ImageCaptureInterface::CapErrorCode UEyeCaptureInterface::getCaptureProperty(int id, int *value)
{
// printf("Getting the values of capture properties is not supported for uEye interface yet.\n");
switch (id)
{
case (CameraParameters::EXPOSURE):
{
double ms = 0.0;
ueyeTrace(is_Exposure (leftCamera.mCamera , IS_EXPOSURE_CMD_GET_EXPOSURE, (void*)&ms, sizeof(double)));
*value = ms * EXPOSURE_SCALER;
return SUCCESS;
}
case (CameraParameters::FPS):
{
double newFps;
ueyeTrace(is_SetFrameRate (leftCamera.mCamera , IS_GET_FRAMERATE, &newFps));
*value = newFps * FPS_SCALER;
return SUCCESS;
}
case (CameraParameters::MASTER_FLASH_DELAY):
{
IO_FLASH_PARAMS flashParams;
flashParams.s32Delay = 0;
flashParams.u32Duration = 0;
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_GET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
*value = flashParams.s32Delay;
return SUCCESS;
}
case (CameraParameters::MASTER_FLASH_DURATION):
{
IO_FLASH_PARAMS flashParams;
flashParams.s32Delay = 0;
flashParams.u32Duration = 0;
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_GET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
*value = flashParams.u32Duration;
return SUCCESS;
}
case (CameraParameters::SLAVE_TRIGGER_DELAY):
{
*value = is_SetTriggerDelay (rightCamera.mCamera, IS_GET_TRIGGER_DELAY);
return SUCCESS;
}
default:
{
printf("Set request for unknown parameter (%d)\n", id);
return ImageCaptureInterface::FAILURE;
}
}
return FAILURE;
}
static int ids_core_Camera_setflashparams(ids_core_Camera *self, PyObject *set_tuple) {
int ret;
IO_FLASH_PARAMS f = {
.s32Delay = (INT) PyLong_AsLong(PyTuple_GetItem(set_tuple, 0)),
.u32Duration = (UINT) PyLong_AsUnsignedLong(PyTuple_GetItem(set_tuple, 1))
};
ret = is_IO(self->handle, IS_IO_CMD_FLASH_SET_PARAMS, (void*)&f, sizeof(f));
switch (ret) {
case IS_SUCCESS:
return 0;
default:
PyErr_SetString(PyExc_ValueError, "An error occurred when setting flash parameters.");
return -1;
}
}
static PyObject *ids_core_Camera_getaoi(ids_core_Camera *self, void *closure) {
PyObject *ret_tuple = PyTuple_New(4);
IS_RECT r;
is_AOI(self->handle, IS_AOI_IMAGE_GET_AOI, &r, sizeof(r));
PyTuple_SetItem(ret_tuple, 0, PyLong_FromLong(r.s32X));
PyTuple_SetItem(ret_tuple, 1, PyLong_FromLong(r.s32Y));
PyTuple_SetItem(ret_tuple, 2, PyLong_FromLong(r.s32Width));
PyTuple_SetItem(ret_tuple, 3, PyLong_FromLong(r.s32Height));
return ret_tuple;
}
bool FlosIDSAdaptor::startCapture()
{
if(!isOpen()) {
return false;
}
UINT nMode;
INT nRet = IS_SUCCESS;
double dNominal = 128;
double dEnable = 1;
is_SetDisplayMode(m_deviceID, IS_SET_DM_DIB);
is_SetExternalTrigger(m_deviceID, IS_SET_TRIGGER_SOFTWARE);
nMode = IO_FLASH_MODE_TRIGGER_HI_ACTIVE;
is_IO(m_deviceID, IS_IO_CMD_FLASH_SET_MODE, (void *)&nMode, sizeof(nMode));
is_SetAutoParameter(m_deviceID, IS_SET_ENABLE_AUTO_GAIN, &dEnable, 0);
is_SetAutoParameter(m_deviceID, IS_SET_AUTO_REFERENCE, &dNominal, 0);
is_SetColorMode(m_deviceID, IS_CM_BGR8_PACKED);
is_SetFrameRate(m_deviceID, 20, NULL);
if((is_CaptureVideo(m_deviceID, IS_DONT_WAIT) != IS_SUCCESS)) {
imaqkit::adaptorWarn("FlosIDSAdaptor:startCapture", "Could not start capturing.");
return false;
}
setAcquisitionActive(true);
PostThreadMessage(m_acquireThreadID, WM_USER, 0, 0);
return true;
}
INT UEyeCamDriver::setFlashParams(INT& delay_us, UINT& duration_us) {
INT is_err = IS_SUCCESS;
// Make sure parameters are within range supported by camera
IO_FLASH_PARAMS minFlashParams, maxFlashParams, newFlashParams;
if ((is_err = is_IO(cam_handle_, IS_IO_CMD_FLASH_GET_PARAMS_MIN,
(void*) &minFlashParams, sizeof(IO_FLASH_PARAMS)))
!= IS_SUCCESS) {
std::cerr << "Could not retrieve flash parameter info (min) for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
if ((is_err = is_IO(cam_handle_, IS_IO_CMD_FLASH_GET_PARAMS_MAX,
(void*) &maxFlashParams, sizeof(IO_FLASH_PARAMS)))
!= IS_SUCCESS) {
std::cerr << "Could not retrieve flash parameter info (max) for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
delay_us =
(delay_us < minFlashParams.s32Delay) ?
minFlashParams.s32Delay :
((delay_us > maxFlashParams.s32Delay) ?
maxFlashParams.s32Delay : delay_us);
duration_us =
(duration_us < minFlashParams.u32Duration && duration_us != 0) ?
minFlashParams.u32Duration :
((duration_us > maxFlashParams.u32Duration) ?
maxFlashParams.u32Duration : duration_us);
newFlashParams.s32Delay = delay_us;
newFlashParams.u32Duration = duration_us;
// WARNING: Setting s32Duration to 0, according to documentation, means
// setting duration to total exposure time. If non-ext-triggered
// camera is operating at fastest grab rate, then the resulting
// flash signal will APPEAR as active LO when set to active HIGH,
// and vice versa. This is why the duration is set manually.
if ((is_err = is_IO(cam_handle_, IS_IO_CMD_FLASH_SET_PARAMS,
(void*) &newFlashParams, sizeof(IO_FLASH_PARAMS)))
!= IS_SUCCESS) {
std::cerr << "Could not set flash parameter info for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
return is_err;
}
static PyObject *ids_core_Camera_getflashparams(ids_core_Camera *self, void *closure) {
PyObject *ret_tuple = PyTuple_New(2);
IO_FLASH_PARAMS f;
is_IO(self->handle, IS_IO_CMD_FLASH_GET_PARAMS, (void*)&f, sizeof(f));
PyTuple_SetItem(ret_tuple, 0, PyLong_FromLong((long) f.s32Delay));
PyTuple_SetItem(ret_tuple, 1, PyLong_FromUnsignedLong((unsigned long) f.u32Duration));
return ret_tuple;
}
INT UEyeCamDriver::setStandbyMode() {
if (!isConnected())
return IS_INVALID_CAMERA_HANDLE;
INT is_err = IS_SUCCESS;
if (extTriggerModeActive()) {
if ((is_err = is_DisableEvent(cam_handle_, IS_SET_EVENT_FRAME)) != IS_SUCCESS) {
std::cerr << "Could not disable frame event for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
if ((is_err = is_SetExternalTrigger(cam_handle_, IS_SET_TRIGGER_OFF)) != IS_SUCCESS) {
std::cerr
<< "Could not disable external trigger mode on UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
is_SetExternalTrigger(cam_handle_, IS_GET_TRIGGER_STATUS); // documentation seems to suggest that this is needed to disable external trigger mode (to go into free-run mode)
if ((is_err = is_StopLiveVideo(cam_handle_, IS_WAIT)) != IS_SUCCESS) {
std::cerr << "Could not stop live video mode on UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
std::cout << "Stopped external trigger mode on UEye camera '" + cam_name_ + "'"
<< std::endl;
} else if (freeRunModeActive()) {
UINT nMode = IO_FLASH_MODE_OFF;
if ((is_err = is_IO(cam_handle_, IS_IO_CMD_FLASH_SET_MODE,
(void*) &nMode, sizeof(nMode)))
!= IS_SUCCESS) {
std::cerr << "Could not disable flash output for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
if ((is_err = is_DisableEvent(cam_handle_, IS_SET_EVENT_FRAME)) != IS_SUCCESS) {
std::cerr << "Could not disable frame event for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
if ((is_err = is_StopLiveVideo(cam_handle_, IS_WAIT)) != IS_SUCCESS) {
std::cerr << "Could not stop live video mode on UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
std::cout << "Stopped free-run live video mode on UEye camera '" + cam_name_ + "'"
<< std::endl;
}
if ((is_err = is_CameraStatus(cam_handle_, IS_STANDBY, IS_GET_STATUS)) != IS_SUCCESS) {
std::cerr << "Could not set standby mode for UEye camera '" << cam_name_
<< "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
return is_err;
}
INT UEyeCamDriver::setFreeRunMode() {
if (!isConnected())
return IS_INVALID_CAMERA_HANDLE;
INT is_err = IS_SUCCESS;
if (!freeRunModeActive()) {
setStandbyMode(); // No need to check for success
// Set the flash to a high active pulse for each image in the trigger mode
INT flash_delay = 0;
UINT flash_duration = 1000;
setFlashParams(flash_delay, flash_duration);
UINT nMode = IO_FLASH_MODE_FREERUN_HI_ACTIVE;
if ((is_err = is_IO(cam_handle_, IS_IO_CMD_FLASH_SET_MODE,
(void*) &nMode, sizeof(nMode)))
!= IS_SUCCESS) {
std::cerr << "Could not set free-run active-low flash output for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
if ((is_err = is_EnableEvent(cam_handle_, IS_SET_EVENT_FRAME)) != IS_SUCCESS) {
std::cerr << "Could not enable frame event for UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
if ((is_err = is_CaptureVideo(cam_handle_, IS_WAIT)) != IS_SUCCESS) {
std::cerr << "Could not start free-run live video mode on UEye camera '"
<< cam_name_ << "' (" << err2str(is_err) << ")" << std::endl;
return is_err;
}
std::cout << "Started live video mode on UEye camera '" + cam_name_ + "'" << std::endl;
}
return is_err;
}
UEyeCaptureInterface::CapErrorCode UEyeCaptureInterface::setCaptureProperty(int id, int value)
{
int retL = 0;
int retR = 0;
switch (id)
{
case (CameraParameters::EXPOSURE):
{
double ms = 0.0;
ms = (double)value / EXPOSURE_SCALER;
ueyeTrace(is_Exposure (leftCamera.mCamera , IS_EXPOSURE_CMD_SET_EXPOSURE, (void*)&ms, sizeof(double)));
ms = (double)value / EXPOSURE_SCALER;
ueyeTrace(is_Exposure (rightCamera.mCamera, IS_EXPOSURE_CMD_SET_EXPOSURE, (void*)&ms, sizeof(double)));
return SUCCESS;
}
case (CameraParameters::FPS):
{
double fps = (double)value / FPS_SCALER;
double newFps;
ueyeTrace(is_SetFrameRate (leftCamera.mCamera , fps, &newFps));
ueyeTrace(is_SetFrameRate (rightCamera.mCamera, fps, &newFps));
return SUCCESS;
}
case (CameraParameters::MASTER_FLASH_DELAY):
{
IO_FLASH_PARAMS flashParams;
flashParams.s32Delay = 0;
flashParams.u32Duration = 0;
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_GET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
flashParams.s32Delay = value;
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_SET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
return SUCCESS;
}
case (CameraParameters::MASTER_FLASH_DURATION):
{
IO_FLASH_PARAMS flashParams;
flashParams.s32Delay = 0;
flashParams.u32Duration = 0;
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_GET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
flashParams.u32Duration = value;
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_SET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
return SUCCESS;
}
case (CameraParameters::SLAVE_TRIGGER_DELAY):
{
is_SetTriggerDelay (rightCamera.mCamera, value);
return SUCCESS;
}
case (CameraParameters::EXPOSURE_AUTO) :
{
double enable = value;
ueyeTrace(is_SetAutoParameter(leftCamera.mCamera, IS_SET_ENABLE_AUTO_SHUTTER, &enable, 0));
return SUCCESS;
}
default:
{
printf("Set request for unknown parameter (%d)\n", id);
return ImageCaptureInterface::FAILURE;
}
}
return (ImageCaptureInterface::CapErrorCode) ((bool) retL + (bool) retR);
}
ImageCaptureInterface::CapErrorCode UEyeCaptureInterface::startCapture()
{
qDebug("Start capture");
printf("Enabling events...\n");
#ifdef Q_OS_WIN
leftCamera.mWinEvent = CreateEvent(NULL, FALSE, FALSE, NULL);
is_InitEvent(leftCamera.mCamera, leftCamera.mWinEvent, IS_SET_EVENT_FRAME);
rightCamera.mWinEvent = CreateEvent(NULL, FALSE, FALSE, NULL);
is_InitEvent(rightCamera.mCamera, rightCamera.mWinEvent, IS_SET_EVENT_FRAME);
#endif
is_EnableEvent(leftCamera.mCamera, IS_SET_EVENT_FRAME);
is_EnableEvent(rightCamera.mCamera, IS_SET_EVENT_FRAME);
switch (sync)
{
case NO_SYNC:
is_CaptureVideo (leftCamera.mCamera, IS_DONT_WAIT);
is_CaptureVideo (rightCamera.mCamera, IS_DONT_WAIT);
break;
case SOFT_SYNC:
is_SetExternalTrigger (leftCamera.mCamera , IS_SET_TRIGGER_SOFTWARE);
is_SetExternalTrigger (rightCamera.mCamera, IS_SET_TRIGGER_SOFTWARE);
break;
case HARD_SYNC:
{
/* Should make a check that connection exist */
/*Left camera will generate flash*/
UINT nMode = IO_FLASH_MODE_FREERUN_HI_ACTIVE;
printf("Setting left flash IO_FLASH_MODE_FREERUN_HI_ACTIVE...\n");
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_SET_MODE, (void*)&nMode, sizeof(nMode)));
/* Switching on leftCamera flash that will become right camera trigger */
printf("Setting left flash duration and delay...\n");
IO_FLASH_PARAMS flashParams;
flashParams.s32Delay = 0;
flashParams.u32Duration = 5000; // in us
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_SET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
/*right camera will generate flash also (for debug)*/
nMode = IO_FLASH_MODE_FREERUN_HI_ACTIVE;
printf("Setting right flash IO_FLASH_MODE_FREERUN_HI_ACTIVE...\n");
ueyeTrace(is_IO(rightCamera.mCamera, IS_IO_CMD_FLASH_SET_MODE, (void*)&nMode, sizeof(nMode)));
/* Switching on leftCamera flash that will become right camera trigger */
printf("Setting right flash duration and delay...\n");
flashParams.s32Delay = 0;
flashParams.u32Duration = 5000;
ueyeTrace(is_IO(rightCamera.mCamera, IS_IO_CMD_FLASH_SET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
/* Right camera is trigger based */
ueyeTrace(is_SetExternalTrigger (rightCamera.mCamera, IS_SET_TRIGGER_LO_HI));
//ueyeTrace(is_SetExternalTrigger (rightCamera.mCamera, IS_SET_TRIGGER_HI_LO));
printf("Launching both cameras run...\n");
/* Left camera is in free run mode */
ueyeTrace(is_CaptureVideo (leftCamera.mCamera, IS_DONT_WAIT));
/* Same for the right camera */
ueyeTrace(is_CaptureVideo (rightCamera.mCamera, IS_DONT_WAIT));
break;
}
case FRAME_HARD_SYNC:
{
/* TODO: Should make a check that connection exist */
/* Both cams are now trigger based*/
ueyeTrace(is_SetExternalTrigger (leftCamera.mCamera, IS_SET_TRIGGER_OFF));
/*Left camera will generate flash*/
UINT nMode = IO_FLASH_MODE_FREERUN_HI_ACTIVE;
printf("Setting left flash IO_FLASH_MODE_TRIGGER_HI_ACTIVE...\n");
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_SET_MODE, (void*)&nMode, sizeof(nMode)));
/* Switching on leftCamera flash that will become right camera trigger */
printf("Setting left flash duration and delay...\n");
IO_FLASH_PARAMS flashParams;
flashParams.s32Delay = 0;
flashParams.u32Duration = 5000;
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_SET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
printf("Setting right camera to TRIGGER MODE...\n");
ueyeTrace(is_SetExternalTrigger (rightCamera.mCamera, IS_SET_TRIGGER_LO_HI ));
/*right camera will generate flash also (for debug)*/
nMode = IO_FLASH_MODE_TRIGGER_HI_ACTIVE;
printf("Setting right flash IO_FLASH_MODE_TRIGGER_HI_ACTIVE...\n");
ueyeTrace(is_IO(rightCamera.mCamera, IS_IO_CMD_FLASH_SET_MODE, (void*)&nMode, sizeof(nMode)));
/* Switching on leftCamera flash that will become right camera trigger */
printf("Setting right flash duration and delay...\n");
flashParams.s32Delay = 0;
flashParams.u32Duration = 5000;
ueyeTrace(is_IO(rightCamera.mCamera, IS_IO_CMD_FLASH_SET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
break;
}
case EXT_SYNC:
{
printf("Running on external syncro...\n");
/* Setting triggers for both cams*/
printf("Setting left camera to TRIGGER MODE...\n");
ueyeTrace(is_SetExternalTrigger (leftCamera.mCamera, IS_SET_TRIGGER_LO_HI));
printf("Setting right camera to TRIGGER MODE...\n");
ueyeTrace(is_SetExternalTrigger (rightCamera.mCamera,IS_SET_TRIGGER_LO_HI));
/*Left camera will generate flash*/
UINT nMode = IO_FLASH_MODE_TRIGGER_HI_ACTIVE;
printf("Setting left flash IO_FLASH_MODE_TRIGGER_HI_ACTIVE...\n");
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_SET_MODE, (void*)&nMode, sizeof(nMode)));
/* Switching on leftCamera flash that will become right camera trigger */
printf("Setting left flash duration and delay...\n");
IO_FLASH_PARAMS flashParams;
flashParams.s32Delay = 0;
flashParams.u32Duration = 5000;
ueyeTrace(is_IO(leftCamera.mCamera, IS_IO_CMD_FLASH_SET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
/*right camera will generate flash also (for debug)*/
nMode = IO_FLASH_MODE_TRIGGER_HI_ACTIVE;
printf("Setting right flash IO_FLASH_MODE_TRIGGER_HI_ACTIVE...\n");
ueyeTrace(is_IO(rightCamera.mCamera, IS_IO_CMD_FLASH_SET_MODE, (void*)&nMode, sizeof(nMode)));
/* Switching on leftCamera flash that will become right camera trigger */
printf("Setting right flash duration and delay...\n");
flashParams.s32Delay = 0;
flashParams.u32Duration = 5000;
ueyeTrace(is_IO(rightCamera.mCamera, IS_IO_CMD_FLASH_SET_PARAMS, (void*)&flashParams, sizeof(flashParams)));
/* Left camera is repeated run mode */
ueyeTrace(is_CaptureVideo (leftCamera.mCamera, IS_DONT_WAIT));
/* Same for the right camera */
ueyeTrace(is_CaptureVideo (rightCamera.mCamera, IS_DONT_WAIT));
break;
}
}
shouldStopSpinThread = false;
spin.start();
return ImageCaptureInterface::SUCCESS;
}
