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jgrewe:softwaretrigger
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compare: jgrewe:fe20326953dd3011cd0dc9ede2668a6b2a5d6876
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jgrewe:master
jgrewe:softwaretrigger

No commits in common. "dadce6994403939ade24689be293c5cb6216a8b7" and "fe20326953dd3011cd0dc9ede2668a6b2a5d6876" have entirely different histories.
dadce69944 ... fe20326953

6 changed files with 30 additions and 80 deletions
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36
dualcamgrabber.cpp
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@ -2,11 +2,6 @@
#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;
@ -14,10 +9,9 @@ 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), -1); wrapper->frameRate(static_cast<uint>(framerate));
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;
@ -25,27 +19,14 @@ 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);
@ -55,17 +36,6 @@ 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
View File

@ -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 < 2) { } else if (camindex == 0 && camindex ==1) {
GenApi::INodeMap& nodemap = getNodemap(camindex); GenApi::INodeMap& nodemap = getNodemap(0);
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[camindex].width; qDebug() << "Setting width" << layout.rois[0].width;
Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[camindex].width); Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[0].width);
qDebug() << "Setting height" << layout.rois[0].height; qDebug() << "Setting height" << layout.rois[0].height;
Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[camindex].height); Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[0].height);
qDebug() << "Setting xoffset" << layout.rois[camindex].x; qDebug() << "Setting xoffset" << layout.rois[0].x;
Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[camindex].x); Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[0].x);
qDebug() << "Setting yoffset" << layout.rois[camindex].y; qDebug() << "Setting yoffset" << layout.rois[0].y;
Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[camindex].y); Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[0].y);
camera->StartGrabbing(); camera->StartGrabbing();
camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException); camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
@ -191,30 +191,15 @@ 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);
@ -244,9 +229,8 @@ 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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@ -15,6 +15,7 @@ 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();
@ -34,7 +35,6 @@ 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;

8
pylonrecorder.cpp
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@ -776,8 +776,8 @@ void PylonRecorder::startSinglecamRecording() {
delete writer; delete writer;
writer = nullptr; writer = nullptr;
} }
writer = new Writer(buffer); writer = new Writer(buffer, 0);
connect(writer, SIGNAL(writingDone()), this, SLOT(writerDone())); connect(writer, SLOT(writingDone()), this, SLOT(writerDone()));
writer->setVideoSpecs(specs); writer->setVideoSpecs(specs);
QSettings s; QSettings s;
@ -807,7 +807,7 @@ void PylonRecorder::startDualcamRecording() {
VideoSpecs specs = getVideoSpecs(settings); VideoSpecs specs = getVideoSpecs(settings);
specs.filename = filename; specs.filename = filename;
specs.format = VideoFormat::mp4; specs.format = VideoFormat::mp4;
qDebug() << "got video specifications " << specs.fps; qDebug() << "got video specifications";
if (buffer != nullptr) { if (buffer != nullptr) {
buffer->clear(); buffer->clear();
delete buffer; delete buffer;
@ -839,7 +839,7 @@ void PylonRecorder::startDualcamRecording() {
delete writer; delete writer;
writer = nullptr; writer = nullptr;
} }
writer = new Writer(buffer); writer = new Writer(buffer, 0);
connect(writer, SIGNAL(writingDone()), this, SLOT(writerDone())); connect(writer, SIGNAL(writingDone()), this, SLOT(writerDone()));
writer->setVideoSpecs(specs); writer->setVideoSpecs(specs);

13
writer.cpp
View File

@ -37,7 +37,7 @@ void Writer::run() {
// Releases all pylon resources. // Releases all pylon resources.
// PylonTerminate(); // PylonTerminate();
// Return with error code 1. // Return with error code 1.
emit writingDone(); emit writingDone(this->cam_number);
return; return;
} }
qDebug() << "checks done!"; qDebug() << "checks done!";
@ -114,12 +114,7 @@ void Writer::run() {
} }
} }
if (count < chunksize) { if (count < chunksize) {
try { stamps_buffer[count] = nix::util::timeToStr(img->timestamp());
stamps_buffer[count] = nix::util::timeToStr(img->timestamp());
} catch (...) {
std::cerr << "Bad time to string conversion " << img->timestamp() << std::endl;
stamps_buffer[count] = "invalid";
}
ids_buffer[count] = img->index(); ids_buffer[count] = img->index();
count ++; count ++;
} else { } else {
@ -143,11 +138,11 @@ void Writer::run() {
frametimes.setData(nix::DataType::String, stamps_buffer.data(), chunk_shape, offset); frametimes.setData(nix::DataType::String, stamps_buffer.data(), chunk_shape, offset);
frameindices.setData(nix::DataType::Int64, ids_buffer.data(), chunk_shape, offset); frameindices.setData(nix::DataType::Int64, ids_buffer.data(), chunk_shape, offset);
} }
videoWriter.Close(); // videoWriter.Close();
myFile.close(); myFile.close();
nix_file.close(); nix_file.close();
} else { } else {
std::cerr << "Got no video specifications, not writing!" << std::endl; std::cerr << "Got no video specifications, not writing!" << std::endl;
} }
emit writingDone(); emit writingDone(cam_number);
} }

7
writer.h
View File

@ -15,8 +15,8 @@ class Writer : public QThread
{ {
Q_OBJECT Q_OBJECT
public: public:
explicit Writer(ImageBuffer*buffer, QObject *parent = nullptr) : explicit Writer(ImageBuffer*buffer, int number, QObject *parent = nullptr) :
QThread(parent), buffer(buffer) {} QThread(parent), buffer(buffer), cam_number(number) {}
void setVideoSpecs(VideoSpecs specs); void setVideoSpecs(VideoSpecs specs);
void setProjectMetadata(ProjectMetadata mdata); void setProjectMetadata(ProjectMetadata mdata);
@ -25,9 +25,10 @@ public:
signals: signals:
void terminated(); void terminated();
void writingDone(); void writingDone(int cam);
private: private:
int cam_number;
ImageBuffer *buffer; ImageBuffer *buffer;
VideoSpecs videoSpecs; VideoSpecs videoSpecs;
ProjectMetadata metadata; ProjectMetadata metadata;