From 8da179cd6fe329521bd2ec1433715840e2d4f64c Mon Sep 17 00:00:00 2001
From: Jan Grewe <jan.grewe@g-node.org>
Date: Tue, 8 Jul 2025 15:30:16 +0200
Subject: [PATCH] support x and y offset settings

---
 minimal_pylon.cpp | 58 +++++++++++++++++++++++++++++++++++------------
 1 file changed, 44 insertions(+), 14 deletions(-)

diff --git a/minimal_pylon.cpp b/minimal_pylon.cpp
index 89e3561..2091a23 100644
--- a/minimal_pylon.cpp
+++ b/minimal_pylon.cpp
@@ -34,6 +34,18 @@ typedef high_resolution_clock Time;
 typedef milliseconds ms;
 typedef duration<float> fsec;
 
+uint32_t sensorHeight(CInstantCamera &camera) {
+  CIntegerParameter maxheight( camera.GetNodeMap(), "SensorHeight" );
+  return maxheight.GetValue();
+}
+
+uint32_t sensorWidth(CInstantCamera &camera) {
+  CIntegerParameter maxwidth( camera.GetNodeMap(), "SensorWidth" );
+  return maxwidth.IsValid() && maxwidth.IsReadable() ? maxwidth.GetValue() : 0;
+}
+ 
+//void exposureTime(double exposure_time);
+
 int main( int argc, char* argv[] ) {
   uint32_t frameCount = 100;
   size_t maxCameras = 1;
@@ -44,6 +56,8 @@ int main( int argc, char* argv[] ) {
   uint32_t quality = 50;
   int cWidth = 2000; //2592;
   int cHeight = 2000; //2048;
+  int xOffset = 0;
+  int yOffset = 0;
   int camIndex = 0;
   string errorMessage = "";
   String_t filename = "_TestVideo.mp4";
@@ -56,6 +70,8 @@ int main( int argc, char* argv[] ) {
 	   << "\t --help|? \t this help\n"
 	   << "\t --width|-w \t the image width in pixel, defaults to 2000\n"
 	   << "\t --height|-h \t the image height in pixel, defaults to 2000\n"
+	   << "\t --xoffs|-x \t image x offset in pixel, defaults to 0\n"
+	   << "\t --yoffs|-y \t image y-offset in pixel, defaults to 0\n"	
 	   << "\t --cameras|-c \t the desired number of cameras to grab at the same time, defaults to 1\n"
 	   << "\t --framecount|-n \t the number of frames, defaults to 100\n"
 	   << "\t --quality|-q \t the qualtiy of the compression (0 < q <= 100), defaults to 50\n"
@@ -78,6 +94,12 @@ int main( int argc, char* argv[] ) {
     if ((arg == "--height" || arg == "-h") && i + 1 < argc) {
       cHeight = std::atoi(argv[++i]);
     }
+    if ((arg == "--xoffs" || arg == "-x") && i + 1 < argc) {
+      xOffset = std::atoi(argv[++i]);
+    }
+    if ((arg == "--yoffs" || arg == "-y") && i + 1 < argc) {
+      yOffset = std::atoi(argv[++i]);
+    }
     if ((arg == "--index" || arg == "-i") && i + 1 < argc) {
       camIndex = std::atoi(argv[++i]);
     }
@@ -91,18 +113,15 @@ int main( int argc, char* argv[] ) {
     if ((arg == "--outfile" || arg == "-o") && i + 1 < argc) {
       filename = Pylon::String_t(argv[++i]);
     }
-
   }
 
   PylonInitialize();
-  
   try {
-    // Check if CVideoWriter is supported and all DLLs are available.
     if (!CVideoWriter::IsSupported()) {
-      cout << "VideoWriter is not supported at the moment. Please install the pylon Supplementary Package for MPEG-4 which is available on the Basler website." << endl;
-      // Releases all pylon resources.
+      cout << "VideoWriter is not supported at the moment!"
+	   << " Please install the pylon Supplementary Package"
+	   << " for MPEG-4 which is available on the Basler website." << endl;
       PylonTerminate();
-      // Return with error code 1.
       return 1;
     }
     
@@ -123,16 +142,28 @@ int main( int argc, char* argv[] ) {
       cameras[i].Open();
       cout << "Using device " << cameras[i].GetDeviceInfo().GetModelName() << endl;
 
-      CIntegerParameter width( cameras[i].GetNodeMap(), "Width" );
-      CIntegerParameter height( cameras[i].GetNodeMap(), "Height" );
-      CEnumParameter pixelFormat( cameras[i].GetNodeMap(), "PixelFormat" );
-      CEnumParameter trigmode( cameras[i].GetNodeMap(), "TriggerMode");
+      uint32_t mw = sensorWidth(cameras[i]);
+      uint32_t mh = sensorHeight(cameras[i]);
+      uint32_t maxXOffs = mw - cWidth;
+      uint32_t maxYOffs = mh - cHeight;
+      xOffset = xOffset <= maxXOffs ? xOffset : maxXOffs; 
+      yOffset = yOffset <= maxYOffs ? yOffset : maxYOffs;
+
+      INodeMap& nodemap = cameras[i].GetNodeMap();
+      CIntegerParameter width( nodemap, "Width" );
+      CIntegerParameter height( nodemap, "Height" );
+      CIntegerParameter offsetX( nodemap, "OffsetX" );
+      CIntegerParameter offsetY( nodemap, "OffsetY" );
+      CEnumParameter pixelFormat( nodemap, "PixelFormat" );
+      CEnumParameter trigmode( nodemap, "TriggerMode");
+      CEnumParameter trigsource( nodemap, "TriggerSource");
+
       trigmode.TrySetValue( "On" );
-      CEnumParameter trigsource( cameras[i].GetNodeMap(), "TriggerSource");
       trigsource.TrySetValue( "Software" );
       width.TrySetValue( cWidth, IntegerValueCorrection_Nearest );
       height.TrySetValue( cHeight, IntegerValueCorrection_Nearest );
-      
+      offsetX.TrySetValue( xOffset, IntegerValueCorrection_Nearest );
+      offsetY.TrySetValue( yOffset, IntegerValueCorrection_Nearest );
     }
    
     CIntegerParameter width( cameras[0].GetNodeMap(), "Width" );
@@ -140,7 +171,6 @@ int main( int argc, char* argv[] ) {
     CEnumParameter pixelFormat( cameras[0].GetNodeMap(), "PixelFormat" );
     CPixelTypeMapper pixelTypeMapper( &pixelFormat );
     EPixelType pixelType = pixelTypeMapper.GetPylonPixelTypeFromNodeValue( pixelFormat.GetIntValue() );
-
     CGrabResultPtr frames[camCount];
     for (int i =0; i < camCount; i++) {
       CGrabResultPtr ptrGrabResult;
@@ -210,7 +240,7 @@ int main( int argc, char* argv[] ) {
 	if ( camCount > 1 ) {
 	  leftImage.AttachGrabResultBuffer( frames[0] );
 	  rightImage.AttachGrabResultBuffer( frames[1] );
-	  StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
+	  StitchImage::StitchToRight( leftImage, rightImage, &stitchedImage, errorMessage );
 	  videoWriter.Add( stitchedImage );
 	} else {
 	  videoWriter.Add( frames[0] );