[dualcamgrabber] cleanup

more messaging, use the size-aware Image constructor

CMakeLists.txt

@@ -43,10 +43,10 @@ include_directories (AFTER ${NIX_INCLUDE_DIR})
 
 # #######################################
 # OPENCV
-message ("=> finding opencv ...")
-find_package(OpenCV REQUIRED opencv_highgui opencv_core)
-include_directories(AFTER ${OpenCV_INCLUDE_DIRS} )
-set(LINK_LIBS ${LINK_LIBS} ${OpenCV_LIBRARIES})
+# message ("=> finding opencv ...")
+# find_package(OpenCV REQUIRED opencv_highgui opencv_core)
+# include_directories(AFTER ${OpenCV_INCLUDE_DIRS} )
+# set(LINK_LIBS ${LINK_LIBS} ${OpenCV_LIBRARIES})
 
 #######################################
 # Pylon
@@ -58,5 +58,5 @@ 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::pylon ${OpenCV_LIBRARIES})
+target_link_libraries ( recorder Qt5::PrintSupport Qt5::Core Qt5::Widgets Qt5::Gui ${NIX_LIBRARIES} pylon::pylon)
 # ${PYLON_LIBRARIES} ${OpenCV_LIBRARIES})

camconfig.cpp

@@ -5,6 +5,7 @@
 
 CamConfigurator::CamConfigurator(Pylon::DeviceInfoList &deviceList, QWidget *parent) :
     deviceList(deviceList), QDialog(parent), preview(nullptr) {
+    qDebug() << "CamConfig constructor";
     mode_combo = new QComboBox(this);
     mode_combo->addItem("camera mode");
     mode_combo->addItem("single camera");
@@ -45,6 +46,7 @@ CamConfigurator::CamConfigurator(Pylon::DeviceInfoList &deviceList, QWidget *par
     connect(buttonbox, &QDialogButtonBox::accepted, this, &QDialog::accept);
     connect(buttonbox, &QDialogButtonBox::rejected, this, &QDialog::reject);
     vbox->addWidget(buttonbox);
+    qDebug() << "CamConfig constructor done!";
 }
 
 
@@ -71,6 +73,7 @@ CameraSetup* CamConfigurator::stereoCameraView() {
 
 
 void CamConfigurator::modeChanged(int idx) {
+    qDebug() << "Mode changed!";
     stack->setCurrentIndex(0);
     if (stack->count() > 1 && preview != nullptr) {
         qDebug() << "removing previous widget from stack";
@@ -86,6 +89,7 @@ void CamConfigurator::modeChanged(int idx) {
         stack->setCurrentIndex(1);
         QString device = device_combo->currentText();
         preview->setPrimaryCamera(device);
+        mode_combo->setEnabled(false);
     } else if (idx == 2) {
         qDebug() << "Mode changed to dual camera mode";
         preview = stereoCameraView();
@@ -100,6 +104,7 @@ void CamConfigurator::modeChanged(int idx) {
         }
         QString device2 = device_combo->itemText(1 - i);
         preview->setSecondaryCamera(device2);
+        mode_combo->setEnabled(false);
     } else {
         qDebug() << "Mode changed mode selection";
         stack->setCurrentIndex(0);
@@ -113,10 +118,11 @@ void CamConfigurator::modeChanged(int idx) {
 
 
 void CamConfigurator::primaryDeviceChanged(int idx) {
+    qDebug() << "Primary device changed!";
     if (mode_combo->currentText() == "single camera") { // single camera setting
         QString devicename = device_combo->currentText();
         preview->setPrimaryCamera(devicename);
-    } else {
+    } else if (mode_combo->currentText() == "stereo camera") { // stereo camera setting
         preview->switchArrangement();
     }
 }

camerapreview.cpp

@@ -9,29 +9,33 @@ CameraPreview::CameraPreview(QWidget *parent):cameraname(""), camera(nullptr), Q
     this->setLayout(new QVBoxLayout(this));
     this->layout()->addWidget(label);
     imgLabel = new QLabel(this);
-    imgLabel->setMinimumSize(QSize(1024, 768));
+    imgLabel->setMinimumSize(QSize(800, 600));
     this->layout()->addWidget(imgLabel);
     QWidget *controls = new QWidget(this);
 
     width = new QSpinBox(controls);
-    width->setMinimum(1);
+    width->setMinimum(32);
     width->setMaximum(2048);
+    width->setSingleStep(32);
     width->setValue(width->maximum());
     connect(width, SIGNAL(textChanged(QString)), SLOT(updateWidth(QString)));
 
     height = new QSpinBox(controls);
-    height->setMinimum(1);
+    height->setSingleStep(32);
+    height->setMinimum(32);
     height->setMaximum(1536);
     height->setValue(height->maximum());
     connect(height, SIGNAL(textChanged(QString)), SLOT(updateHeight(QString)));
 
     xoffs = new QSpinBox(controls);
+    xoffs->setSingleStep(8);
     xoffs->setMinimum(0);
     xoffs->setMaximum(2047);
     xoffs->setValue(0);
     connect(xoffs, SIGNAL(textChanged(QString)), SLOT(updateXoffs(QString)));
 
     yoffs = new QSpinBox(controls);
+    yoffs->setSingleStep(8);
     yoffs->setMinimum(0);
     yoffs->setMaximum(1535);
     yoffs->setValue(0);
@@ -53,15 +57,13 @@ CameraPreview::CameraPreview(QWidget *parent):cameraname(""), camera(nullptr), Q
     this->layout()->addWidget(controls);
     //setPrimaryCamera(devicename);
     qDebug() << "Camera preview constructor";
-    takeStill();
 }
 
 
 void CameraPreview::setCamera(QString &device){
-    qDebug() << "update camera! ";// << device.toStdString();
+    qDebug() << "update camera! " << device;
     cameraname = device;
-    label->setText(device);
-    if (camera != NULL) {
+    if (camera != nullptr) {
         qDebug() << "camera is not nullptr! ";
         delete camera;
         camera = nullptr;
@@ -76,7 +78,28 @@ void CameraPreview::setCamera(QString &device){
         QString msg = "<p><b>Could not open camera device!</b><p><p>" + QString::fromStdString(message) + "</p>";
         msgBox.setText(msg);
         msgBox.exec();
+        return;
     }
+    int64_t max_height = camera->sensorHeight();
+    int64_t max_width = camera->sensorWidth();
+    std::cerr << "set spin box values " << max_width << " " << max_height << std::endl;
+    width->blockSignals(true);
+    height->blockSignals(true);
+    xoffs->blockSignals(true);
+    yoffs->blockSignals(true);
+    width->setMaximum(max_width);
+    width->setValue(max_width);
+    height->setMaximum(max_height);
+    height->setValue(max_height);
+    xoffs->setMaximum(max_width - 1);
+    xoffs->setValue(0);
+    yoffs->setMaximum(max_height - 1);
+    yoffs->setValue(0);
+    label->setText(device + " - " + camera->userName());
+    width->blockSignals(false);
+    height->blockSignals(false);
+    xoffs->blockSignals(false);
+    yoffs->blockSignals(false);
     takeStill();
 }
 
@@ -84,17 +107,19 @@ void CameraPreview::setCamera(QString &device){
 void CameraPreview::takeStill() {
     qDebug() << "Take Still image!";
     if (camera != nullptr && camera->isOpen()) {
-      MyImage mimg;
+      ImageSettings s = camera->getImageSettings();
+      MyImage mimg(s.width, s.height);
       bool valid = camera->grabFrame(mimg);
       if (!valid) {
           qWarning() << "Grabbing from camera failed!";
           return;
       }
+      qDebug() << "Grabbed image from camera succeeded!";
       QImage img(static_cast<uchar *>(mimg.data()), mimg.width(), mimg.height(),
                  QImage::Format::Format_Grayscale8);
       QPixmap mpm = QPixmap::fromImage(img);
       this->pm = mpm;
-      mpm = mpm.scaledToWidth(1024);
+      mpm = mpm.scaledToWidth(800);
       setImage(mpm);
       updateROI();
     } else {
@@ -110,7 +135,7 @@ void CameraPreview::updateWidth(QString s) {
     // if (xoffs->value() + width->value() > 2048) {
     //     xoffs->setValue(2048 - width->value());
     // }
-    validate(width, xoffs, 2048);
+    validate(width, xoffs, camera->sensorWidth());
     updateROI();
 }
 
@@ -118,7 +143,7 @@ void CameraPreview::updateXoffs(QString s) {
     // if (xoffs->value() + width->value() > 2048) {
     //     width->setValue(2048 - xoffs->value());
     // }
-    validate(xoffs, width, 2048);
+    validate(xoffs, width, camera->sensorHeight());
     updateROI();
 }
 
@@ -126,7 +151,7 @@ void CameraPreview::updateHeight(QString s) {
     // if (height->value() + yoffs->value() > 1536) {
     //     yoffs->setValue(1536 - height->value());
     // }
-    validate(height, yoffs, 1536);
+    validate(height, yoffs, camera->sensorHeight());
     updateROI();
 }
 
@@ -134,20 +159,33 @@ void CameraPreview::updateYoffs(QString s) {
     // if (height->value() + yoffs->value() > 1536) {
     //     height->setValue(1536 - yoffs->value());
     // }
-    validate(yoffs, height, 1536);
+    validate(yoffs, height, camera->sensorWidth());
     updateROI();
 }
 
 void CameraPreview::validate(QSpinBox *origin, QSpinBox *dest, int limit){
+    qDebug() << "validate";
+    int val = ensureDivbyfour(origin->value());
+    origin->setValue(val);
     if (origin->value() + dest->value() > limit) {
         dest->setValue(limit - origin->value());
     }
+    qDebug() << "validate done";
+}
+
+int CameraPreview::ensureDivbyfour(int val) {
+    // if (val % 4 != 0) {
+    //     int divisor = floor(val / 4);
+    //     val = divisor * 4;
+    // }
+    return val;
 }
 
 void CameraPreview::updateROI(bool emitSignal) {
+    qDebug() << "Update roi with signal: " << emitSignal;
     QImage img = pm.toImage();
-    double scaling = 1024.0 / img.width();
-    img = img.scaledToWidth(1024);
+    double scaling = 800.0 / img.width();
+    img = img.scaledToWidth(800);
     QPainter qPainter(&img);
     qPainter.setBrush(Qt::NoBrush);
     qPainter.setPen(Qt::red);
@@ -161,20 +199,24 @@ void CameraPreview::updateROI(bool emitSignal) {
     int rheight = round(height->value() * scaling);
     qPainter.drawRect(rxoffs, ryoffs, rwidth, rheight);
     bool bEnd = qPainter.end();
-
     QPixmap npm = QPixmap::fromImage(img);
     setImage(npm);
     if (emitSignal) {
         emit roiUpdated(xoffs->value(), yoffs->value(), width->value(), height->value());
     }
+    qDebug() << "update ROI done";
 }
 
 void CameraPreview::setSize(int w, int h) {
+    qDebug() << "set size " << w << " " << h;
     width->setValue(w);
     height->setValue(h);
-    validate(width, xoffs, 2048);
-    validate(height, yoffs, 1536);
+    if (camera != nullptr && camera->isOpen()) {
+        validate(width, xoffs, camera->sensorWidth());
+        validate(height, yoffs, camera->sensorHeight());
+    }
     updateROI(false);
+    qDebug() << "set size done";
 }
 
 QString CameraPreview::device(){
@@ -183,12 +225,14 @@ QString CameraPreview::device(){
 
 ROI CameraPreview::getRoi() {
     ROI r;
+    uint32_t max_height = camera->sensorHeight();
+    uint32_t max_width = camera->sensorWidth();
     r.x = xoffs->value();
     r.y = yoffs->value();
     r.width = width->value();
     r.height = height->value();
-    r.height = r.height > 1536 ? 1536 - r.y : r.height;
-    r.width = r.width > 2048 ? 2048 - r.x : r.width;
+    r.height = r.height > max_height ? max_height - r.y : r.height;
+    r.width = r.width > max_width ? max_width - r.x : r.width;
     return r;
 }
 

camerapreview.h

@@ -52,7 +52,7 @@ private:
     void takeStill();
     void setImage(const QPixmap &img);
     void validate(QSpinBox *origin, QSpinBox *dest, int limit);
-    
+    int ensureDivbyfour(int value);
     PylonWrapper *camera;
 
 };

camerasetup.cpp

@@ -10,6 +10,7 @@ SingleCamera::SingleCamera (QWidget *parent) :
         this->layout()->addWidget(camera1Preview);
 }
 
+
 CameraLayout SingleCamera::cameraLayout(){ 
     CameraLayout l;
     qDebug() << "Request layout";
@@ -20,6 +21,7 @@ CameraLayout SingleCamera::cameraLayout(){
     return l;
 }
 
+
 SingleCamera::~SingleCamera(){
     if (camera1Preview != nullptr) {
         delete camera1Preview;
@@ -33,7 +35,8 @@ DualCamera::DualCamera (QWidget *parent) :
     camera1Preview(nullptr),
     camera2Preview(nullptr),
     primary_device("") {
-        qDebug() << "DualCamera View ... ";
+        qDebug() << "DualCamera View constructor... ";
+        std::cerr << "DualCamera View constructor... " << std::endl;
         this->setLayout(new QHBoxLayout(this));
         camera1Preview = new CameraPreview();
         camera2Preview = new CameraPreview();
@@ -46,11 +49,17 @@ DualCamera::DualCamera (QWidget *parent) :
 
 
 void DualCamera::updateROI1(int x, int y, int w, int h) {
-    camera2Preview->setSize(w, h);
+    qDebug() << "Update ROI1: x " << x << " y " << y << " w " << w << " h " << h;
+    if (camera2Preview != nullptr) {
+        camera2Preview->setSize(w, h);
+    }
 }
 
 void DualCamera::updateROI2(int x, int y, int w, int h) {
-    camera1Preview->setSize(w, h);
+    qDebug() << "Update ROI2: x " << x << " y " << y << " w " << w << " h " << h;
+    if (camera1Preview != nullptr) {
+        camera1Preview->setSize(w, h);
+    }
 }
 
 void DualCamera::switchArrangement() {

camerasetup.h

@@ -62,7 +62,7 @@ public:
 
 
     void setPrimaryCamera(QString &device) {
-        qDebug() << "Update primary camera";
+        qDebug() << "Update primary camera to " << device;
         if (camera1Preview != nullptr) {
             camera1Preview->setCamera(device);
             primary_device = device;
@@ -71,7 +71,7 @@ public:
 
 
     void setSecondaryCamera(QString &device) {
-        qDebug()<< "Update secondary camera";
+        qDebug()<< "Update secondary camera to " << device;
         if (camera2Preview != nullptr) {
             camera2Preview->setCamera(device);
         }

camids.cpp

@@ -0,0 +1,48 @@
+#include "camids.h"
+#include "mylogger.h"
+#include "util.h"
+
+
+
+CameraID::CameraID(Pylon::DeviceInfoList &deviceList, QWidget *parent) :
+    deviceList(deviceList), QDialog(parent) {
+    device_combo = new QComboBox(this);
+    for (auto d : deviceList) {
+        device_combo->addItem(QString(d.GetFullName()) + " - " + QString(d.GetUserDefinedName()));
+    }
+    connect(device_combo, SIGNAL(currentIndexChanged(int)), SLOT(primaryDeviceChanged(int)));
+
+    QWidget *header = new QWidget(this);
+    QGridLayout *grid = new QGridLayout(header);
+    grid->addWidget(new QLabel("Camera device:", this), 1, 0);
+    grid->addWidget(device_combo, 1, 1);
+
+    edit = new QLineEdit(this);
+    grid->addWidget(new QLabel("Camera Id", this), 2, 0);
+    grid->addWidget(edit, 2, 1);
+    header->setLayout(grid);
+
+    QVBoxLayout *vbox = new QVBoxLayout(this);
+    vbox->addWidget(header);
+
+    buttonbox = new QDialogButtonBox(QDialogButtonBox::Ok
+                                   | QDialogButtonBox::Cancel);
+    connect(buttonbox, &QDialogButtonBox::accepted, this, &QDialog::accept);
+    connect(buttonbox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+    vbox->addWidget(buttonbox);
+    std::cerr <<"ping\n";
+}
+
+void CameraID::setID() {
+    std::cerr << "Set ID!" << std::endl;
+}
+
+QString CameraID::newID() {
+    std::cerr <<"ping\n";
+    return edit->text();
+}
+
+int CameraID::cameraIndex() {
+    std::cerr <<"ping\n";
+    return device_combo->currentIndex();
+}

camids.h

@@ -0,0 +1,45 @@
+#ifndef CAMIDS_H
+#define CAMIDS_H
+
+#include <QDialog>
+#include <QComboBox>
+#include <QLabel>
+#include <QVBoxLayout>
+#include <QGridLayout>
+#include <QLineEdit>
+#include <QDialogButtonBox>
+#include <pylon/PylonIncludes.h>
+
+#include "mylogger.h"
+
+namespace Ui {
+class CameraID;
+}
+
+class CameraID : public QDialog
+{
+    Q_OBJECT
+
+public:
+    explicit CameraID(Pylon::DeviceInfoList_t &deviceList, QWidget *parent = 0);
+    // ~CameraID(){};
+    QString newID();
+    int cameraIndex();
+
+public slots:
+    void setID();
+
+// signals:
+//     void column_visibility_changed(QString who, QString column, bool state);
+//     void recent_file_changed(QStringList);
+
+private:
+    Pylon::DeviceInfoList_t deviceList;
+    QComboBox *device_combo;
+    QLineEdit *edit;
+    QDialogButtonBox *buttonbox;
+
+};
+
+#endif // CAMIDS_H
+

dualcamgrabber.cpp

@@ -2,42 +2,84 @@
 #include <iostream>
 #include <pylon/PylonIncludes.h>
 #include <stitchimage.h>
+#include <chrono>
+using namespace std::chrono;
+typedef high_resolution_clock Time;
+typedef milliseconds ms;
+typedef duration<float> fsec;
+
 
 void DualcamGrabber::run() {
   stop_request = false;
   size_t counter = 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;
-      Pylon::CPylonImage leftImage;
-      Pylon::CPylonImage rightImage;
-      Pylon::CPylonImage stitchedImage;
-      std::string errorMessage = "";
+  if (!wrapper->isOpen()) {
+    return;
+  }
 
-      while (cameras.IsGrabbing() && !stop_request) {
-          MyImage *img = new MyImage();
-          cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
-          cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
+  Pylon::CInstantCameraArray &cameras = wrapper->getCameraArray();
+  wrapper->frameRate(static_cast<uint>(100), -1);
 
-          leftImage.AttachGrabResultBuffer( frame0 );
-          rightImage.AttachGrabResultBuffer( frame1 );
+  wrapper->exposureTime(exposure);
+  wrapper->gain(gain);
+  wrapper->enableSoftwareTrigger(0);
+  wrapper->enableSoftwareTrigger(1);
 
-          if (leftImage.IsValid() && rightImage.IsValid()) {
-            try {
-              StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
-              img->setFrame(stitchedImage);
-              buffer->push(img);
-            } catch(const std::exception& e) {
-              std::cerr << e.what() << '\n';
-            }
-          }
-          counter += 1;
+  cameras.StartGrabbing();
+  Pylon::CGrabResultPtr frame0, frame1;
+  Pylon::CPylonImage leftImage;
+  Pylon::CPylonImage rightImage;
+  Pylon::CPylonImage stitchedImage;
+  std::string errorMessage = "";
+  bool failure = false;
+
+  auto before = high_resolution_clock::now();
+  auto done = high_resolution_clock::now();
+  auto total_duration = duration_cast<microseconds>(done - before);
+  int expected_usecs = (int)(1./framerate * 1000000);
+
+  while (cameras.IsGrabbing() && !stop_request && !failure) {
+    if (counter > 0) {
+      long delay = total_duration.count() - expected_usecs;
+      if (delay > 0) {
+        emit delayed(delay, counter-1);
+      } else {
+        usleep(-delay);
       }
-      cameras.StopGrabbing();
     }
+    before = high_resolution_clock::now();
+
+    if (cameras[0].WaitForFrameTriggerReady(1000, Pylon::TimeoutHandling_ThrowException) &&
+        cameras[1].WaitForFrameTriggerReady(1000, Pylon::TimeoutHandling_ThrowException)) {
+      // std::cerr << "executing software triggers" << std::endl;
+      cameras[0].ExecuteSoftwareTrigger();
+      cameras[1].ExecuteSoftwareTrigger();
+    }
+
+    try {
+      cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
+      cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
+      leftImage.AttachGrabResultBuffer( frame0 );
+      rightImage.AttachGrabResultBuffer( frame1 );
+    } catch( const Pylon::GenericException &e ) {
+      qDebug() << "Grabbing frame failed! " << e.what();
+      failure = true;
+    }
+
+    if (!failure && leftImage.IsValid() && rightImage.IsValid()) {
+      try {
+        StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
+        MyImage *img = new MyImage(stitchedImage.GetWidth(), stitchedImage.GetHeight());
+        img->setFrame(stitchedImage);
+        buffer->push(img);
+      } catch(const std::exception& e) {
+        std::cerr << e.what() << '\n';
+      }
+    }
+
+    counter += 1;
+    done = high_resolution_clock::now();
+    total_duration = duration_cast<microseconds>(done - before);
+  }
+  cameras.StopGrabbing();
 }

dualcamgrabber.h

@@ -53,6 +53,7 @@ public slots:
 
 signals:
   void terminated();
+  void delayed(int, int);
 };
 
 #endif // DUALCAMGRABBER_H

dualcamwrapper.cpp

@@ -49,13 +49,14 @@ double DualcamWrapper::maxFrameRate(int camindex) {
 
 
 bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
+  qDebug() << "Setting FrameRate to " << new_framerate << " for camera " << 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);
+      } else if (camindex >= 0 && camindex < 2) {
+        GenApi::INodeMap& nodemap = getNodemap(camindex);
         GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
         Pylon::CBooleanParameter enableframerate(n);
         enableframerate.SetValue(true);
@@ -72,7 +73,8 @@ bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
 
 
 double DualcamWrapper::frameRate(int camindex) {
-  assert(camindex > 0 && camindex < 2);
+  qDebug() << "Reading FrameRate from camera " << camindex;
+  assert(camindex >= 0 && camindex < 2);
   double rate = -1.;
   if (valid) {
       GenApi::INodeMap& nodemap = getNodemap(camindex);
@@ -85,6 +87,7 @@ double DualcamWrapper::frameRate(int camindex) {
 
 
 double DualcamWrapper::exposureTime(int camindex) {
+  qDebug() << "Reading ExposureTime from camera " << camindex;
   assert(camindex > 0 && camindex < 2);
   double time = -1.;
   if (valid) {
@@ -98,28 +101,53 @@ double DualcamWrapper::exposureTime(int camindex) {
 
 
 bool DualcamWrapper::exposureTime(double exposure_time, int camindex) {
+  qDebug() << "Setting exposure time to " << exposure_time << " for camera " << 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");
+                GenApi::INodeMap& nodemap = getNodemap(camindex);
+                GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
+                Pylon::CFloatParameter exp_time( n );
+                exp_time.SetValue( exposure_time );
+                GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Timed");;
             } catch (...) {
-                qWarning() << "Could not set exposure for cam0"; 
+
+                qWarning() << "Could not set exposure for cam " << camindex;
             }
-            Pylon::CFloatParameter exp_time( n );
-            exp_time.SetValue( exposure_time );
         }
       }
     return false;
 }
 
+uint32_t DualcamWrapper::sensorWidth(int camindex) {
+  qDebug() << "Reading SensorWidth from camera " << camindex;
+  assert(camindex >= 0 && camindex < 2);
+  uint32_t width = -1;
+  if (valid) {
+    GenApi::INodeMap &nodemap = getNodemap(camindex);
+    Pylon::CIntegerParameter pwidth( nodemap, "SensorWidth" );
+    width = (uint32_t)pwidth.GetValue();
+  }
+  return width;
+}
+
+uint32_t DualcamWrapper::sensorHeight(int camindex) {
+  qDebug() << "Reading SensorHeight from camera " << camindex;
+  assert(camindex >= 0 && camindex < 2);
+  uint32_t height = -1;
+  if (valid) {
+    GenApi::INodeMap &nodemap = getNodemap(camindex);
+    Pylon::CIntegerParameter pheight( nodemap, "SensorHeight" );
+    height = (uint32_t)pheight.GetValue();
+  }
+  return height;
+}
 
 double DualcamWrapper::gain(int camindex) {
+  qDebug() << "Reading Gain from camera " << camindex;
   assert(camindex >= 0 && camindex < 2);
   double gain = -1.;
   if (valid) {
@@ -173,14 +201,14 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
   qDebug() << "grabFrame from camera " << camindex;
   if (valid) {
     GenApi::INodeMap &nodemap = getNodemap(camindex);
-    qDebug() << "Setting width" << layout.rois[0].width;
-    Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[0].width);
+    qDebug() << "Setting width" << layout.rois[camindex].width;
+    Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[camindex].width);
     qDebug() << "Setting height" << layout.rois[0].height;
-    Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[0].height);
-    qDebug() << "Setting xoffset" << layout.rois[0].x;
-    Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[0].x);
-    qDebug() << "Setting yoffset" << layout.rois[0].y;
-    Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[0].y);
+    Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[camindex].height);
+    qDebug() << "Setting xoffset" << layout.rois[camindex].x;
+    Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[camindex].x);
+    qDebug() << "Setting yoffset" << layout.rois[camindex].y;
+    Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[camindex].y);
 
     camera->StartGrabbing();
     camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
@@ -191,26 +219,40 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
 }
 
 
-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;
+void DualcamWrapper::setROI() {
+  for (int camindex = 0; camindex < 2; camindex++){
+    qDebug() << "Setting ROI: w" << layout.rois[camindex].width << " h: "<< layout.rois[camindex].height << " x " << layout.rois[camindex].x << " y " << layout.rois[camindex].y;
+    try {
+    GenApi::INodeMap &nodemap = getNodemap(camindex);
+    Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[camindex].width);
+    Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[camindex].height);
+    Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[camindex].x);
+    Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[camindex].y);
+    } catch (const Pylon::GenericException &e) {
+    std::cerr << e.GetDescription() << std::endl;
+    }
   }
 }
 
 
+void DualcamWrapper::resetCamera(int camindex) {
+  GenApi::INodeMap &nodemap = getNodemap( camindex );
+  uint32_t width = sensorWidth(camindex);
+  uint32_t height = sensorHeight(camindex);
+  qDebug() << "resetting camera to default ROI (" << width << ", " << height << ")";
+    try {
+      Pylon::CIntegerParameter(nodemap, "Width").SetValue(width, false);
+      Pylon::CIntegerParameter(nodemap, "Height").SetValue(height, 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";
     Pylon::CTlFactory& tlFactory = Pylon::CTlFactory::GetInstance();
@@ -229,8 +271,9 @@ bool DualcamWrapper::openCameras(std::string &message) {
         valid = false;
         return valid;
     }
-    resetCamera(0);
-    resetCamera(1);
+    // resetCamera(0);
+    // resetCamera(1);
+    setROI();
     return valid;
 }
 
@@ -247,7 +290,7 @@ void DualcamWrapper::closeCameras() {
 }
 
 Pylon::CInstantCameraArray &DualcamWrapper::getCameraArray() {
-    return cameras;
+  return cameras;
 }
 
 // Pylon::CInstantCamera DualcamWrapper::getCamera(int camindex) {
@@ -256,6 +299,26 @@ Pylon::CInstantCameraArray &DualcamWrapper::getCameraArray() {
 
 
 GenApi::INodeMap& DualcamWrapper::getNodemap(int camindex){
-    GenApi::INodeMap &nodemap = cameras[camindex].GetNodeMap();
-    return nodemap;
+  GenApi::INodeMap &nodemap = cameras[camindex].GetNodeMap();
+  return nodemap;
+}
+
+void DualcamWrapper::enableSoftwareTrigger(int camindex){
+  qDebug() << "Enabling software trigger for camera " << camindex;
+  GenApi::INodeMap &nodemap = getNodemap( camindex );
+  Pylon::CEnumParameter(nodemap, "TriggerMode").SetValue("On");
+  Pylon::CEnumParameter(nodemap, "TriggerSource").SetValue("Software");
+  // Pylon::CEnumParameter(nodemap, "TriggerActivation").SetValue("LevelHigh");
+}
+
+void DualcamWrapper::disableSoftwareTrigger(int camindex){
+  qDebug() << "Disabling software trigger for camera " << camindex;
+  GenApi::INodeMap& nodemap = getNodemap(camindex);
+  Pylon::CEnumParameter(nodemap, "TriggerMode").SetValue("Off");
+}
+
+bool DualcamWrapper::softwareTriggerEnabeled(int camindex){
+  qDebug() << "Checking software trigger for camera " << camindex;
+  GenApi::INodeMap& nodemap = getNodemap(camindex);
+  return Pylon::CEnumParameter(nodemap, "TriggerMode").GetValue() == "On";
 }

dualcamwrapper.h

@@ -15,8 +15,9 @@ public:
     DualcamWrapper(const CameraLayout &layout);
     ~DualcamWrapper();
 
-
     ImageSettings getImageSettings(int camindex);
+    uint32_t sensorWidth(int camindex);
+    uint32_t sensorHeight(int camindex);
     bool isOpen();
     void terminate();
     bool openCameras(std::string &message);
@@ -29,12 +30,16 @@ public:
     bool exposureTime(double exposure_time, int camindex=-1);
     double gain(int camindex);
     bool gain(double gain_db, int camindex=-1);
+    void enableSoftwareTrigger(int camindex);
+    void disableSoftwareTrigger(int camindex);
+    bool softwareTriggerEnabeled(int camindex);
     Pylon::CInstantCameraArray &getCameraArray();
 
 private:
     void resetCamera(int camindex);
     Pylon::CInstantCameraArray cameras;
     GenApi::INodeMap& getNodemap(int camindex);
+    void setROI();
     bool valid, withLayout;
     CameraLayout layout;
 

grabber.cpp

@@ -9,11 +9,12 @@ void Grabber::run() {
       camera->frameRate(static_cast<uint>(framerate));
       camera->exposureTime(exposure);
       camera->gain(gain);
+      ImageSettings settings = camera->getImageSettings();
       Pylon::CInstantCamera *cam = camera->getCamera();
       Pylon::CGrabResultPtr frame;
       cam->StartGrabbing();
       while (camera->isOpen() && !stop_request) {
-          MyImage *img = new MyImage();
+          MyImage *img = new MyImage(settings.width, settings.height);
           cam->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
           img->setFrame(frame);
           buffer->push(img);

myimage.cpp

@@ -1,20 +1,28 @@
 #include "myimage.h"
 #include <chrono>
+#include "mylogger.h"
 
-MyImage::MyImage()
-{}
+MyImage::MyImage(uint32_t width, uint32_t height): img_width(width), img_height(height)
+{
+  buffer = new char[width * height];
+}
 
 MyImage::MyImage(Pylon::CGrabResultPtr ptr) {
   setFrame(ptr);
 }
 
+MyImage::~MyImage() {
+  delete[] buffer;
+}
+
 bool MyImage::setFrame(Pylon::CGrabResultPtr ptr) {
+  qDebug() << "Setting frame from pointer";
   bool valid = ptr.IsValid() && ptr->GetWidth() <= max_width && ptr->GetHeight() <= max_height;
   if (valid) {
       img_index = ptr->GetID();
       img_width = ptr->GetWidth();
       img_height = ptr->GetHeight();
-      memcpy(&buffer, ptr->GetBuffer(), ptr->GetImageSize());
+      memcpy(buffer, ptr->GetBuffer(), ptr->GetImageSize());
       auto t = std::chrono::system_clock::now();
       img_timestamp = std::chrono::system_clock::to_time_t(t);
     }
@@ -22,11 +30,14 @@ bool MyImage::setFrame(Pylon::CGrabResultPtr ptr) {
 }
 
 bool MyImage::setFrame( Pylon::CPylonImage &img) {
+  qDebug() << "Setting frame from Pylon image (" << img.GetWidth() << "x" << img.GetHeight() << ")";
   bool valid = img.IsValid() && img.GetWidth() <= max_width && img.GetHeight() <= max_height;
   if (valid) {
       img_width = img.GetWidth();
       img_height = img.GetHeight();
-      memcpy(&buffer, img.GetBuffer(), img.GetImageSize());
+      memcpy(buffer, img.GetBuffer(), img.GetImageSize());
+      auto t = std::chrono::system_clock::now();
+      img_timestamp = std::chrono::system_clock::to_time_t(t);
     }
   return valid;
 }
@@ -48,7 +59,7 @@ int64_t MyImage::index() {
 }
 
 void *MyImage::data() {
-  return &buffer;
+  return buffer;
 }
 
 time_t MyImage::timestamp() {

myimage.h

@@ -6,8 +6,9 @@
 class MyImage
 {
 public:
-  MyImage();
+  MyImage(uint32_t width, uint32_t height);
   MyImage(Pylon::CGrabResultPtr ptr);
+  ~MyImage();
 
   int width();
   int height();
@@ -23,9 +24,9 @@ private:
   uint32_t img_height = 0;
   int64_t img_index = 0;
   time_t img_timestamp;
-  static const int max_width = 4096;
-  static const int max_height = 1536;
-  char buffer[max_width * max_height];
+  static const int max_width = 5184;
+  static const int max_height = 2048;
+  char *buffer; //[max_width * max_height];
 };
 
 #endif // MYIMAGE_H

pylonrecorder.cpp

@@ -61,8 +61,8 @@ PylonRecorder::PylonRecorder(QWidget *parent)
   QPalette progressPalette = pressureBar->palette();
   progressPalette.setBrush(QPalette::Highlight, QBrush(color));
   pressureBar->setPalette(progressPalette);
-  QLabel *preassureLabel = new QLabel("Buffer preassure:", this);
-  preassureLabel->setStyleSheet("QLabel{font-size: 11pt;font-family: Arial;font-weight: Bold}");
+  QLabel *pressureLabel = new QLabel("Buffer pressure:", this);
+  pressureLabel->setStyleSheet("QLabel{font-size: 11pt;font-family: Arial;font-weight: Bold}");
   loadBar = new QProgressBar(this);
   loadBar->setRange(0, defaultBufferSize);
   loadBar->setFixedSize(200, 25);
@@ -87,9 +87,10 @@ PylonRecorder::PylonRecorder(QWidget *parent)
   statusHeader->setStyleSheet("QLabel{font-size: 11pt;font-family: Arial; font-weight: Bold}");
   QLabel *fileHeader = new QLabel("Output file:");
   fileHeader->setStyleSheet("QLabel{font-size: 11pt;font-family: Arial; font-weight: Bold}");
+
   statusBar()->addWidget(camHeader);
   statusBar()->addWidget(cameraConnectedLabel);
-  statusBar()->addWidget(preassureLabel);
+  statusBar()->addWidget(pressureLabel);
   statusBar()->addWidget(pressureBar);
   statusBar()->addWidget(loadLabel);
   statusBar()->addWidget(loadBar);
@@ -98,6 +99,7 @@ PylonRecorder::PylonRecorder(QWidget *parent)
   statusBar()->addWidget(writingLabel);
   statusBar()->addWidget(fileHeader);
   statusBar()->addWidget(fileLabel);
+
   resize(QGuiApplication::primaryScreen()->availableSize() * 3 / 5);
   detectCameras();
   createActions();
@@ -206,6 +208,7 @@ bool PylonRecorder::loadFile(const QString &fileName) {
 
 
 void PylonRecorder::setImage(const QImage &newImage) {
+  qDebug() << "Setting image";
   //FIXME figure out how to display both images. extract to extra class...
   image = newImage;
   // (image.colorSpace().isValid())
@@ -223,6 +226,7 @@ void PylonRecorder::setImage(const QImage &newImage) {
     applyScaling();
   }
   this->update();
+  qDebug() << "Setting image done";
 }
 
 
@@ -280,8 +284,8 @@ void PylonRecorder::saveAs() {
 
 
 void PylonRecorder::print() {
-  QPixmap map = imageLabel->pixmap(Qt::ReturnByValue);
-  Q_ASSERT(!map.isNull());
+  const QPixmap *map = imageLabel->pixmap();
+  Q_ASSERT(!map->isNull());
   #if defined(QT_PRINTSUPPORT_LIB) && QT_CONFIG(printdialog)
 
   QPrintDialog dialog(&printer, this);
@@ -289,11 +293,11 @@ void PylonRecorder::print() {
   if (dialog.exec()) {
       QPainter painter(&printer);
       QRect rect = painter.viewport();
-      QSize size = map.size();
+      QSize size = map->size();
       size.scale(rect.size(), Qt::KeepAspectRatio);
       painter.setViewport(rect.x(), rect.y(), size.width(), size.height());
-      painter.setWindow(map.rect());
-      painter.drawPixmap(0, 0, map);
+      painter.setWindow(map->rect());
+      painter.drawPixmap(0, 0, *map);
     }
 #endif
 }
@@ -434,6 +438,7 @@ void PylonRecorder::createActions() {
   connect_camera_action->setStatusTip(tr("Connect to to camera and open device"));
   disconnect_camera_action = camera_menu->addAction(disconnect_icon, tr("&disconnect"), this, &PylonRecorder::disconnectCamera);
   disconnect_camera_action->setStatusTip(tr("Disconnect from the camera device"));
+  disconnect_camera_action->setEnabled(false);
   camera_menu->addSeparator();
   grab_still_action = camera_menu->addAction(snapshot_icon, tr("&grab still"), this, &PylonRecorder::grabStillFromPylon);
   grab_still_action->setStatusTip(tr("Grab single image from Pylon camera"));
@@ -442,6 +447,9 @@ void PylonRecorder::createActions() {
   grab_continuous_action->setShortcut(tr("Ctrl+Enter"));
   grab_stop_action = camera_menu->addAction(stop_icon, tr("&stop grabbing"), this, &PylonRecorder::stopRecording);
   grab_stop_action->setShortcut(tr("Ctrl+Shift+Enter"));
+  set_cam_identifier_action = camera_menu->addAction(tr("set identifier"), this, &PylonRecorder::setCameraIDs);
+  set_cam_identifier_action->setStatusTip(tr("Set human readable camera identifier or easier recognition."));
+  set_cam_identifier_action->setToolTip(tr("Set human readable camera identifier or easier recognition."));
 
   selectStorageAction = new QAction(tr("storage location"), this);
   selectStorageAction->setStatusTip(tr("Select a storage location for the recorded videos"));
@@ -534,20 +542,42 @@ void PylonRecorder::updateActions() {
   zoomInAct->setEnabled(!fitToWindowAct->isChecked());
   zoomOutAct->setEnabled(!fitToWindowAct->isChecked());
   normalSizeAct->setEnabled(!fitToWindowAct->isChecked());
-  disconnect_camera_action->setEnabled(deviceList.size() > 0);
+  disconnect_camera_action->setEnabled(cameraOpened);
   connect_camera_action->setEnabled(true);
-  grab_still_action->setEnabled(deviceList.size() > 0);
+  grab_still_action->setEnabled(cameraOpened);
   grab_continuous_action->setEnabled(cameraOpened && !grabbing);
-  // grab_continuous_action->setEnabled(!grabbing);
   grab_stop_action->setEnabled(grabbing);
+  set_cam_identifier_action->setEnabled(false);
 }
 
 
+void PylonRecorder::setCameraIDs() {
+  if (deviceList.size() == 0) {
+    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();
+    qWarning() << msg.toStdString().c_str();
+    return;
+  }
+  cameraIdDialog = new CameraID(deviceList, this);
+  connect(cameraConfigDialog, SIGNAL(accepted()), SLOT(cameraIDAccepted()));
+  std::cerr <<"ping\n";
+  cameraIdDialog->exec();
+}
+
+void PylonRecorder::cameraIDAccepted() {
+  QString newid = cameraIdDialog->newID();
+  int deviceindex = cameraIdDialog->cameraIndex();
+  std::cerr << "New camera id " << newid.toStdString() << " index: " << deviceindex << std::endl;
+  delete(cameraIdDialog);
+}
+
 void PylonRecorder::scaleImage(double factor) {
-  QPixmap map = imageLabel->pixmap(Qt::ReturnByValue);
-  Q_ASSERT(!map.isNull());
+  const QPixmap *map = imageLabel->pixmap();
+  Q_ASSERT(!map->isNull());
   scaleFactor *= factor;
-  imageLabel->resize(scaleFactor * map.size());
+  imageLabel->resize(scaleFactor * map->size());
 
   adjustScrollBar(scrollArea->horizontalScrollBar(), factor);
   adjustScrollBar(scrollArea->verticalScrollBar(), factor);
@@ -558,7 +588,7 @@ void PylonRecorder::scaleImage(double factor) {
 
 
 void PylonRecorder::applyScaling(){
-  imageLabel->resize(scaleFactor * imageLabel->pixmap(Qt::ReturnByValue).size());
+  imageLabel->resize(scaleFactor * imageLabel->pixmap()->size());
 }
 
 
@@ -582,31 +612,33 @@ void PylonRecorder::adjustScrollBar(QScrollBar *scrollBar, double factor) {
 
 
 void PylonRecorder::cameraConfiguration(){
-    d = new CamConfigurator(deviceList, this);
-    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();
+  qDebug() << "Configuring camera(s)";
+  cameraConfigDialog = new CamConfigurator(deviceList, this);
+  connect(cameraConfigDialog, SIGNAL(accepted()), SLOT(cameraConfigurationAccepted()));
+  connect(cameraConfigDialog, SIGNAL(rejected()),  SLOT(cameraConfigurationAborted()));
+  // QObject::connect(&d, SIGNAL(column_visibility_changed(QString, QString,bool)), this, SLOT(visible_columns_update(QString, QString,bool)));
+  cameraConfigDialog->exec();
 }
 
 
 void PylonRecorder::cameraConfigurationAccepted() {
-  qDebug() << "Cameras setting " << ((d->result()) ? "Accepted" : "Discarded");
-  this->layout = d->layout();
+  qDebug() << "Camera configuration " << ((cameraConfigDialog->result()) ? "Accepted" : "Discarded");
+  this->layout = cameraConfigDialog->layout();
   camsconfigured = true;
-  delete d;
+  delete cameraConfigDialog;
 }
 
 
 void PylonRecorder::cameraConfigurationAborted() {
   qDebug() << "Camera configuration aborted!";
   camsconfigured = false;
+  delete cameraConfigDialog;
 }
 
 
 void PylonRecorder::connectCamera() {
-  this->layout = CameraLayout();
   qDebug() << "connecting camera(s)";
+  this->layout = CameraLayout();
   if (deviceList.size() == 0) {
     detectCameras();
     QMessageBox msgBox;
@@ -621,6 +653,8 @@ void PylonRecorder::connectCamera() {
     qDebug() << "cameras have not been properly configured!";
     return;
   }
+  
+  //Single Camera mode
   if (layout.mode == CameraMode::single && layout.devices.size() == 1) {
     qDebug() << "single camera mode";
     std::string cname = layout.devices[0];
@@ -642,12 +676,15 @@ void PylonRecorder::connectCamera() {
     statusBar()->showMessage(QString::fromStdString(message));
     updateActions();
   }
+  
+  // Dual Camera mode
   if (layout.mode == CameraMode::dual && layout.devices.size() == 2) {
     qDebug() << "dual camera mode";
     std::string message;
     dualcam = new DualcamWrapper(layout);
     bool success = dualcam->openCameras(message);
     if (success) {
+      qDebug() << "Dual cameras connected";
       cameraConnectedLabel->setText("connected");
       cameraConnectedLabel->setStyleSheet("QLabel { font-size: 10px;font-family: Arial;color: green;}");
       cameraOpened = true;
@@ -750,8 +787,8 @@ void PylonRecorder::startSinglecamRecording() {
     delete writer;
     writer = nullptr;
   }
-  writer = new Writer(buffer, 0);
-  connect(writer, SLOT(writingDone()), this, SLOT(writerDone()));
+  writer = new Writer(buffer);
+  connect(writer, SIGNAL(writingDone()), this, SLOT(writerDone()));
   writer->setVideoSpecs(specs);
 
   QSettings s;
@@ -781,7 +818,7 @@ void PylonRecorder::startDualcamRecording() {
   VideoSpecs specs = getVideoSpecs(settings);
   specs.filename = filename;
   specs.format = VideoFormat::mp4;
-  qDebug() << "got video specifications";
+  qDebug() << "got video specifications " << specs.fps;
   if (buffer != nullptr) {
     buffer->clear();
     delete buffer;
@@ -813,14 +850,14 @@ void PylonRecorder::startDualcamRecording() {
     delete writer;
     writer = nullptr;
   }
-  writer = new Writer(buffer, 0);
+  writer = new Writer(buffer);
   connect(writer, SIGNAL(writingDone()), this, SLOT(writerDone()));
   writer->setVideoSpecs(specs);
 
-  qDebug() << "push metadata to writer";
-  QSettings s;
-  this->mdata.read(s);
-  writer->setProjectMetadata(mdata);
+  // qDebug() << "push metadata to writer";
+  // QSettings s;
+  // this->mdata.read(s);
+  // writer->setProjectMetadata(mdata);
 
   dryRun = dryRunCheckBox->isChecked();
   buffer->clear();
@@ -869,10 +906,8 @@ void PylonRecorder::stopRecording() {
       stopRequest = true;
       grab_stop_action->setEnabled(false);
       qDebug() << "StopRecording: clear buffer!";
-      if(buffer != nullptr) {
-          buffer->clear();
-          if (dryRun)
-            writerDone();
+      if (dryRun){
+        writerDone();
       }
   }
   qDebug() << "StopRecording done!";
@@ -893,8 +928,12 @@ void PylonRecorder::writerDone() {
   }
   if (writer != nullptr)
     writer->wait(10000);
+  if(buffer != nullptr) {
+    buffer->clear();
+  }
   writing = false;
   updateActions();
+
   qInfo() << "writer is Done!";
 }
 
@@ -907,6 +946,7 @@ void PylonRecorder::displayActivity() {
 
 
 void PylonRecorder::displaySingleFrame() {
+  qDebug() << "display single frame";
   MyImage *img;
   size_t fc = 0;
   img = buffer->readLast(fc);
@@ -914,7 +954,7 @@ void PylonRecorder::displaySingleFrame() {
     QImage qimg(static_cast<uchar *>(img->data()), img->width(), img->height(), QImage::Format::Format_Grayscale8);
     setImage(qimg);
   }else {
-      std::cerr << "Error reading last image" << std::endl;
+      qDebug() << "Error reading last image";
   }
 }
 
@@ -960,7 +1000,8 @@ void PylonRecorder::displayBufferPressure() {
 void PylonRecorder::grabStillFromPylon() {
   qDebug() << "Grab still image form camera!";
   if (singlecam != nullptr && singlecam->isOpen()) {
-      MyImage img;
+      ImageSettings s = singlecam->getImageSettings();
+      MyImage img(s.width, s.height);
       bool valid = singlecam->grabFrame(img);
       if (valid) {
           QImage qimg(static_cast<uchar *>(img.data()), img.width(), img.height(),
@@ -970,7 +1011,7 @@ void PylonRecorder::grabStillFromPylon() {
     } else {
       statusBar()->showMessage(tr("Camera is not open! Connect to camera first!"));
     }
-  //FIXME does not work for single camera mode!
+  //FIXME does not work for stereo camera mode!
   qDebug() << "grabbing still image done!";
 }
 

pylonrecorder.h

@@ -13,9 +13,9 @@
 #include "grabber.h"
 #include "dualcamgrabber.h"
 #include "writer.h"
-#include "opencvwriter.h"
 #include "projectsettings.h"
 #include "camconfig.h"
+#include "camids.h"
 #include "util.h"
 
 #include <QImage>
@@ -71,6 +71,8 @@ private slots:
     void selectStorageLocation();
     void cameraConfigurationAccepted();
     void cameraConfigurationAborted();
+    void setCameraIDs();
+    void cameraIDAccepted();
 
 private:
     void createActions();
@@ -87,7 +89,6 @@ private:
     VideoSpecs getVideoSpecs(const ImageSettings &settings);
     void startSinglecamRecording();
     void startDualcamRecording();
-
     bool saveFile(const QString &fileName);
     void setImage(const QImage &newImage);
     void scaleImage(double factor);
@@ -122,8 +123,9 @@ private:
     QString storageLocation = "";
     ProjectMetadata mdata;
     Pylon::DeviceInfoList_t deviceList;
-    CamConfigurator *d;
     Pylon::PylonAutoInitTerm autoInitTerm;
+    CamConfigurator *cameraConfigDialog;
+    CameraID *cameraIdDialog;
 
 
 #if defined(QT_PRINTSUPPORT_LIB) && QT_CONFIG(printer)
@@ -142,6 +144,7 @@ private:
     QAction *grab_stop_action;
     QAction *connect_camera_action;
     QAction *disconnect_camera_action;
+    QAction *set_cam_identifier_action;
 };
 
 #endif

pylonwrapper.cpp

@@ -157,14 +157,43 @@ bool PylonWrapper::grabFrame(MyImage &img) {
     camera->StartGrabbing();
     camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
     camera->StopGrabbing();
+    qDebug() << "grabFrame done";
   }
+
   img.setFrame(frame);
   return frame.IsValid();
 }
 
+uint32_t PylonWrapper::sensorWidth() {
+  qDebug() << "Reading SensorWidth";
+  uint32_t width = -1;
+  if (valid) {
+    qDebug() << "SensorWidth available";
+    GenApi::INodeMap &nodemap = camera->GetNodeMap();
+    if (GenApi::IsAvailable(nodemap.GetNode("SensorWidth"))) {
+      Pylon::CIntegerParameter pwidth( nodemap, "SensorWidth" );
+      width = (uint32_t)pwidth.GetValue();
+    }
+  }
+  return width;
+}
+
+uint32_t PylonWrapper::sensorHeight() {
+  qDebug() << "Reading SensorHeight";
+  uint32_t height = -1;
+  if (valid){
+    GenApi::INodeMap &nodemap = camera->GetNodeMap();
+    if (GenApi::IsAvailable(nodemap.GetNode("SensorHeight"))) {
+      Pylon::CIntegerParameter pheight( nodemap, "SensorHeight" );
+      height = (uint32_t)pheight.GetValue();
+    }
+  }
+  return height;
+}
+
 void PylonWrapper::resetCamera() {
-  int64_t dfltWidth = 2048;
-  int64_t dfltHeight = 1536;
+  uint32_t dfltWidth = sensorWidth();
+  uint32_t dfltHeight = sensorHeight();
   qDebug() << "resetting camera to default ROI (" << dfltWidth << ", " << dfltHeight << ")";
   try {
     GenApi::INodeMap& nodemap = camera->GetNodeMap();
@@ -179,6 +208,7 @@ void PylonWrapper::resetCamera() {
     std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
     valid = false;
   }
+  qDebug() << "resetting camera to default ROI done";
 }
 
 bool PylonWrapper::openCamera(std::string &message) { 
@@ -232,3 +262,16 @@ void PylonWrapper::closeCamera() {
 Pylon::CInstantCamera *PylonWrapper::getCamera() {
   return camera;
 }
+
+QString PylonWrapper::userName() {
+  GenApi::INodeMap& nodemap = camera->GetNodeMap();
+  QString username = Pylon::CStringParameter(nodemap, "DeviceUserID").GetValue().c_str();
+  if (username.length() == 0) {
+    username = Pylon::CStringParameter(nodemap, "DeviceModelName").GetValue().c_str();
+  }
+  return username;
+}
+
+QString PylonWrapper::deviceName() {
+  return QString::fromStdString(fullName);
+}

pylonwrapper.h

@@ -27,8 +27,12 @@ public:
     bool exposureTime(double exposure_time);
     double gain();
     bool gain(double gain_db);
+    uint32_t sensorHeight();
+    uint32_t sensorWidth();
+    QString userName();
     Pylon::CInstantCamera *getCamera();
     void resetCamera();
+    QString deviceName();
 
 private:
     Pylon::CInstantCamera *camera;

writer.cpp

@@ -1,9 +1,13 @@
 #include "writer.h"
 #include <chrono>
 #include <fstream>
-
 #include <pylon/VideoWriter.h>
+#include <chrono>
 using namespace std::chrono;
+typedef high_resolution_clock Time;
+typedef milliseconds ms;
+typedef duration<float> fsec;
+
 
 void Writer::setVideoSpecs(VideoSpecs specs) {
   videoSpecs = specs;
@@ -37,112 +41,41 @@ void Writer::run() {
     // Releases all pylon resources.
     // PylonTerminate();
     // Return with error code 1.
-    emit writingDone(this->cam_number);
+    emit writingDone();
     return;
   }
   qDebug() << "checks done!";
 
   Pylon::CVideoWriter videoWriter;
-  if (specs_valid) {
+  if (specs_valid && videoSpecs.format != VideoFormat::raw) {
       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 {
-        qDebug() << "setting parameters for video";
-        videoWriter.SetParameter((uint32_t)videoSpecs.width, (uint32_t)videoSpecs.height, videoSpecs.pixelType, (double)videoSpecs.fps, videoSpecs.quality);
-        videoWriter.Open(videoSpecs.filename.c_str());
-      }
-
-      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");
-      b.metadata(s);
-      nix::Value v(nix::util::timeToStr(std::chrono::system_clock::to_time_t(std::chrono::system_clock::now())));
-      s.createProperty("date", v);
-
-      nix::Value fn(videoSpecs.filename);
-      s.createProperty("moviefile", fn);
-      nix::Section sw_sec = s.createSection("PylonRecorder", "nix.software");
-      sw_sec.createProperty("version", nix::Value(1));
-
-      nix::Section hw_sec = s.createSection("Basler ACA2040-120um", "nix.hardware.camera");
-      hw_sec.createProperty("type", nix::Value("monochrome"));
-      hw_sec.createProperty("manufacturer", nix::Value("Basler AG"));
-      nix::Property p = hw_sec.createProperty("framerate", nix::Value(static_cast<int>(videoSpecs.fps)));
-      p.unit("Hz");
-      nix::Property p1 = hw_sec.createProperty("exposure time", nix::Value(static_cast<int>(videoSpecs.exposureTime)));
-      p1.unit("us");
-      nix::Property p2 = hw_sec.createProperty("detector gain", nix::Value(static_cast<int>(videoSpecs.detectorGain)));
-      p2.unit("dB");
-
-      if (metadata_valid) {
-        writeMetadata(s);
-      }
-
-      nix::NDSize initial_shape(1, chunksize);
-      nix::DataArray frametimes = b.createDataArray("frametimes", "nix.imaging.frametimes", nix::DataType::String, initial_shape);
-      frametimes.label("time");
-      frametimes.appendSetDimension();
-      nix::DataArray frameindices = b.createDataArray("frameindex", "nix.imaging.frameid", nix::DataType::Int64, initial_shape);
-      frameindices.appendSetDimension();
-
-      std::vector<std::string> stamps_buffer(chunksize);
-      std::vector<int64_t> ids_buffer(chunksize);
-
-      nix::NDSize offset(1, 0);
-      nix::NDSize current_shape(initial_shape);
-      nix::NDSize chunk_shape(1, chunksize);
-
+      videoWriter.SetParameter((uint32_t)videoSpecs.width, (uint32_t)videoSpecs.height, 
+                               videoSpecs.pixelType, (double)videoSpecs.fps, videoSpecs.quality);
+      videoWriter.Open(videoSpecs.filename.c_str());
       qDebug() << "preparations done, starting loop!";
       while ((!stop_request || buffer->bufferLoad() > 0) && !stopNow) {
           if (buffer->bufferLoad() > 0 ) {
             size_t framecount = 0;
             MyImage *img = buffer->read(framecount);
             if (img != nullptr) {
-              if (videoSpecs.format == VideoFormat::raw) {
-                myFile.write((char*)img->data(), img->size());
-              } else {
-                Pylon::CPylonImage pyImage;
-                try {
-                  pyImage.AttachUserBuffer(img->data(), videoSpecs.width * videoSpecs.height, videoSpecs.pixelType, videoSpecs.width, videoSpecs.height, 0, videoSpecs.orientation);
-                  videoWriter.Add(pyImage);
-                } catch (const Pylon::GenericException &e) {
-                  std::cerr << "Writer::run: An exception occurred." << std::endl << e.GetDescription() << std::endl;
-                }
-              }
-              if (count < chunksize) {
-                stamps_buffer[count] = nix::util::timeToStr(img->timestamp());
-                ids_buffer[count] = img->index();
-                count ++;
-              } else {
-                frametimes.setData(nix::DataType::String, stamps_buffer.data(), chunk_shape, offset);
-                frameindices.setData(nix::DataType::Int64, ids_buffer.data(), chunk_shape, offset);
-                current_shape += initial_shape;
-                frametimes.dataExtent(current_shape);
-                frameindices.dataExtent(current_shape);
-                offset[0] += chunksize;
-                count = 0;
+              Pylon::CPylonImage pyImage;
+              try {
+                pyImage.AttachUserBuffer(img->data(), videoSpecs.width * videoSpecs.height, videoSpecs.pixelType, videoSpecs.width, videoSpecs.height, 0, videoSpecs.orientation);
+                videoWriter.Add(pyImage);
+              } catch (const Pylon::GenericException &e) {
+                std::cerr << "Writer::run: An exception occurred." << std::endl << e.GetDescription() << std::endl;
               }
             }
           } else {
             while (buffer->bufferLoad() < 1 && !stop_request) {
-              msleep(5);
+              msleep(2);
             }
           }
         }
-        if (count > 0) {
-            chunk_shape[0] = count;
-            frametimes.setData(nix::DataType::String, stamps_buffer.data(), chunk_shape, offset);
-            frameindices.setData(nix::DataType::Int64, ids_buffer.data(), chunk_shape, offset);
-        }
-        // videoWriter.Close();
-        myFile.close();
-        nix_file.close();
+        videoWriter.Close();
     } else {
-      std::cerr << "Got no video specifications, not writing!" << std::endl;
+      qDebug() << "Got no video specifications, not writing!";
     }
-  emit writingDone(cam_number);
+  emit writingDone();
 }

writer.h

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