298 lines
9.4 KiB
C++
298 lines
9.4 KiB
C++
#include "dualcamwrapper.h"
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DualcamWrapper::DualcamWrapper(const CameraLayout &layout): valid(false), withLayout(true) {
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qDebug() << "Constructor with layout";
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this->layout = layout;
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Pylon::PylonInitialize();
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}
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DualcamWrapper::~DualcamWrapper() {
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qDebug() << "wrapper destructor";
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for (int i =0; i < cameras.GetSize(); ++i) {
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if (cameras[i].IsOpen()) {
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cameras[i].Close();
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qDebug() << "Camera " << i << " is open, closing it!";
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}
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}
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terminate();
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qDebug() << "Successfully deleted cameras";
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}
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void DualcamWrapper::terminate() {
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qDebug() << "Terminate";
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try {
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Pylon::PylonTerminate();
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} catch (const Pylon::GenericException &e) {
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std::cerr << e.GetDescription() << std::endl;
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}
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}
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bool DualcamWrapper::isOpen() {
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return cameras.IsOpen();
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}
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double DualcamWrapper::maxFrameRate(int camindex) {
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assert(camindex >= 0 && camindex < 2);
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double max_rate = -1;
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if (valid) {
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GenApi::INodeMap& nodemap = getNodemap(camindex);
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GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
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Pylon::CFloatParameter framerate( n );
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return framerate.GetMax();
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}
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return max_rate;
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}
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bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
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if (valid) {
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if (camindex == -1) {
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frameRate(new_framerate, 0);
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frameRate(new_framerate, 1);
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return true;
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} else if (camindex >= 0 && camindex < 2) {
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GenApi::INodeMap& nodemap = getNodemap(camindex);
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GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
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Pylon::CBooleanParameter enableframerate(n);
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enableframerate.SetValue(true);
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n = nodemap.GetNode( "AcquisitionFrameRate" );
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Pylon::CFloatParameter framerate( n );
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framerate.SetValue( new_framerate );
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return true;
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} else {
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return false;
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}
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}
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return false;
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}
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double DualcamWrapper::frameRate(int camindex) {
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assert(camindex >= 0 && camindex < 2);
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double rate = -1.;
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if (valid) {
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GenApi::INodeMap& nodemap = getNodemap(camindex);
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GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
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Pylon::CFloatParameter framerate( n );
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rate = framerate.GetValue();
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}
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return rate;
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}
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double DualcamWrapper::exposureTime(int camindex) {
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assert(camindex > 0 && camindex < 2);
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double time = -1.;
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if (valid) {
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GenApi::INodeMap& nodemap = getNodemap(camindex);
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GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
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Pylon::CFloatParameter exposure_time( n );
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time = exposure_time.GetValue();
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}
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return time;
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}
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bool DualcamWrapper::exposureTime(double exposure_time, int camindex) {
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if (valid) {
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if (camindex == -1) {
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exposureTime(exposure_time, 0);
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exposureTime(exposure_time, 1);
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} else {
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try {
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GenApi::INodeMap& nodemap = getNodemap(camindex);
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GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
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Pylon::CFloatParameter exp_time( n );
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exp_time.SetValue( exposure_time );
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GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Timed");;
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} catch (...) {
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qWarning() << "Could not set exposure for cam " << camindex;
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}
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}
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}
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return false;
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}
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uint32_t DualcamWrapper::sensorWidth(int camindex) {
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qDebug() << "Reading SensorWidth from camera " << camindex;
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assert(camindex >= 0 && camindex < 2);
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uint32_t width = -1;
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if (valid) {
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GenApi::INodeMap &nodemap = getNodemap(camindex);
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Pylon::CIntegerParameter pwidth( nodemap, "SensorWidth" );
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width = (uint32_t)pwidth.GetValue();
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}
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return width;
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}
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uint32_t DualcamWrapper::sensorHeight(int camindex) {
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qDebug() << "Reading SensorHeight from camera " << camindex;
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assert(camindex >= 0 && camindex < 2);
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uint32_t height = -1;
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if (valid) {
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GenApi::INodeMap &nodemap = getNodemap(camindex);
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Pylon::CIntegerParameter pheight( nodemap, "SensorHeight" );
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height = (uint32_t)pheight.GetValue();
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}
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return height;
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}
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double DualcamWrapper::gain(int camindex) {
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assert(camindex >= 0 && camindex < 2);
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double gain = -1.;
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if (valid) {
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GenApi::INodeMap& nodemap = getNodemap(camindex);
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GenApi::INode* n = nodemap.GetNode( "Gain" );
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Pylon::CFloatParameter detector_gain( n );
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gain = detector_gain.GetValue();
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}
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return gain;
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}
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bool DualcamWrapper::gain(double gain_db, int camindex) {
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if (valid) {
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if (camindex == -1) {
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gain(gain_db, 0);
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gain(gain_db, 1);
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} else if (camindex >= 0 && camindex < 2) {
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GenApi::INodeMap& nodemap = getNodemap(camindex);
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GenApi::CFloatPtr(nodemap.GetNode("Gain"))->SetValue(gain_db);
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return true;
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} else{
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return false;
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}
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}
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return false;
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}
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ImageSettings DualcamWrapper::getImageSettings(int camindex) {
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ImageSettings settings;
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if (valid) {
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GenApi::INodeMap &nodemap = getNodemap(camindex);
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Pylon::CEnumParameter pixelFormat( nodemap, "PixelFormat" );
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Pylon::CPixelTypeMapper pixelTypeMapper( &pixelFormat );
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Pylon::EPixelType pixelType = pixelTypeMapper.GetPylonPixelTypeFromNodeValue( pixelFormat.GetIntValue() );
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Pylon::CIntegerParameter width( nodemap, "Width" );
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Pylon::CIntegerParameter height( nodemap, "Height" );
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settings.pixelType = pixelType;
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settings.width = (uint32_t)width.GetValue();
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settings.height = (uint32_t)height.GetValue();
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settings.orientation = Pylon::EImageOrientation::ImageOrientation_TopDown;
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}
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return settings;
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}
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bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
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Pylon::CGrabResultPtr frame;
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Pylon::CInstantCamera* camera;
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qDebug() << "grabFrame from camera " << camindex;
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if (valid) {
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GenApi::INodeMap &nodemap = getNodemap(camindex);
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qDebug() << "Setting width" << layout.rois[camindex].width;
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Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[camindex].width);
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qDebug() << "Setting height" << layout.rois[0].height;
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Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[camindex].height);
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qDebug() << "Setting xoffset" << layout.rois[camindex].x;
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Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[camindex].x);
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qDebug() << "Setting yoffset" << layout.rois[camindex].y;
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Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[camindex].y);
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camera->StartGrabbing();
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camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
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camera->StopGrabbing();
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}
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img.setFrame(frame);
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return frame.IsValid();
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}
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void DualcamWrapper::setROI() {
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for (int camindex = 0; camindex < 2; camindex++){
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qDebug() << "Setting ROI: w" << layout.rois[camindex].width << " h: "<< layout.rois[camindex].height << " x " << layout.rois[camindex].x << " y " << layout.rois[camindex].y;
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try {
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GenApi::INodeMap &nodemap = getNodemap(camindex);
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Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[camindex].width);
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Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[camindex].height);
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Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[camindex].x);
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Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[camindex].y);
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} catch (const Pylon::GenericException &e) {
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std::cerr << e.GetDescription() << std::endl;
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}
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}
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}
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void DualcamWrapper::resetCamera(int camindex) {
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GenApi::INodeMap &nodemap = getNodemap( camindex );
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uint32_t width = sensorWidth(camindex);
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uint32_t height = sensorHeight(camindex);
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qDebug() << "resetting camera to default ROI (" << width << ", " << height << ")";
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try {
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Pylon::CIntegerParameter(nodemap, "Width").SetValue(width, false);
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Pylon::CIntegerParameter(nodemap, "Height").SetValue(height, false);
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Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(0);
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Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(0);
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} catch (const Pylon::GenericException &e) {
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std::string message = e.GetDescription();
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std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
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valid = false;
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}
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}
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bool DualcamWrapper::openCameras(std::string &message) {
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qDebug() << "opening cameras";
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Pylon::CTlFactory& tlFactory = Pylon::CTlFactory::GetInstance();
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cameras.Initialize(2);
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try {
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cameras[0].Attach( tlFactory.CreateDevice( layout.devices[0].c_str() ) );
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cameras[0].Open();
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cameras[1].Attach( tlFactory.CreateDevice( layout.devices[1].c_str() ) );
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cameras[1].Open();
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valid = cameras[0].IsOpen();
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valid = valid & cameras[1].IsOpen();
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message = "Successfully opened camera!";
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} catch (const Pylon::GenericException &e) {
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message = e.GetDescription();
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std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
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valid = false;
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return valid;
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}
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// resetCamera(0);
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// resetCamera(1);
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setROI();
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return valid;
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}
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void DualcamWrapper::closeCameras() {
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qDebug() << "Close cameras!";
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if (cameras[0].IsOpen()) {
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cameras[0].Close();
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}
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if (cameras[1].IsOpen()) {
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cameras[1].Close();
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}
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valid = false;
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}
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Pylon::CInstantCameraArray &DualcamWrapper::getCameraArray() {
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return cameras;
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}
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// Pylon::CInstantCamera DualcamWrapper::getCamera(int camindex) {
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// return this.cameras[camindex];
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// }
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GenApi::INodeMap& DualcamWrapper::getNodemap(int camindex){
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GenApi::INodeMap &nodemap = cameras[camindex].GetNodeMap();
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return nodemap;
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} |