cameraConfigurationAborted() {
+  qDebug() << "Camera configuration aborted!";
+  camsconfigured = false;
+}
+
+
 void PylonRecorder::connectCamera() {
+  this->layout = CameraLayout();
+  std::cerr << this->layout.rois.size() << " " << this->layout.devices.size() << std::endl;
+  qDebug() << "connecting camera(s)";
   if (deviceList.size() == 0) {
     detectCameras();
     QMessageBox msgBox;
     QString msg = "<p><b>No camera device found!</b></p><br><p>Connect camera and try again!</p>";
     msgBox.setText(msg);
     msgBox.exec();
-  } else {
+    qWarning() << msg.toStdString().c_str();
-    // std::string cname = (std::string)deviceList[0].GetFullName(); 
+    return;
-    // pyloncam = new PylonWrapper(cname);
+  }
-    // std::string message;
+  cameraConfiguration();
-    // bool success = pyloncam->openCamera(message);
+  if (!camsconfigured) {
-    // if (success) {
+    qDebug() << "cameras have not been properly configured!";
-    //   cameraConnectedLabel->setText("connected");
+    return;
-    //   cameraConnectedLabel->setStyleSheet("QLabel { font-size: 10px;font-family: Arial;color: green;}");
+  }
-    // } else {
+  if (layout.mode == CameraMode::single && layout.devices.size() == 1) {
-    //   QMessageBox msgBox;
+    qDebug() << "single camera mode";
-    //   QString msg = "<p><b>Could not open camera device!</b><p><p>" + QString::fromStdString(message) + "</p>";
+    std::string cname = layout.devices[0];
-    //   msgBox.setText(msg);
+    std::string message;
-    //   msgBox.exec();
+    qDebug() << "connecting to camera " << cname.c_str();
-    // }
+    singlecam = new PylonWrapper(layout);
-    // statusBar()->showMessage(QString::fromStdString(message));
+    bool success = singlecam->openCamera(message);
-    // updateActions();
+    if (success) {
-    cameraConfiguration();
+      cameraConnectedLabel->setText("connected");
+      cameraConnectedLabel->setStyleSheet("QLabel { font-size: 10px;font-family: Arial;color: green;}");
+      cameraOpened = true;
+    } else {
+      QMessageBox msgBox;
+      QString msg = "<p><b>Could not open camera device!</b><p><p>" + QString::fromStdString(message) + "</p>";
+      msgBox.setText(msg);
+      msgBox.exec();
+      cameraOpened = false;
+    }
+    statusBar()->showMessage(QString::fromStdString(message));
+    updateActions();
+  }
+  if (layout.mode == CameraMode::dual && layout.devices.size() == 2) {
+    qDebug() << "dual camera mode";
+    std::string message;
+    qDebug() << "creating dual cam wrapper";
+    dualcam = new DualcamWrapper(layout);
+    bool success = dualcam->openCameras(message);
+    if (success) {
+      cameraConnectedLabel->setText("connected");
+      cameraConnectedLabel->setStyleSheet("QLabel { font-size: 10px;font-family: Arial;color: green;}");
+      cameraOpened = true;
+    } else {
+      QMessageBox msgBox;
+      QString msg = "<p><b>Could not open camera device!</b><p><p>" + QString::fromStdString(message) + "</p>";
+      msgBox.setText(msg);
+      msgBox.exec();
+      cameraOpened = false;
+    }
+    statusBar()->showMessage(QString::fromStdString(message));
+    updateActions();
   }
+  qDebug() << "connecting cam(s) done!";
 }
 
 
 void PylonRecorder::disconnectCamera() {
-  if (pyloncam->isOpen()) {
+  qDebug() << "disconnecting camera";
-    pyloncam->closeCamera();
+  if (singlecam != nullptr && singlecam->isOpen()) {
-    statusBar()->showMessage(tr("Camera closed!"));
+    singlecam->closeCamera();
-    cameraConnectedLabel->setText("not connected");
+  }
-    cameraConnectedLabel->setStyleSheet("QLabel { font-size: 10px;font-family: Arial;color: red;}");
+  if (dualcam != nullptr && dualcam->isOpen()) {
-    updateActions();
+    dualcam->closeCameras();
+  }
+  statusBar()->showMessage(tr("Camera closed!"));
+  cameraConnectedLabel->setText("not connected");
+  cameraConnectedLabel->setStyleSheet("QLabel { font-size: 10px;font-family: Arial;color: red;}");
+  updateActions();
+  camsconfigured = false;
+  cameraOpened = false;
+  qDebug() << "disconnecting cameras done";
+}
+
+VideoSpecs PylonRecorder::getVideoSpecs(const ImageSettings &settings) {
+  VideoSpecs s = VideoSpecs();
+  if (this->layout.mode == CameraMode::single && this->layout.devices.size() > 0) {
+    s.fps = framerateSpinner->value();
+    s.exposureTime = static_cast<double>(exposureSpinner->value());
+    s.detectorGain = static_cast<double>(gainSpinner->value());
+    s.width = static_cast<uint32_t>(this->layout.rois[0].width);
+    s.height = static_cast<uint32_t>(this->layout.rois[0].height);
+    s.xoffset = static_cast<uint32_t>(this->layout.rois[0].x);
+    s.yoffset = static_cast<uint32_t>(this->layout.rois[0].y);
+
+    s.pixelType = settings.pixelType;
+    s.orientation = settings.orientation;
+    s.quality = 95;
+  } else {
+    qWarning() << "Dual camera mode not supported yet!";
   }
+  return s;
 }
 
 
-void PylonRecorder::startRecording() {
+void PylonRecorder::startSinglecamRecording() {
-  std::string filename = createFilename();
+  qDebug() << "start recording!";
+  std::string filename = createFilename(".mp4");
   fileLabel->setText(QString::fromStdString(filename));
-  ImageSettings settings = pyloncam->getImageSettings();
+  qDebug() << "storing to file " << filename.c_str();
 
-  VideoSpecs specs;
+  ImageSettings settings = singlecam->getImageSettings();
-  specs.fps = framerateSpinner->value();
+  qDebug() << "got image settings";
+
+  VideoSpecs specs = getVideoSpecs(settings);
   specs.filename = filename;
-  specs.exposureTime = static_cast<double>(exposureSpinner->value());
+  specs.format = VideoFormat::mp4;
-  specs.detectorGain = static_cast<double>(gainSpinner->value());
+  qDebug() << "got video specifications";
-  specs.width = static_cast<uint32_t>(settings.width);
+
-  specs.height= static_cast<uint32_t>(settings.height);
+  if (buffer0 != nullptr) {
-  specs.pixelType = settings.pixelType;
+    buffer0->clear();
-  specs.orientation = settings.orientation;
+    delete buffer0;
-  specs.quality = 95;
+    buffer0 = nullptr;
-  if (buffersizeSpinner->value() != static_cast<int>(buffer->capacity())) {
+  }
-    buffer->resize(static_cast<size_t>(buffersizeSpinner->value()));
+  qDebug() << "setting image buffer to size " << buffersizeSpinner->value();
+  buffer0 = new ImageBuffer(defaultBufferSize);
+  if (buffersizeSpinner->value() != static_cast<int>(buffer0->capacity())) {
+    buffer0->resize(static_cast<size_t>(buffersizeSpinner->value()));
     loadBar->setRange(0, buffersizeSpinner->value());
   }
-  if (framerateSpinner->value() != grabber->currentFramerate())
+
-    grabber->setFrameRate(framerateSpinner->value());
+  qDebug() << "setting up grabber";
-  if (exposureSpinner->value() != int(grabber->currentExposureTime()))
+  if (singlecamgrabber != nullptr) {
-      grabber->setExposureTime(static_cast<double>(exposureSpinner->value()));
+    delete singlecamgrabber;
-  if (gainSpinner->value() != int(grabber->currentGain()))
+    singlecamgrabber = nullptr;
-      grabber->setGain(static_cast<double>(gainSpinner->value()));
+  }
-  writer->setVideoSpecs(specs);
+  singlecamgrabber = new Grabber(singlecam, buffer0, defaultFrameRate);
+  
+  if (framerateSpinner->value() != singlecamgrabber->currentFramerate())
+    singlecamgrabber->setFrameRate(framerateSpinner->value());
+  if (exposureSpinner->value() != int(singlecamgrabber->currentExposureTime()))
+      singlecamgrabber->setExposureTime(static_cast<double>(exposureSpinner->value()));
+  if (gainSpinner->value() != int(singlecamgrabber->currentGain()))
+      singlecamgrabber->setGain(static_cast<double>(gainSpinner->value()));
+
+  qDebug() << "setup writer";
+  if (writer0 != nullptr) {
+    delete writer0;
+    writer0 = nullptr;
+  }
+  writer0 = new Writer(buffer0);
+  connect(writer0, &Writer::writingDone, this, &PylonRecorder::writerDone);
+  writer0->setVideoSpecs(specs);
+
   QSettings s;
   this->mdata.read(s);
-  writer->setProjectMetadata(mdata);
+  writer0->setProjectMetadata(mdata);
 
-  buffer->clear();
+  buffer0->clear();
   if (!dryRunCheckBox->isChecked()) {
-    writer->start();
+    writer0->start();
     writing = true;
   }
   dryRun = dryRunCheckBox->isChecked();
-  grabber->start();
+  singlecamgrabber->start();
   grabbing = true;
-  stopRequest = false;
+  stopRequest = false;  
+}
+
+
+void PylonRecorder::startDualcamRecording() {
+
+}
+
 
-  preassureTimer->start(50);
+void PylonRecorder::startRecording() {
-  frameTimer->start(50);
+  if (layout.mode == CameraMode::single) {
+    startSinglecamRecording();
+  } else if (layout.mode == CameraMode::dual){
+    startDualcamRecording();
+  } else {
+    qDebug() << "invalid camera mode!";
+  }
+
+  pressureTimer->start(50);
+  frameTimer->start(100);
   labelTimer->start(650);
   updateActions();
 }
@@ -708,17 +810,17 @@ void PylonRecorder::stopRecording() {
       qDebug() << "StopRecording: stop frame timer!";
       frameTimer->stop();
       qDebug() << "StopRecording: stop grabber!";
-      if (grabber !=nullptr)
+      if (singlecamgrabber !=nullptr)
-        grabber->requestStop();
+        singlecamgrabber->requestStop();
       qDebug() << "StopRecording: stop writer!";
-      if (writer != nullptr)
+      if (writer0 != nullptr)
-        writer->requestStop();
+        writer0->requestStop();
       grabbing = false;
       stopRequest = true;
       grab_stop_action->setEnabled(false);
       qDebug() << "StopRecording: clear buffer!";
-      if(buffer != nullptr) {
+      if(buffer0 != nullptr) {
-          buffer->clear();
+          buffer0->clear();
           writerDone();
       }
   }
@@ -727,14 +829,15 @@ void PylonRecorder::stopRecording() {
 
 
 void PylonRecorder::writerDone() {
-  preassureTimer->stop();
+  std::cerr << "writer is Done!!!" << std::endl;
-  preassureBar->reset();
+  pressureTimer->stop();
+  pressureBar->reset();
   loadBar->reset();
   labelTimer->stop();
   writingLabel->setStyleSheet(inactiveLabelStyle);
   grabbingLabel->setStyleSheet(inactiveLabelStyle);
-  grabber->wait(10000);
+  singlecamgrabber->wait(10000);
-  writer->wait(10000);
+  writer0->wait(10000);
   writing = false;
   updateActions();
   qInfo() << "writer is Done!";
@@ -749,14 +852,16 @@ void PylonRecorder::displayActivity() {
 
 
 void PylonRecorder::displaySingleFrame() {
-    MyImage *img = buffer->readLast();
+  MyImage *img;
-    if (img != nullptr){
+  size_t fc = 0;
-      QImage qimg(static_cast<uchar *>(img->data()), img->width(), img->height(),
+  img = buffer0->readLast(fc);
-                  QImage::Format::Format_Grayscale8);
+  if (img != nullptr){
-      setImage(qimg);
+    std::cerr << "display, last frame count " << fc << std::endl;
-    }/* else {
+    QImage qimg(static_cast<uchar *>(img->data()), img->width(), img->height(), QImage::Format::Format_Grayscale8);
-        std::cerr << "Error reading last image" << std::endl;
+    setImage(qimg);
-    }*/
+  }else {
+      std::cerr << "Error reading last image" << std::endl;
+  }
 }
 
 
@@ -772,13 +877,12 @@ QColor PylonRecorder::progressColor(int value) {
 }
 
 
-std::string PylonRecorder::createFilename() {
+std::string PylonRecorder::createFilename(const std::string &suffix, const std::string &extension) {
   QDateTime dt(QDateTime::currentDateTimeUtc());
   QDate date = dt.date();
   std::string base = (date.toString("yyyy.MM.dd") + "_").toStdString();
-  std::string extension = ".raw";
   QString idx = QString::number(movieCount);
-  std::string fname = base + idx.toStdString() + extension;
+  std::string fname = base + idx.toStdString() + suffix + extension;
   while (QFile::exists(QString::fromStdString(fname))) {
       movieCount++;
       fname = base + QString::number(movieCount).toStdString() + extension;
@@ -788,21 +892,22 @@ std::string PylonRecorder::createFilename() {
 
 
 void PylonRecorder::displayBufferPressure() {
-  int value = static_cast<int>(round(buffer->bufferPreassure()));
+  int value = static_cast<int>(round(buffer0->bufferPressure()));
-  preassureBar->setValue(value);
+  pressureBar->setValue(value);
   QColor color = progressColor(value);
   progressPalette.setBrush(QPalette::Highlight, QBrush(color));
-  preassureBar->setPalette(progressPalette);
+  pressureBar->setPalette(progressPalette);
 
-  int load = static_cast<int>(buffer->bufferLoad());
+  int load = static_cast<int>(buffer0->bufferLoad());
   loadBar->setValue(load);
 }
 
 
 void PylonRecorder::grabStillFromPylon() {
-  if (pyloncam->isOpen()) {
+  qDebug() << "Grab still image form camera!";
+  if (singlecam != nullptr && singlecam->isOpen()) {
       MyImage img;
-      bool valid = pyloncam->grabFrame(img);
+      bool valid = singlecam->grabFrame(img);
       if (valid) {
           QImage qimg(static_cast<uchar *>(img.data()), img.width(), img.height(),
                      QImage::Format::Format_Grayscale8);
@@ -811,6 +916,7 @@ void PylonRecorder::grabStillFromPylon() {
     } else {
       statusBar()->showMessage(tr("Camera is not open! Connect to camera first!"));
     }
+  qDebug() << "grabbing still image done!";
 }
 
 

pylonrecorder.h

@@ -8,11 +8,14 @@
 #include <QSettings>
 #include <pylon/PylonIncludes.h>
 #include "pylonwrapper.h"
+#include "dualcamwrapper.h"
 #include "imagebuffer.h"
 #include "grabber.h"
+#include "dualcamgrabber.h"
 #include "writer.h"
 #include "projectsettings.h"
 #include "camconfig.h"
+#include "util.h"
 
 #include <QImage>
 #if defined(QT_PRINTSUPPORT_LIB)
@@ -65,7 +68,8 @@ private slots:
     void displayActivity();
     void writerDone();
     void selectStorageLocation();
-    void camerasetup();
+    void cameraConfigurationAccepted();
+    void cameraConfigurationAborted();
 
 private:
     void createActions();
@@ -77,8 +81,11 @@ private:
     void setExperimenterName();
     void setSubjectID();
     QColor progressColor(int value);
-    std::string createFilename();
+    std::string createFilename(const std::string &suffix="", const std::string &extension=".raw");
     void cameraConfiguration();
+    VideoSpecs getVideoSpecs(const ImageSettings &settings);
+    void startSinglecamRecording();
+    void startDualcamRecording();
 
     bool saveFile(const QString &fileName);
     void setImage(const QImage &newImage);
@@ -86,22 +93,24 @@ private:
     void applyScaling();
     void adjustScrollBar(QScrollBar *scrollBar, double factor);
     void detectCameras();
-    void setupCameras();
     int defaultBufferSize = 3000, defaultFrameRate = 30, movieCount = 0, defaultExposureTime = 6000, defaultGain=13;
     QSettings *settings = new QSettings;
     QImage image;
-    QTimer *frameTimer, *preassureTimer, *labelTimer;
+    QTimer *frameTimer, *pressureTimer, *labelTimer;
     QLabel *imageLabel, *writingLabel, *grabbingLabel, *cameraConnectedLabel, *fileLabel;
     QCheckBox *dryRunCheckBox;
-    QProgressBar *preassureBar;
+    QProgressBar *pressureBar;
     QProgressBar *loadBar;
     QScrollArea *scrollArea;
     double scaleFactor = 1;
-    PylonWrapper *pyloncam;
+    PylonWrapper *singlecam;
-    ImageBuffer *buffer;
+    DualcamWrapper *dualcam;
-    Grabber *grabber;
+    ImageBuffer *buffer0, *buffer1;
-    Writer *writer;
+    Grabber *singlecamgrabber;
-    bool grabbing, stopRequest, writing, labelSwitch, dryRun;
+    DualcamGrabber *dualcamgrabber;
+    Writer *writer0, *writer1;
+    CameraLayout layout;
+    bool grabbing, stopRequest, writing, labelSwitch, dryRun, cameraOpened, camsconfigured;
     QPalette progressPalette;
     QString activeLabelStyleHigh = "QLabel { font-size: 10pt;font-family: Arial; color : red; }";
     QString activeLabelStyleLow = "QLabel { font-size: 10pt;font-family: Arial; color : cmyk(0, 255, 255, 0, 50); }";

pylonwrapper.cpp

@@ -1,32 +1,34 @@
 #include "pylonwrapper.h"
 
 PylonWrapper::PylonWrapper(const std::string &fullName):
-  valid(false), fullName(fullName), camera(nullptr) {
+  valid(false), fullName(fullName), camera(nullptr), withLayout(false) {
+  qDebug() << "Constructor with name";
+  Pylon::PylonInitialize();
+}
+
+PylonWrapper::PylonWrapper(const CameraLayout &layout): valid(false), withLayout(true), camera(nullptr) {
+  qDebug() << "Constructor with layout";
+  this->fullName = layout.devices[0];
+  this->layout = layout;
   Pylon::PylonInitialize();
-  // camera = new Pylon::CInstantCamera();
-  // std::cerr << "Wrapper:camera is open" << camera->IsOpen() << std::endl;
-  // std::cerr << "Wrapper:is valid" << valid << std::endl;
 }
 
 PylonWrapper::~PylonWrapper() {
-  std::cerr << "wrapper destructor" << std::endl;
+  qDebug() << "wrapper destructor";
   if (camera != nullptr){
-    std::cerr << "check camera!" << std::endl;
     if (camera->IsOpen()) {
-        std::cerr << "close camera!" << std::endl;
+        qDebug() << "Camera open, closing it!";
     camera->Close();
-    // std::cerr << "terminate pylon" << std::endl;
-    // terminate();
     }
-    std::cerr << "delete camera!" << std::endl;
-
     delete camera;
     camera = nullptr;
   }
-  std::cerr << "wrapper: deleted camera" << std::endl;
+  terminate();
+  qDebug() << "Successfully deleted camera";
 }
 
 void PylonWrapper::terminate() {
+  qDebug() << "Terminate";
   try {
     Pylon::PylonTerminate();
   } catch (const Pylon::GenericException &e) {
@@ -126,13 +128,14 @@ bool PylonWrapper::gain(double gain_db) {
 ImageSettings PylonWrapper::getImageSettings() {
   ImageSettings settings;
   if (valid) {
+      Pylon::CEnumParameter pixelFormat( camera->GetNodeMap(), "PixelFormat" );
+      Pylon::CPixelTypeMapper pixelTypeMapper( &pixelFormat );
+      Pylon::EPixelType pixelType = pixelTypeMapper.GetPylonPixelTypeFromNodeValue( pixelFormat.GetIntValue() );
       Pylon::CIntegerParameter width( camera->GetNodeMap(), "Width");
       Pylon::CIntegerParameter height( camera->GetNodeMap(), "Height");
-      Pylon::CEnumParameter pixelFormat( camera->GetNodeMap(), "PixelFormat");
+      settings.pixelType = pixelType;
-      Pylon::CPixelTypeMapper pixelTypeMapper(&pixelFormat);
+      settings.width = (uint32_t)width.GetValue();
-      settings.pixelType = pixelTypeMapper.GetPylonPixelTypeFromNodeValue(pixelFormat.GetIntValue());
+      settings.height = (uint32_t)height.GetValue();
-      settings.width = width.GetValue();
-      settings.height = height.GetValue();
       settings.orientation = Pylon::EImageOrientation::ImageOrientation_TopDown;
     }
   return settings;
@@ -140,21 +143,48 @@ ImageSettings PylonWrapper::getImageSettings() {
 
 bool PylonWrapper::grabFrame(MyImage &img) {
   Pylon::CGrabResultPtr frame;
+  qDebug() << "grabFrame";
   if (valid) {
-      camera->StartGrabbing();
+    qDebug() << "Setting width" << layout.rois[0].width;
-      camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
+    Pylon::CIntegerParameter(camera->GetNodeMap(), "Width").SetValue(layout.rois[0].width);
-      camera->StopGrabbing();
+    qDebug() << "Setting height" << layout.rois[0].height;
-    }
+    Pylon::CIntegerParameter(camera->GetNodeMap(), "Height").SetValue(layout.rois[0].height);
+    qDebug() << "Setting xoffset" << layout.rois[0].x;
+    Pylon::CIntegerParameter(camera->GetNodeMap(), "OffsetX").SetValue(layout.rois[0].x);
+    qDebug() << "Setting yoffset" << layout.rois[0].y;
+    Pylon::CIntegerParameter(camera->GetNodeMap(), "OffsetY").SetValue(layout.rois[0].y);
+
+    camera->StartGrabbing();
+    camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
+    camera->StopGrabbing();
+  }
   img.setFrame(frame);
   return frame.IsValid();
 }
 
-bool PylonWrapper::openCamera(std::string &message) {
+void PylonWrapper::resetCamera() {
+  int64_t dfltWidth = 2048;
+  int64_t dfltHeight = 1536;
+  qDebug() << "resetting camera to default ROI (" << dfltWidth << ", " << dfltHeight << ")";
   try {
-    camera = new Pylon::CInstantCamera();
+    GenApi::INodeMap& nodemap = camera->GetNodeMap();
+    // 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);
+  } catch (const Pylon::GenericException &e) {
+    std::string message = e.GetDescription();
+    std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
+    valid = false;
+  }
+}
 
-    // Pylon::CInstantCamera camera( pTl->CreateDevice( lstDevices[0] );
+bool PylonWrapper::openCamera(std::string &message) { 
-    // Pylon::IPylonDevice *pDevice = Pylon::CTlFactory::GetInstance().CreateFirstDevice();
+  qDebug() << "opening camera";
+  try {
+    camera = new Pylon::CInstantCamera();
     Pylon::String_t fname(fullName.c_str());
     Pylon::IPylonDevice *pDevice = Pylon::CTlFactory::GetInstance().CreateDevice(fname);
     camera->Attach(pDevice);
@@ -165,12 +195,28 @@ bool PylonWrapper::openCamera(std::string &message) {
     message = e.GetDescription();
     std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
     valid = false;
+    return valid;
+  }
+  resetCamera();
+  if (!withLayout) {
+    qDebug() << "opening camera without layout, creating a new one";
+    ImageSettings s = getImageSettings();
+    layout = CameraLayout();
+    layout.devices.push_back(fullName);
+    ROI r = ROI();
+    r.x = 0;
+    r.y = 0;
+    r.width = s.width;
+    r.height = s.height;
+    layout.rois.push_back(r);
+    layout.layout = Layout::horizontal;
+    layout.mode = CameraMode::single;
   }
   return valid;
 }
 
 void PylonWrapper::closeCamera() {
-  std::cerr << "camera close !" << std::endl;
+  qDebug() << "Close camera!";
   if (camera->IsOpen()) {
       try {
         camera->Close();
@@ -178,7 +224,7 @@ void PylonWrapper::closeCamera() {
         delete camera;
         camera = nullptr;
       } catch (const Pylon::GenericException &e) {
-        std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
+        qWarning() << "An exception occurred." << e.GetDescription();
       }
     }
 }

pylonwrapper.h

@@ -1,21 +1,17 @@
-#ifndef PYLONRECORDER_H
+#ifndef PYLONWRAPPER_H
-#define PYLONRECORDER_H
+#define PYLONWRAPPER_H
 
 #include <pylon/PylonIncludes.h>
 #include <pylon/BaslerUniversalInstantCamera.h>
+#include "mylogger.h"
+#include "util.h"
 #include "myimage.h"
 
-struct ImageSettings {
-  int64_t width = 0;
-  int64_t height = 0;
-  Pylon::EPixelType pixelType;
-  Pylon::EImageOrientation orientation;
-};
-
 class PylonWrapper
 {
 public:
-    PylonWrapper(const std::string &fullName);
+    PylonWrapper(const std::string &name);
+    PylonWrapper(const CameraLayout &layout);
     ~PylonWrapper();
 
     ImageSettings getImageSettings();
@@ -32,14 +28,16 @@ public:
     double gain();
     bool gain(double gain_db);
     Pylon::CInstantCamera *getCamera();
+    void resetCamera();
 
 private:
     Pylon::CInstantCamera *camera;
-    bool valid;
+    bool valid, withLayout;
     std::string fullName;
+    CameraLayout layout;
 
 
 
 };
 
-#endif // PYLONRECORDER_H
+#endif // PYLONWRAPPER_H

util.h

@@ -25,4 +25,16 @@ struct CameraLayout {
     CameraMode mode;
 };
 
+enum class VideoFormat {
+    raw,
+    mp4
+};
+
+struct ImageSettings {
+  int64_t width = 0;
+  int64_t height = 0;
+  Pylon::EPixelType pixelType;
+  Pylon::EImageOrientation orientation;
+};
+
 #endif /*UTIL_H*/

writer.cpp

@@ -2,6 +2,7 @@
 #include <chrono>
 #include <fstream>
 
+#include <pylon/VideoWriter.h>
 using namespace std::chrono;
 
 void Writer::setVideoSpecs(VideoSpecs specs) {
@@ -28,21 +29,28 @@ void Writer::run() {
   size_t count = 0;
   size_t chunksize = 256;
   // size_t framecount = 0;
+  std::ofstream myFile;
+  if (videoSpecs.format == VideoFormat::mp4 && !Pylon::CVideoWriter::IsSupported()) {
+    qWarning() << "VideoWriter is not supported at the moment. Please install the pylon Supplementary Package for MPEG-4 which is available on the Basler website.";
+    // Releases all pylon resources.
+    // PylonTerminate();
+    // Return with error code 1.
+    emit writingDone();
+    return;
+  }
+  Pylon::CVideoWriter videoWriter;
   if (specs_valid) {
       stop_request = false;
       stopNow = false;
+      if (videoSpecs.format == VideoFormat::raw) {
+        myFile.open(videoSpecs.filename, std::ios::out | std::ios::binary);
+        myFile.write((char*)&videoSpecs.width, 4);
+        myFile.write((char*)&videoSpecs.height, 4);
+      } else {
+        videoWriter.SetParameter(videoSpecs.width, videoSpecs.height, videoSpecs.pixelType, videoSpecs.fps, videoSpecs.quality);
+        videoWriter.Open(videoSpecs.filename.c_str());
+      }
 
-      std::ofstream myFile;
-      myFile.open(videoSpecs.filename, std::ios::out | std::ios::binary);
-      myFile.write((char*)&videoSpecs.width, 4);
-      myFile.write((char*)&videoSpecs.height, 4);
-      // Pylon::CVideoWriter videoWriter;
-      // videoWriter.SetParameter(videoSpecs.width, videoSpecs.height, videoSpecs.pixelType,
-                              //  videoSpecs.fps, videoSpecs.quality);
-      // std::cout << !Pylon::CVideoWriter::IsSupported() << std::endl;
-      //  videoWriter.SetParameter();
-      // videoWriter.Open(videoSpecs.filename.c_str());
-      // std::cerr << "Video writer is open!" << videoWriter.IsOpen() << std::endl;
       nix::File nix_file =nix::File::open(videoSpecs.filename + ".nix", nix::FileMode::Overwrite, "hdf5", nix::Compression::DeflateNormal);
       nix::Block b = nix_file.createBlock("Recording", "nix.recording");
       nix::Section s = nix_file.createSection("Recording", "nix.recording");
@@ -84,24 +92,20 @@ void Writer::run() {
       nix::NDSize chunk_shape(1, chunksize);
       while ((!stop_request || buffer->bufferLoad() > 0) && !stopNow) {
           if (buffer->bufferLoad() > 0 ) {
-            MyImage *img = buffer->pop();
+            size_t framecount = 0;
+            MyImage *img = buffer->read(framecount);
             if (img != nullptr) {
-              auto start = high_resolution_clock::now();
+              if (videoSpecs.format == VideoFormat::raw) {
-              // framecount += 1;
+                myFile.write((char*)img->data(), img->size());
-              myFile.write((char*)img->data(), img->size());
+              } else {
-
+                Pylon::CPylonImage pyImage;
-              // Pylon::CPylonImage pyImage;
+                try {
-              // try {
+                  pyImage.AttachUserBuffer(img->data(), videoSpecs.width * videoSpecs.height, videoSpecs.pixelType, videoSpecs.width, videoSpecs.height, 0, videoSpecs.orientation);
-              //     pyImage.AttachUserBuffer(img->data(), videoSpecs.width * videoSpecs.height, videoSpecs.pixelType, videoSpecs.width, videoSpecs.height, 0, videoSpecs.orientation);
+                  videoWriter.Add(pyImage);
-              //     // Test duration of writing...
+                } catch (const Pylon::GenericException &e) {
-              //     videoWriter.Add( pyImage );
+                  std::cerr << "Writer::run: An exception occurred." << std::endl << e.GetDescription() << std::endl;
-              
+                }
-              // } catch (const Pylon::GenericException &e) {
+              }
-              //   std::cerr << "Writer::run: An exception occurred." << std::endl << e.GetDescription() << std::endl;
-              // }
-              auto stop = high_resolution_clock::now();
-              auto duration = duration_cast<microseconds>(stop - start);
-              std::cerr << "wrote binary to file " << duration.count() << std::endl;
               if (count < chunksize) {
                 stamps_buffer[count] = nix::util::timeToStr(img->timestamp());
                 ids_buffer[count] = img->index();
@@ -118,7 +122,7 @@ void Writer::run() {
             }
           } else {
             while (buffer->bufferLoad() < 1 && !stop_request) {
-              msleep(10);
+              msleep(5);
             }
           }
         }

writer.h

@@ -9,16 +9,18 @@
 #include "pylonwrapper.h"
 #include "imagebuffer.h"
 #include "projectsettings.h"
-#include <opencv2/opencv.hpp>
+#include "util.h"
 
 struct VideoSpecs {
   std::string filename;
-  uint32_t width, height, quality = 10 ;
+  uint32_t width, height, quality = 10;
+  uint32_t xoffset, yoffset = 0;
   int fps;
   double exposureTime;
   double detectorGain;
   Pylon::EPixelType pixelType;
   Pylon::EImageOrientation orientation;
+  VideoFormat format = VideoFormat::raw;
 };
 
 class Writer : public QThread