static struct Pylon::SImageFormat getInFormat(const Pylon::GrabResult&Result) {
using namespace Pylon;
struct SImageFormat imageFormat;
const enum PixelType pixelType= (PixelType) Result.GetPixelType();
imageFormat.Width =Result.GetSizeX();
imageFormat.Height=Result.GetSizeY();
imageFormat.PixelFormat= (Pylon::EPixelType) pixelType;
imageFormat.LinePitch=IsPacked((Pylon::EPixelType) pixelType)?
0:
(7+Result.GetSizeX()*BitPerPixel( (Pylon::EPixelType) pixelType)) >>3;
return imageFormat;
}
static void set_( ChunkData& d, boost::posix_time::ptime& t, const Pylon::GrabResult& result, Pylon::CBaslerGigECamera& camera )
{
parser->AttachBuffer( ( unsigned char* ) result.Buffer(), result.GetPayloadSize() );
d.timestamp = t;
d.frames = camera.ChunkFramecounter.GetValue();
d.ticks = camera.ChunkTimestamp.GetValue();
d.line_trigger_ignored = camera.ChunkLineTriggerIgnoredCounter.GetValue();
d.frame_trigger_ignored = camera.ChunkFrameTriggerIgnoredCounter.GetValue();
d.line_trigger_end_to_end = camera.ChunkLineTriggerEndToEndCounter.GetValue();
d.frame_trigger = camera.ChunkFrameTriggerCounter.GetValue();
d.frames_per_trigger = camera.ChunkFramesPerTriggerCounter.GetValue();
parser->DetachBuffer();
}
bool convertFrom(Pylon::GrabResult Result) {
const struct Pylon::SImageFormat format=getInFormat(Result);
bool init=false;
#ifdef HAVE_LIBPYLONUTILITY
if(!converter)init=true;
if(converter && !converter->IsInitialized())init=true;
#endif
if(format!=inFormat)init=true;
if(init) {
makeConverter(format);
inFormat=format;
}
image.xsize=inFormat.Width;
image.ysize=inFormat.Height;
image.reallocate();
if(0) {;
#ifdef HAVE_LIBPYLONUTILITY
} else if(converter) {
const struct Pylon::SOutputImageFormat oformat=getOutFormat(image);
converter->Convert(image.data,
image.xsize*image.ysize*image.csize,
Result.Buffer(),
Result.GetPayloadSize(),
format,
oformat);
#endif
} else {
if(image.format==GL_RGBA)
image.fromRGBA(reinterpret_cast<unsigned char*>(Result.Buffer()));
else
image.fromGray(reinterpret_cast<unsigned char*>(Result.Buffer()));
}
return true;
}
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();
}
