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idscamthread.cpp
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idscamthread.cpp
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/*
* IDS camera implementation of visualdatainterface for libvisualdata
* Copyright (c) 2013-2014, Intel Corporation.
*
* This program is free software; you can redistribute it and/or modify it
* under the terms and conditions of the GNU Lesser General Public License,
* version 2.1, as published by the Free Software Foundation.
*
* This program is distributed in the hope it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public
* License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St - Fifth Floor, Boston, MA 02110-1301 USA.
*
*/
#include "idscamthread.hpp"
using boost::thread;
using boost::bind;
const static uint IDSMAXRETRIES = 5;
idscamthread::idscamthread(const unsigned int width,
const unsigned int height,
const unsigned int fps,
boost::function<void(cv::Mat&)> callback,
const unsigned int camindex)
: capture_(false), hCam_(camindex), imgmem_(NULL), pid_(0),
maxwidth_(0), maxheight_(0) {
visualdatainterface::callback_ = callback;
fps_ = fps;
visualdatainterface::framesize_ = cv::Size(width, height);
frame_ = cv::Mat(framesize_.height , framesize_.width, CV_8UC3);
initcamera();
setimg(framesize_.width, framesize_.height);
// Set software gamma to get evenly illuminated DUT screen
setgamma();
setfps(fps_);
setexposure();
startcapturethread();
}
idscamthread::~idscamthread() {
stopcapturethread();
is_ExitCamera(hCam_);
}
inline void idscamthread::initcamera() {
INT retcode = 0;
bool tryconnect = true;
uint retrycount = 0;
while (tryconnect) {
retcode = is_InitCamera(&hCam_, 0);
if (retcode == IS_SUCCESS) {
tryconnect = false;
} else if (retcode == IS_CANT_OPEN_DEVICE) {
// To handle situation when is_ExitCamera and is_InitCamera are
// executed sequentially; it's a known issue that
// is_InitCamera might not work immediately is_ExitCamera,
// and some delay is needed.
++retrycount;
if (retrycount >= IDSMAXRETRIES) {
tryconnect = false;
}
sleep(2.0);
} else {
// Errors from which we don't try to recover by retrying.
tryconnect = false;
}
}
if (retcode != IS_SUCCESS) {
throw std::runtime_error("idscamthread - is_InitCamera");
}
// The max image size is retrieved once instead of dynamically in setimg
// because for some reason is_AOI did not return the absolute max size
// after image AOI and camera params were set already once
// (calling setviewsize several times.)
IS_SIZE_2D maxsize;
is_AOI(hCam_, IS_AOI_IMAGE_GET_SIZE_MAX,
(void*)&maxsize, // NOLINT(readability/casting)
sizeof(maxsize));
if (retcode != IS_SUCCESS) {
throw std::runtime_error("idscamthread - is_AOI");
}
maxwidth_ = maxsize.s32Width;
maxheight_ = maxsize.s32Height;
}
inline void idscamthread::setimg(const unsigned int width,
const unsigned int height) {
// Allocate and set image memory
INT retcode = 0;
// Color depth 24 bits/pixel (true color) must match with the OpenCV type
// CV_8UC3: three channels, 8 bits per each channel.
retcode = is_AllocImageMem(hCam_, width, height, 24, &imgmem_, &pid_);
if (retcode != IS_SUCCESS) {
throw std::runtime_error("idscamthread - is_AllocImageMem");
}
retcode = is_SetImageMem(hCam_, imgmem_, pid_);
if (retcode != IS_SUCCESS) {
throw std::runtime_error("idscamthread - is_setImageMem");
}
// AOI calculations
// Check that width and size are valid
IS_POINT_2D sizeinc;
is_AOI(hCam_, IS_AOI_IMAGE_GET_SIZE_INC,
(void*)&sizeinc, // // NOLINT(readability/casting)
sizeof(sizeinc));
if (width % sizeinc.s32X != 0) {
throw std::runtime_error("idscamthread - invalid width");
}
if (height % sizeinc.s32Y != 0) {
throw std::runtime_error("idscamthread - invalid height");
}
// For activating the center of the sensor - the upper left corner is the
// starting point
INT temp_x = maxwidth_ / 2 - width / 2;
INT temp_y = maxheight_ / 2 - height / 2;
// Setting the sensor position has certain allowed increments, for example
// with UI5580-CP x is 4, and y is 2
IS_POINT_2D posinc;
is_AOI(hCam_, IS_AOI_IMAGE_GET_POS_INC,
(void*)&posinc, // // NOLINT(readability/casting)
sizeof(posinc));
INT inc_x = posinc.s32X;
INT inc_y = posinc.s32Y;
temp_x -= temp_x % inc_x;
temp_y -= temp_y % inc_y;
IS_RECT rectAOI;
rectAOI.s32Width = width;
rectAOI.s32Height = height;
rectAOI.s32X = temp_x;
rectAOI.s32Y = temp_y;
retcode = is_AOI(hCam_, IS_AOI_IMAGE_SET_AOI,
(void*)&rectAOI, // NOLINT(readability/casting)
sizeof(rectAOI));
if (retcode != IS_SUCCESS) {
throw std::runtime_error("idscamthread - is_AOI failed");;
}
}
inline void idscamthread::setgamma(const int gamma) {
INT retcode = 0;
retcode = is_SetGamma(hCam_, gamma);
if (retcode != IS_SUCCESS)
throw std::runtime_error("idscamthread - is_SetGamma");
}
inline double idscamthread::setfps(const double fps) {
INT retcode = 0;
double newFPS = 0;
retcode = is_SetFrameRate(hCam_, fps_, &newFPS);
if (retcode != IS_SUCCESS) {
throw std::runtime_error("idscamthread - is_SetFrameRate");
}
return newFPS;
}
inline double idscamthread::setexposure(const double exposure) {
INT retcode = 0;
// The same variable is used to set and get the value
double newexposure = exposure;
retcode = is_Exposure(hCam_, IS_EXPOSURE_CMD_SET_EXPOSURE, &newexposure,
sizeof(newexposure));
if (retcode != IS_SUCCESS)
throw std::runtime_error("idscamthread - is_Exposure");
return newexposure;
}
void idscamthread::setviewsize(const unsigned int width,
const unsigned int height) {
stopcapturethread();
INT retcode = 0;
is_FreeImageMem(hCam_, imgmem_, pid_);
if (retcode != IS_SUCCESS)
throw std::runtime_error("idscamthread - is_FreeImageMem");
imgmem_ = NULL;
pid_ = 0;
frame_.release();
framesize_.width = width;
framesize_.height = height;
frame_ = cv::Mat(framesize_.height, framesize_.width, CV_8UC3);
setimg(framesize_.width, framesize_.height);
// Set again the FPS and exposure time because changing the image AOI
// affects to their max values. For example, when the AOI is decreased,
// new max value is set automatically. But when changing back to larger AOI
// the camera does not automatically use the max value.
setfps(fps_);
setexposure();
startcapturethread();
}
bool idscamthread::sethwgain(double autogain = 1,
double boost = IS_SET_GAINBOOST_ON,
double hwgainlevel = PARAM_NOT_SET) {
bool ret = false;
int retcode = IS_INVALID_PARAMETER;
if (autogain == 1 or autogain == 0) {
retcode = is_SetAutoParameter(hCam_,
IS_SET_ENABLE_AUTO_GAIN,
&autogain, 0);
}
if (boost == IS_SET_GAINBOOST_ON or boost == IS_SET_GAINBOOST_OFF) {
retcode = is_SetGainBoost(hCam_, boost);
}
retcode = is_SetHardwareGain(hCam_,
hwgainlevel,
IS_IGNORE_PARAMETER,
IS_IGNORE_PARAMETER,
IS_IGNORE_PARAMETER);
if (retcode == IS_SUCCESS) {
ret = true;
}
return ret;
}
bool idscamthread::setautobrightness(double state = 1,
double level = 128) {
bool ret = false;
int retcode = IS_INVALID_PARAMETER;
if (state == 1 or state == 0) {
retcode = is_SetAutoParameter(hCam_,
IS_SET_AUTO_BRIGHTNESS_ONCE,
&state, 0);
}
if (level >= 0 and level <= 255) {
retcode = is_SetAutoParameter(hCam_,
IS_SET_AUTO_REFERENCE,
&level, 0);
}
if (retcode == IS_SUCCESS) {
ret = true;
}
return ret;
}
bool idscamthread::setcolour(int irfilter = IS_CCOR_ENABLE_HQ_ENHANCED,
double factors = 0) {
bool ret = false;
int retcode = IS_INVALID_PARAMETER;
/* irfilter = is_SetColorCorrection() enables color correction in
* the uEye driver. This enhances the rendering of colors for
* cameras with color sensors. Color correction is a digital
* correction based on a color matrix which is adjusted individually
* for each sensor. */
if (irfilter >= 0) {
retcode = is_SetColorCorrection(hCam_, irfilter, &factors);
}
if (retcode == IS_SUCCESS) {
ret = true;
}
return ret;
}
inline void idscamthread::detach() {
capturethread_->detach();
}
inline void idscamthread::operator()() {
capture();
}
void idscamthread::startcapturethread() {
capturethread_ = new thread(bind(&idscamthread::capture, this));
capture_ = true;
return;
}
void idscamthread::stopcapturethread() {
capture_ = false;
capturethread_->join();
delete capturethread_;
capturethread_ = NULL;
}
inline void idscamthread::capture() {
while (capture_) {
// Gets the next ready frame. No need to sleep between the calls.
INT retcode = is_FreezeVideo(hCam_, IS_WAIT);
if (retcode != IS_SUCCESS) {
throw std::runtime_error("idscamthread - is_FreezeVideo");
}
VOID* pMem;
retcode = is_GetImageMem(hCam_, &pMem);
if (retcode != IS_SUCCESS) {
throw std::runtime_error("idscamthread - is_GetImageMem");
}
// Three color channels (byte per each channel)
int numbytes = framesize_.width * framesize_.height * 3;
memcpy(frame_.ptr(), pMem, numbytes);
framecounter_++;
callback_(frame_);
}
}