static void output_once_( const boost::posix_time::ptime& t )
{
std::pair< boost::posix_time::ptime, cv::Mat > output;
if( polar )
{
static unsigned int polar_size = ( row_size + offset_from_center ) * 2 + 1;
static unsigned int type = output_options.get_header().type;
static cv::Mat polar_image( polar_size, polar_size * ids.size(), type );
::memset( const_cast< unsigned char* >( polar_image.datastart ), 0, polar_image.dataend - polar_image.datastart );
for( unsigned int i = 0; i < ids.size(); ++i )
{
unsigned int offset = row_size * i;
unsigned int polar_offset = polar_size * i;
for( unsigned int row = 0; row < block_size; ++row )
{
double x_step = sin_cos[row].second;
double y_step = sin_cos[row].first * sign;
double x = row_size + offset_from_center + polar_offset;
double y = row_size + offset_from_center;
x += sin_cos[row].second * offset_from_center;
y += sin_cos[row].first * sign * offset_from_center;
for( unsigned int column = 0; column < row_size; ++column, x += x_step, y += y_step )
{
::memcpy( const_cast< unsigned char* >( polar_image.datastart ) + ( int( y ) * ( polar_image.cols ) + int( x ) ) * pixel_size
, image.datastart + ( int( row ) * image.cols + offset + column ) * pixel_size
, pixel_size );
}
}
}
output.second = polar_image;
}
else
{
output.second = image;
}
output.first = t;
serialization->write( std::cout, output );
}
static void write_( ChunkPair p )
{
if( p.second.size().width == 0 || std::cout.bad() || !std::cout.good() || is_shutdown ) { return; }
static comma::csv::binary_output_stream< Header > ostream( std::cout, csv );
static Header header( options.get_header() );
header.header.timestamp = p.first.timestamp;
header.counters.ticks = p.first.ticks;
static ChunkData first_chunk_data;
if( first_chunk_data.timestamp.is_not_a_date_time() )
{
first_chunk_data = p.first;
header.counters.adjusted_timestamp = p.first.timestamp;
}
else
{
static const double factor = 8.0 / 1000; // 8ns per tick
header.counters.adjusted_timestamp = first_chunk_data.timestamp + boost::posix_time::microseconds( factor * first_chunk_data.ticks ); // todo: factor in network delay?
}
header.counters.line_count += p.first.line_trigger_ignored + 1;
header.counters.line = header.counters.line_count % encoder_ticks;
ostream.write( header );
std::cout.write( ( const char* )( p.second.datastart ), p.second.dataend - p.second.datastart );
std::cout.flush();
}
int main( int ac, char** av )
{
int result = 0;
try
{
comma::command_line_options options( ac, av );
if( options.exists( "--help,-h" ) ) { usage(); }
verbose = options.exists( "--verbose,-v" );
csv = comma::csv::options( options, "values" );
csv.full_xpath = true;
row_number_offset = options.value( "--row-number-offset,--offset", 0 );
polar = options.exists( "--polar" );
as_radians = !options.exists( "--degrees" );
clockwise = options.exists( "--clockwise" );
offset_from_center = options.value( "--offset-from-center", 0 ); // quick and dirty
z_up = options.value< std::string >( "--z", "up" ) == "up";
sign = ( z_up && !clockwise ) || ( !z_up && clockwise ) ? 1 : -1;
if( options.exists( "--fps" ) ) { dial_size = options.value( "--dial-size,--dial", 0 ); }
std::string s = options.value< std::string >( "--size" );
std::vector< std::string > v = comma::split( s, ',' );
if( v.size() != 2 && v.size() != 3 ) { std::cerr << "image-accumulate: expected --size=<value>; got \"" << s << "\"" << std::endl; return 1; }
block_size = boost::lexical_cast< unsigned int >( v[0] );
row_size = boost::lexical_cast< unsigned int >( v[1] );
scale = comma::csv::ascii< std::pair< double, double > >().get( options.value< std::string >( "--scale", "0,255" ) );
scaled< unsigned char > scaled( scale );
fps = options.optional< double >( "--fps" );
sin_cos = precomputed_sin_cos_();
channel::options default_channel_options( options );
std::vector< channel::options > channel_options;
if( csv.has_field( "id" ) )
{
const std::vector< std::string >& v = options.values< std::string >( "--id" );
if( v.empty() ) { std::cerr << "image-accumulate: 'id' field given, please specify at least one --id" << std::endl; return 1; }
for( unsigned int i = 0; i < v.size(); ++i )
{
channel_options.push_back( comma::name_value::parser( ';', '=' ).get< channel::options >( v[i], default_channel_options ) );
ids[ boost::lexical_cast< unsigned int >( comma::split( v[i], ';' )[0] ) ] = i;
}
}
else
{
ids[0] = 0;
channel_options.push_back( default_channel_options );
}
in.values.resize( row_size );
has_block = csv.has_field( "block" );
has_row = csv.has_field( "row" );
has_angle = csv.has_field( "angle" );
if( has_row && has_angle ) { std::cerr << "image-accumulate: in input fields, expected either 'row' or 'angle'; got both" << std::endl; return 1; }
comma::csv::input_stream< input > istream( std::cin, csv, in ); // todo: watch performance!
std::string default_output_options = "no-header;rows=" + boost::lexical_cast< std::string >( polar ? row_size * 2 + 1 : block_size ) + ";cols=" + boost::lexical_cast< std::string >( polar ? ( row_size * 2 + 1 ) * ids.size() : row_size * ids.size() ) + ";type=3ub";
std::string output_options_string = options.value( "--output", default_output_options );
output_options = comma::name_value::parser( ';', '=' ).get< snark::cv_mat::serialization::options >( output_options_string );
if( options.exists( "--output-options" ) ) { std::cout << comma::name_value::parser( ';', '=' ).put< snark::cv_mat::serialization::options >( output_options ) << std::endl; return 0; }
serialization.reset( new snark::cv_mat::serialization( output_options ) );
image = cv::Mat::zeros( block_size, row_size * ids.size(), output_options.get_header().type );
pixel_size = output_options.get_header().type == CV_8UC3 ? 3 : 1; // quick and dirty
boost::ptr_vector< channel > channels;
for( unsigned int i = 0; i < ids.size(); ++i ) { channels.push_back( new channel( i, channel_options[i] ) ); }
if( fps ) { output_thread.reset( new boost::thread( &output_ ) ); }
while( !is_shutdown && std::cin.good() && !std::cin.eof() )
{
const input* p = istream.read();
if( p )
{
Ids::const_iterator it = ids.find( p->id );
if( it == ids.end() ) { continue; }
if( !channels[ it->second ].draw( p ) ) { break; }
}
else
{
for( Ids::const_iterator it = ids.begin(); it != ids.end(); ++it )
{
channels[ it->second ].draw( p );
}
break;
}
}
}
catch( std::exception& ex )
{
std::cerr << "image-accumulate: " << ex.what() << std::endl;
result = 1;
}
catch( ... )
{
std::cerr << "image-accumulate: unknown exception" << std::endl;
result = 1;
}
done = true;
if( fps ) { output_thread->join(); }
return result;
}
int main( int argc, char** argv )
{
::setenv( "PYLON_ROOT", STRINGIZED( BASLER_PYLON_DIR ), 0 );
::setenv( "GENICAM_ROOT_V2_1", STRINGIZED( BASLER_PYLON_GENICAM_DIR ), 0 );
try
{
unsigned int id;
std::string address;
std::string setAttributes;
unsigned int discard;
boost::program_options::options_description description( "options" );
unsigned int packet_size;
unsigned int exposure;
unsigned int gain;
unsigned int offset_x;
unsigned int offset_y;
unsigned int width;
unsigned int height;
std::string frame_trigger;
std::string line_trigger;
unsigned int line_rate;
double timeout_seconds;
description.add_options()
( "help,h", "display help message" )
( "address", boost::program_options::value< std::string >( &address ), "camera ip address; default: connect to the first available camera" )
( "discard", "discard frames, if cannot keep up; same as --buffer=1" )
( "buffer", boost::program_options::value< unsigned int >( &discard )->default_value( 0 ), "maximum buffer size before discarding frames, default: unlimited" )
( "list-cameras", "output camera list and exit" )
( "fields,f", boost::program_options::value< std::string >( &options.fields )->default_value( "t,rows,cols,type" ), "header fields, possible values: t,rows,cols,type,size,counters" )
( "image-type", boost::program_options::value< std::string >( &options.type )->default_value( "3ub" ), "image type, e.g. '3ub'; also see --long-help for details" )
( "offset-x", boost::program_options::value< unsigned int >( &offset_x )->default_value( 0 ), "offset in pixels in the line" )
( "offset-y", boost::program_options::value< unsigned int >( &offset_y )->default_value( 0 ), "offset in lines in the frame" )
( "width", boost::program_options::value< unsigned int >( &width )->default_value( std::numeric_limits< unsigned int >::max() ), "line width in pixels; default: max" )
( "height", boost::program_options::value< unsigned int >( &height )->default_value( std::numeric_limits< unsigned int >::max() ), "number of lines in frame (in chunk mode always 1); default: max" )
( "frame-trigger", boost::program_options::value< std::string >( &frame_trigger ), "'line1', 'line2', 'line3', 'encoder'" ) //; if absent while --line-trigger present, same as --line-trigger" )
( "line-trigger", boost::program_options::value< std::string >( &line_trigger ), "'line1', 'line2', 'line3', 'encoder'" )
( "line-rate", boost::program_options::value< unsigned int >( &line_rate ), "line aquisition rate" )
( "encoder-ticks", boost::program_options::value< unsigned int >( &encoder_ticks ), "number of encoder ticks until the counter resets (reused for line number in frame in chunk mode)" )
( "header-only", "output header only" )
( "no-header", "output image data only" )
( "packet-size", boost::program_options::value< unsigned int >( &packet_size ), "mtu size on camera side, should be not greater than your lan and network interface set to" )
( "exposure", boost::program_options::value< unsigned int >( &exposure )->default_value( 100 ), "exposure" )
( "gain", boost::program_options::value< unsigned int >( &gain )->default_value( 100 ), "gain" )
( "timeout", boost::program_options::value< double >( &timeout_seconds )->default_value( 3.0 ), " frame acquisition timeout" )
( "test-colour", "output colour test image" )
( "verbose,v", "be more verbose" );
boost::program_options::variables_map vm;
boost::program_options::store( boost::program_options::parse_command_line( argc, argv, description), vm );
boost::program_options::parsed_options parsed = boost::program_options::command_line_parser(argc, argv).options( description ).allow_unregistered().run();
boost::program_options::notify( vm );
if ( vm.count( "help" ) || vm.count( "long-help" ) )
{
std::cerr << "acquire images from a basler camera (for now gige only)" << std::endl;
std::cerr << "output to stdout as serialized cv::Mat" << std::endl;
std::cerr << std::endl;
std::cerr << "usage: basler-cat [<options>] [<filters>]" << std::endl;
std::cerr << std::endl;
std::cerr << description << std::endl;
if( vm.count( "long-help" ) )
{
std::cerr << std::endl;
std::cerr << snark::cv_mat::filters::usage() << std::endl;
std::cerr << std::endl;
std::cerr << snark::cv_mat::serialization::options::type_usage() << std::endl;
}
std::cerr << std::endl;
std::cerr << "note: there is a glitch or a subtle feature in basler line camera:" << std::endl;
std::cerr << " - power-cycle camera" << std::endl;
std::cerr << " - view colour images: it works" << std::endl;
std::cerr << " - view grey-scale images: it works" << std::endl;
std::cerr << " - view colour images: it still displays grey-scale" << std::endl;
std::cerr << " even in their native viewer you need to set colour image" << std::endl;
std::cerr << " repeatedly and with pure luck it works, but we have not" << std::endl;
std::cerr << " managed to do it in software; the remedy: power-cycle the camera" << std::endl;
std::cerr << std::endl;
return 1;
}
verbose = vm.count( "verbose" );
if( verbose )
{
std::cerr << "basler-cat: PYLON_ROOT=" << ::getenv( "PYLON_ROOT" ) << std::endl;
std::cerr << "basler-cat: GENICAM_ROOT_V2_1=" << ::getenv( "GENICAM_ROOT_V2_1" ) << std::endl;
std::cerr << "basler-cat: initializing camera..." << std::endl;
}
Pylon::PylonAutoInitTerm auto_init_term;
Pylon::CTlFactory& factory = Pylon::CTlFactory::GetInstance();
Pylon::ITransportLayer* transport_layer( Pylon::CTlFactory::GetInstance().CreateTl( Pylon::CBaslerGigECamera::DeviceClass() ) );
if( !transport_layer )
{
std::cerr << "basler-cat: failed to create transport layer" << std::endl;
std::cerr << " most likely PYLON_ROOT and GENICAM_ROOT_V2_1 environment variables not set" << std::endl;
std::cerr << " point them to your pylon installation, e.g:" << std::endl;
std::cerr << " export PYLON_ROOT=/opt/pylon" << std::endl;
std::cerr << " export GENICAM_ROOT_V2_1=/opt/pylon/genicam" << std::endl;
return 1;
}
if( vm.count( "list-cameras" ) )
{
Pylon::DeviceInfoList_t devices;
factory.EnumerateDevices( devices );
for( unsigned int i = 0; i < devices.size(); ++i ) { std::cerr << devices[i].GetFullName() << std::endl; }
return 0;
}
timeout = timeout_seconds * 1000.0;
std::string filters = comma::join( boost::program_options::collect_unrecognized( parsed.options, boost::program_options::include_positional ), ';' );
options.header_only = vm.count( "header-only" );
options.no_header = vm.count( "no-header" );
csv = comma::csv::options( argc, argv );
bool chunk_mode = csv.has_field( "counters" ) // quick and dirty
|| csv.has_field( "adjusted-t" )
|| csv.has_field( "line" )
|| csv.has_field( "line-count" )
|| csv.has_field( "ticks" )
|| csv.has_field( "counters/adjusted-t" )
|| csv.has_field( "counters/line" )
|| csv.has_field( "counters/line-count" )
|| csv.has_field( "counters/ticks" );
if( chunk_mode )
{
if( vm.count( "encoder-ticks" ) == 0 ) { std::cerr << "basler-cat: chunk mode, please specify --encoder-ticks" << std::endl; return 1; }
if( !filters.empty() ) { std::cerr << "basler-cat: chunk mode, cannot handle filters; use: basler-cat | cv-cat <filters> instead" << std::endl; return 1; }
if( height != 1 && height != std::numeric_limits< unsigned int >::max() ) { std::cerr << "basler-cat: only --height=1 implemented in chunk mode" << std::endl; return 1; }
height = 1;
std::vector< std::string > v = comma::split( csv.fields, ',' );
std::string format;
for( unsigned int i = 0; i < v.size(); ++i )
{
if( v[i] == "t" ) { v[i] = "header/" + v[i]; format += "t"; }
else if( v[i] == "rows" || v[i] == "cols" || v[i] == "size" || v[i] == "type" ) { v[i] = "header/" + v[i]; format += "ui"; }
else if( v[i] == "adjusted-t" ) { v[i] = "counters/" + v[i]; format += "t"; }
else if( v[i] == "line-count" || v[i] == "ticks" ) { v[i] = "counters/" + v[i]; format += "ul"; }
else if( v[i] == "line" ) { v[i] = "counters/" + v[i]; format += "ui"; }
else { std::cerr << "basler-cat: expected field, got '" << v[i] << "'" << std::endl; return 1; }
}
csv.fields = comma::join( v, ',' );
csv.full_xpath = true;
csv.format( format );
}
if( !vm.count( "buffer" ) && vm.count( "discard" ) ) { discard = 1; }
Pylon::CBaslerGigECamera camera;
if( vm.count( "address" ) )
{
Pylon::CBaslerGigEDeviceInfo info;
info.SetIpAddress( address.c_str() );
camera.Attach( factory.CreateDevice( info ) );
}
else
{
Pylon::DeviceInfoList_t devices;
factory.EnumerateDevices( devices );
if( devices.empty() ) { std::cerr << "basler-cat: no camera found" << std::endl; return 1; }
std::cerr << "basler-cat: will connect to the first of " << devices.size() << " found device(s):" << std::endl;
for( unsigned int i = 0; i < devices.size(); ++i ) { std::cerr << " " << devices[i].GetFullName() << std::endl; }
camera.Attach( transport_layer->CreateDevice( devices[0] ) );
}
if( verbose ) { std::cerr << "basler-cat: initialized camera" << std::endl; }
if( verbose ) { std::cerr << "basler-cat: opening camera " << camera.GetDevice()->GetDeviceInfo().GetFullName() << "..." << std::endl; }
camera.Open();
if( verbose ) { std::cerr << "basler-cat: opened camera " << camera.GetDevice()->GetDeviceInfo().GetFullName() << std::endl; }
Pylon::CBaslerGigECamera::StreamGrabber_t grabber( camera.GetStreamGrabber( 0 ) );
grabber.Open();
unsigned int channels;
switch( options.get_header().type ) // quick and dirty
{
case CV_8UC1:
channels = set_pixel_format_( camera, Basler_GigECamera::PixelFormat_Mono8 );
break;
case CV_8UC3:
channels = set_pixel_format_( camera, Basler_GigECamera::PixelFormat_RGB8Packed );
break;
default:
std::cerr << "basler-cat: type \"" << options.type << "\" not implemented or not supported by camera" << std::endl;
return 1;
}
unsigned int max_width = camera.Width.GetMax();
if( offset_x >= max_width ) { std::cerr << "basler-cat: expected --offset-x less than " << max_width << ", got " << offset_x << std::endl; return 1; }
camera.OffsetX.SetValue( offset_x );
width = ( ( unsigned long long )( offset_x ) + width ) < max_width ? width : max_width - offset_x;
camera.Width.SetValue( width );
unsigned int max_height = camera.Height.GetMax();
//if( height < 512 ) { std::cerr << "basler-cat: expected height greater than 512, got " << height << std::endl; return 1; }
// todo: is the colour line 2098 * 3 or ( 2098 / 3 ) * 3 ?
//offset_y *= channels;
//height *= channels;
if( offset_y >= max_height ) { std::cerr << "basler-cat: expected --offset-y less than " << max_height << ", got " << offset_y << std::endl; return 1; }
camera.OffsetY.SetValue( offset_y );
height = ( ( unsigned long long )( offset_y ) + height ) < max_height ? height : ( max_height - offset_y );
camera.Height.SetValue( height );
if( verbose ) { std::cerr << "basler-cat: set width,height to " << width << "," << height << std::endl; }
if( vm.count( "packet-size" ) ) { camera.GevSCPSPacketSize.SetValue( packet_size ); }
// todo: giving up... the commented code throws, but failure to stop acquisition, if active
// seems to lead to the following scenario:
// - power-cycle camera
// - view colour images: it works
// - view grey-scale images: it works
// - view colour images: it still displays grey-scale
//if( verbose ) { std::cerr << "basler-cat: getting aquisition status... (frigging voodoo...)" << std::endl; }
//GenApi::IEnumEntry* acquisition_status = camera.AcquisitionStatusSelector.GetEntry( Basler_GigECamera::AcquisitionStatusSelector_AcquisitionActive );
//if( acquisition_status && GenApi::IsAvailable( acquisition_status ) && camera.AcquisitionStatus() )
//{
// if( verbose ) { std::cerr << "basler-cat: stopping aquisition..." << std::endl; }
// camera.AcquisitionStop.Execute();
// if( verbose ) { std::cerr << "basler-cat: aquisition stopped" << std::endl; }
//}
// todo: a hack for now
GenApi::IEnumEntry* acquisitionStart = camera.TriggerSelector.GetEntry( Basler_GigECamera::TriggerSelector_AcquisitionStart );
if( acquisitionStart && GenApi::IsAvailable( acquisitionStart ) )
{
camera.TriggerSelector.SetValue( Basler_GigECamera::TriggerSelector_AcquisitionStart );
camera.TriggerMode.SetValue( frame_trigger.empty() ? Basler_GigECamera::TriggerMode_Off : Basler_GigECamera::TriggerMode_On );
}
GenApi::IEnumEntry* frameStart = camera.TriggerSelector.GetEntry( Basler_GigECamera::TriggerSelector_FrameStart );
if( frameStart && GenApi::IsAvailable( frameStart ) )
{
//if( frame_trigger.empty() ) { frame_trigger = line_trigger; }
if( frame_trigger.empty() )
{
camera.TriggerSelector.SetValue( Basler_GigECamera::TriggerSelector_FrameStart );
camera.TriggerMode.SetValue( Basler_GigECamera::TriggerMode_Off );
}
else
{
camera.TriggerSelector.SetValue( Basler_GigECamera::TriggerSelector_FrameStart );
camera.TriggerMode.SetValue( Basler_GigECamera::TriggerMode_On );
Basler_GigECamera::TriggerSourceEnums t;
if( frame_trigger == "line1" ) { camera.TriggerSource.SetValue( Basler_GigECamera::TriggerSource_Line1 ); }
if( frame_trigger == "line2" ) { camera.TriggerSource.SetValue( Basler_GigECamera::TriggerSource_Line2 ); }
if( frame_trigger == "line3" ) { camera.TriggerSource.SetValue( Basler_GigECamera::TriggerSource_Line3 ); }
else if( frame_trigger == "encoder" ) { camera.TriggerSource.SetValue( Basler_GigECamera::TriggerSource_ShaftEncoderModuleOut ); }
else { std::cerr << "basler-cat: frame trigger '" << frame_trigger << "' not implemented or invalid" << std::endl; return 1; }
camera.TriggerActivation.SetValue( Basler_GigECamera::TriggerActivation_RisingEdge );
camera.TriggerSelector.SetValue( Basler_GigECamera::TriggerSelector_LineStart );
camera.TriggerMode.SetValue( Basler_GigECamera::TriggerMode_On );
camera.TriggerActivation.SetValue( Basler_GigECamera::TriggerActivation_RisingEdge );
if( frame_trigger == "encoder" )
{
// todo: make configurable
camera.ShaftEncoderModuleLineSelector.SetValue( Basler_GigECamera::ShaftEncoderModuleLineSelector_PhaseA );
camera.ShaftEncoderModuleLineSource.SetValue( Basler_GigECamera::ShaftEncoderModuleLineSource_Line1 );
camera.ShaftEncoderModuleLineSelector.SetValue( Basler_GigECamera::ShaftEncoderModuleLineSelector_PhaseB );
camera.ShaftEncoderModuleLineSource.SetValue( Basler_GigECamera::ShaftEncoderModuleLineSource_Line2 );
camera.ShaftEncoderModuleCounterMode.SetValue( Basler_GigECamera::ShaftEncoderModuleCounterMode_FollowDirection );
camera.ShaftEncoderModuleMode.SetValue( Basler_GigECamera::ShaftEncoderModuleMode_ForwardOnly );
camera.ShaftEncoderModuleCounterMax.SetValue( encoder_ticks - 1 );
/// @todo compensate for mechanical jitter, if needed
/// see Runner_Users_manual.pdf, 8.3, Case 2
camera.ShaftEncoderModuleReverseCounterMax.SetValue( 0 );
camera.ShaftEncoderModuleCounterReset.Execute();
camera.ShaftEncoderModuleReverseCounterReset.Execute();
}
}
}
GenApi::IEnumEntry* lineStart = camera.TriggerSelector.GetEntry( Basler_GigECamera::TriggerSelector_LineStart );
if( lineStart && GenApi::IsAvailable( lineStart ) )
{
if( line_trigger.empty() )
{
camera.TriggerSelector.SetValue( Basler_GigECamera::TriggerSelector_LineStart );
camera.TriggerMode.SetValue( Basler_GigECamera::TriggerMode_Off );
}
else
{
camera.TriggerSelector.SetValue( Basler_GigECamera::TriggerSelector_LineStart );
camera.TriggerMode.SetValue( Basler_GigECamera::TriggerMode_On );
Basler_GigECamera::TriggerSourceEnums t;
if( line_trigger == "line1" ) { camera.TriggerSource.SetValue( Basler_GigECamera::TriggerSource_Line1 ); }
else if( line_trigger == "line2" ) { camera.TriggerSource.SetValue( Basler_GigECamera::TriggerSource_Line2 ); }
else if( line_trigger == "line3" ) { camera.TriggerSource.SetValue( Basler_GigECamera::TriggerSource_Line3 ); }
else if( line_trigger == "encoder" ) { camera.TriggerSource.SetValue( Basler_GigECamera::TriggerSource_ShaftEncoderModuleOut ); }
else { std::cerr << "basler-cat: line trigger '" << line_trigger << "' not implemented or invalid" << std::endl; return 1; }
camera.TriggerActivation.SetValue( Basler_GigECamera::TriggerActivation_RisingEdge );
camera.TriggerSelector.SetValue( Basler_GigECamera::TriggerSelector_LineStart );
camera.TriggerMode.SetValue( Basler_GigECamera::TriggerMode_On );
camera.TriggerActivation.SetValue( Basler_GigECamera::TriggerActivation_RisingEdge );
}
}
if( chunk_mode )
{
std::cerr << "basler-cat: setting chunk mode..." << std::endl;
if( !GenApi::IsWritable( camera.ChunkModeActive ) ) { std::cerr << "basler-cat: camera does not support chunk features" << std::endl; camera.Close(); return 1; }
camera.ChunkModeActive.SetValue( true );
camera.ChunkSelector.SetValue( Basler_GigECameraParams::ChunkSelector_Framecounter );
camera.ChunkEnable.SetValue( true );
camera.ChunkSelector.SetValue( Basler_GigECameraParams::ChunkSelector_Timestamp );
camera.ChunkEnable.SetValue( true );
camera.ChunkSelector.SetValue( Basler_GigECameraParams::ChunkSelector_LineTriggerIgnoredCounter );
camera.ChunkEnable.SetValue( true );
camera.ChunkSelector.SetValue( Basler_GigECameraParams::ChunkSelector_FrameTriggerIgnoredCounter );
camera.ChunkEnable.SetValue( true );
camera.ChunkSelector.SetValue( Basler_GigECameraParams::ChunkSelector_LineTriggerEndToEndCounter );
camera.ChunkEnable.SetValue( true );
camera.ChunkSelector.SetValue( Basler_GigECameraParams::ChunkSelector_FrameTriggerCounter );
camera.ChunkEnable.SetValue( true );
camera.ChunkSelector.SetValue( Basler_GigECameraParams::ChunkSelector_FramesPerTriggerCounter );
camera.ChunkEnable.SetValue( true );
parser = camera.CreateChunkParser();
if( !parser ) { std::cerr << "basler-cat: failed to create chunk parser" << std::endl; camera.Close(); return 1; }
std::cerr << "basler-cat: set chunk mode" << std::endl;
}
camera.ExposureMode.SetValue( Basler_GigECamera::ExposureMode_Timed );
if( vm.count( "exposure" ) ) { camera.ExposureTimeRaw.SetValue( exposure ); } // todo? auto exposure (see ExposureAutoEnums)
if( vm.count( "gain" ) )
{
camera.GainSelector.SetValue( Basler_GigECamera::GainSelector_All );
camera.GainRaw.SetValue( gain );
if( channels == 3 ) // todo: make configurable; also is not setting all not enough?
{
camera.GainSelector.SetValue( Basler_GigECamera::GainSelector_Red );
camera.GainRaw.SetValue( gain );
camera.GainSelector.SetValue( Basler_GigECamera::GainSelector_Green );
camera.GainRaw.SetValue( gain );
camera.GainSelector.SetValue( Basler_GigECamera::GainSelector_Blue );
camera.GainRaw.SetValue( gain );
}
}
if( vm.count( "line-rate" ) ) { camera.AcquisitionLineRateAbs.SetValue( line_rate ); }
if( vm.count( "test-colour" ) ) { camera.TestImageSelector.SetValue( Basler_GigECamera::TestImageSelector_Testimage6 ); }
else { camera.TestImageSelector.SetValue( Basler_GigECamera::TestImageSelector_Off ); }
unsigned int payload_size = camera.PayloadSize.GetValue();
if( verbose )
{
std::cerr << "basler-cat: camera mtu size: " << camera.GevSCPSPacketSize.GetValue() << std::endl;
std::cerr << "basler-cat: exposure: " << camera.ExposureTimeRaw.GetValue() << std::endl;
std::cerr << "basler-cat: payload size: " << payload_size << std::endl;
}
std::vector< std::vector< char > > buffers( 2 ); // todo? make number of buffers configurable
for( std::size_t i = 0; i < buffers.size(); ++i ) { buffers[i].resize( payload_size ); }
grabber.MaxBufferSize.SetValue( buffers[0].size() );
grabber.SocketBufferSize.SetValue( 127 );
if( verbose )
{
std::cerr << "basler-cat: socket buffer size: " << grabber.SocketBufferSize.GetValue() << std::endl;
std::cerr << "basler-cat: max buffer size: " << grabber.MaxBufferSize.GetValue() << std::endl;
}
grabber.MaxNumBuffer.SetValue( buffers.size() ); // todo: use --buffer value for number of buffered images
grabber.PrepareGrab(); // image size now must not be changed until FinishGrab() is called.
std::vector< Pylon::StreamBufferHandle > buffer_handles( buffers.size() );
for( std::size_t i = 0; i < buffers.size(); ++i )
{
buffer_handles[i] = grabber.RegisterBuffer( &buffers[i][0], buffers[i].size() );
grabber.QueueBuffer( buffer_handles[i], NULL );
}
if( chunk_mode )
{
snark::tbb::bursty_reader< ChunkPair > read( boost::bind( &capture_< ChunkPair >, boost::ref( camera ), boost::ref( grabber ) ), discard );
tbb::filter_t< ChunkPair, void > write( tbb::filter::serial_in_order, boost::bind( &write_, _1 ) );
snark::tbb::bursty_pipeline< ChunkPair > pipeline;
camera.AcquisitionMode.SetValue( Basler_GigECamera::AcquisitionMode_Continuous );
camera.AcquisitionStart.Execute(); // continuous acquisition mode
if( verbose ) { std::cerr << "basler-cat: running in chunk mode..." << std::endl; }
pipeline.run( read, write );
if( verbose ) { std::cerr << "basler-cat: shutting down..." << std::endl; }
camera.AcquisitionStop();
camera.DestroyChunkParser( parser );
}
else
{
snark::cv_mat::serialization serialization( options );
snark::tbb::bursty_reader< Pair > reader( boost::bind( &capture_< Pair >, boost::ref( camera ), boost::ref( grabber ) ), discard );
snark::imaging::applications::pipeline pipeline( serialization, filters, reader );
camera.AcquisitionMode.SetValue( Basler_GigECamera::AcquisitionMode_Continuous );
camera.AcquisitionStart.Execute(); // continuous acquisition mode
if( verbose ) { std::cerr << "basler-cat: running..." << std::endl; }
pipeline.run();
if( verbose ) { std::cerr << "basler-cat: shutting down..." << std::endl; }
camera.AcquisitionStop();
}
if( verbose ) { std::cerr << "basler-cat: acquisition stopped" << std::endl; }
is_shutdown = true;
while( !done ) { boost::thread::sleep( boost::posix_time::microsec_clock::universal_time() + boost::posix_time::milliseconds( 100 ) ); }
grabber.FinishGrab();
Pylon::GrabResult result;
while( grabber.RetrieveResult( result ) ); // get all buffers back
for( std::size_t i = 0; i < buffers.size(); ++i ) { grabber.DeregisterBuffer( buffer_handles[i] ); }
grabber.Close();
camera.Close();
if( verbose ) { std::cerr << "basler-cat: done" << std::endl; }
return 0;
}
catch( std::exception& ex ) { std::cerr << "basler-cat: " << ex.what() << std::endl; }
catch( ... ) { std::cerr << "basler-cat: unknown exception" << std::endl; }
return 1;
}
static P capture_( Pylon::CBaslerGigECamera& camera, Pylon::CBaslerGigECamera::StreamGrabber_t& grabber ) //static Pair capture( Ark::Robotics::Camera::Gige& camera )
{
/// @todo if color spatial correction implemented, mind the following:
///
/// Runner_Users_manual.pdf, 8.2.2.3:
///
/// If you are using a color camera, you have spatial correction enabled
/// and you have the frame start trigger mode set to off, you must discard
/// the first n x 2 lines from the first frame transmitted by the camera
/// after an acquisition start command is issued (where n is the absolute
/// value of the current spatial correction parameter setting).
///
/// If you have spatial correction enabled and you have the frame start
/// trigger mode set to on, you must discard the first n x 2 lines from
/// each frame transmitted by the camera.
static const unsigned int retries = 10; // quick and dirty: arbitrary
for( unsigned int i = 0; !done && i < retries; ++i )
{
Pylon::GrabResult result;
//camera.AcquisitionStart.Execute(); // acquire single image (since acquisition mode set so)
if( !grabber.GetWaitObject().Wait( timeout ) ) // quick and dirty: arbitrary timeout
{
std::cerr << "basler-cat: timeout" << std::endl;
grabber.CancelGrab();
while( grabber.RetrieveResult( result ) ); // get all buffers back
if( is_shutdown ) { done = true; }
return P();
}
boost::posix_time::ptime t = boost::get_system_time();
grabber.RetrieveResult( result );
if( !result.Succeeded() )
{
std::cerr << "basler-cat: acquisition failed: " << result.GetErrorDescription() << " (" << result.GetErrorCode() << ")" << std::endl;
std::cerr << " status: " << ( result.Status() == Pylon::Idle ? "idle" :
result.Status() == Pylon::Queued ? "queued" :
result.Status() == Pylon::Grabbed ? "grabbed" :
result.Status() == Pylon::Canceled ? "canceled" :
result.Status() == Pylon::Failed ? "failed" : "unknown" ) << std::endl;
std::cerr << " run basler-cat --verbose and check your --packet-size settings" << std::endl;
continue;
}
P pair;
static const snark::cv_mat::serialization::header header = options.get_header();
switch( header.type )
{
case CV_8UC1:
pair.second = cv::Mat( result.GetSizeY(), result.GetSizeX(), header.type );
::memcpy( pair.second.data, reinterpret_cast< const char* >( result.Buffer() ), pair.second.dataend - pair.second.datastart );
break;
case CV_8UC3: // quick and dirty for now: rgb are not contiguous in basler camera frame
pair.second = cv::Mat( result.GetSizeY(), result.GetSizeX(), header.type );
::memcpy( pair.second.data, reinterpret_cast< const char* >( result.Buffer() ), pair.second.dataend - pair.second.datastart );
cv::cvtColor( pair.second, pair.second, CV_RGB2BGR );
break;
default: // quick and dirty for now
std::cerr << "basler-cat: cv::mat type " << options.type << " not supported" << std::endl;
}
set_( pair.first, t, result, camera );
grabber.QueueBuffer( result.Handle(), NULL ); // requeue buffer
if( is_shutdown ) { done = true; }
return pair;
}
if( is_shutdown ) { done = true; }
return P();
}
