def __init__(self, camera_id = None, parameters = None, **kwds):
super().__init__(**kwds)
self.cur_offsetx = None
self.cur_offsety = None
self.old_offsetx = None
self.old_offsety = None
self.max_offsetx = None
self.max_offsety = None
self.n_analyzed = 0
self.n_dropped = 0
self.start_time = None
self.params_mutex = QtCore.QMutex()
self.running = False
self.zero_dist = parameters.get("zero_dist")
# Initialize library.
spinnaker.pySpinInitialize(verbose = False)
# Get the camera & set some defaults.
self.camera = spinnaker.getCamera(camera_id)
# Only Grasshopper has defect correction
if self.camera.hasProperty("VideoMode"):
self.camera.setProperty("VideoMode", parameters.get("video_mode"))
self.camera.setProperty("pgrDefectPixelCorrectionEnable", False)
def __init__(self, config=None, is_master=False, **kwds):
kwds["config"] = config
super().__init__(**kwds)
self.is_master = is_master
# The camera functionality.
self.camera_functionality = cameraFunctionality.CameraFunctionality(
camera_name=self.camera_name,
is_master=self.is_master,
parameters=self.parameters)
# Initialize library.
spinnaker.pySpinInitialize(verbose=False)
# Get the camera & set some defaults.
self.camera = spinnaker.getCamera(config.get("camera_id"))
# Set FLIR-specific camera properties to control relationship between
# exposure time and frame rate: This dictionary will allow extension in the future if needed
self.exposure_control = {"CameraControlExposure": True}
# Extract preset values if provided
if config.has("presets"):
# Extract preset values
presets = config.get("presets")
print("Configuring preset values of spinnaker camera: " +
str(config.get("camera_id")))
# Loop over values and set them
for p_name in presets.getAttrs():
if self.camera.hasProperty(
p_name
): # Confirm the camera has the property and warn if not
p_value = presets.get(p_name)
self.camera.setProperty(p_name, p_value) # Set value
set_value = self.camera.getProperty(
p_name).getValue() # Check set
print(" " + str(p_name) + ": " + str(p_value) + " (" +
str(set_value) + ")")
else:
if p_name not in self.exposure_control.keys():
print("!!!! preset " + str(p_name) +
" is not a valid parameter for this camera")
# Set the exposure-frame-rate-control parameters
self.exposure_control["CameraControlExposure"] = presets.get(
"CameraControlExposure", True)
print("Set exposure control properties:")
for key in self.exposure_control.keys():
print(" " + str(key) + ": " +
str(self.exposure_control[key]))
else:
print("No presets provided for spinnaker camera: " +
str(config.get("camera_id")))
# Verify that we have turned off some of these 'features'.
## REMOVED THIS BLOCK AS IT IS CAMERA SPECIFIC
#for feature in ["pgrDefectPixelCorrectionEnable",
# "BlackLevelClampingEnable",
# "SharpnessEnabled",
# "GammaEnabled"]:
# if self.camera.hasProperty(feature):
# assert not self.camera.getProperty(feature).getValue()
# Configure 'master' cameras to not use triggering.
#
self.camera.getProperty("TriggerMode")
if self.is_master:
self.camera.setProperty("TriggerMode", "Off")
# This line is connected to the DAQ.
self.camera.setProperty("LineSelector", "Line1")
self.camera.setProperty("LineSource", "ExposureActive")
# This line is connected to the other cameras.
self.camera.setProperty("LineSelector", "Line2")
self.camera.setProperty("LineMode", "Output")
self.camera.setProperty("LineSource", "ExposureActive")
# Configure 'slave' cameras to use triggering.
# We are following: http://www.ptgrey.com/KB/11052
#
# "Configuring Synchronized Capture with Multiple Cameras"
#
# Also, we connected the master camera to the DAQ card
# using it's OPTO-OUT connection.
#
else:
self.camera.setProperty("TriggerMode", "On")
self.camera.setProperty("TriggerSource", "Line3")
self.camera.setProperty("TriggerOverlap", "ReadOut")
self.camera.setProperty(
"TriggerActivation",
config.get("trigger_activation", "FallingEdge"))
#
# Dictionary of Point Grey specific camera parameters.
#
# All cameras can set these.
self.pgrey_props = {
"BlackLevel": True,
"Gain": True,
"Height": True,
"OffsetX": True,
"OffsetY": True,
"Width": True
}
# Only master cameras can set "AcquisitionFrameRate".
if self.is_master:
self.pgrey_props["AcquisitionFrameRate"] = True
#
# FIXME: We're using a made up max_value for this parameter because it is
# the default parameter. If we use the real range then any
# parameters that are added later could have their frame rate
# changed in an unexpected way. Unfortunately this also means that
# if the user goes above the real maximum on this parameter then
# the software will crash.
#
self.parameters.add(
params.ParameterRangeFloat(
description="Acquisition frame rate (FPS)",
name="AcquisitionFrameRate",
value=10.0,
max_value=5000,
min_value=self.camera.getProperty(
"AcquisitionFrameRate").getMinimum()))
# Slave cameras can set "ExposureTime".
#
# FIXME? If this is too large then the slave will be taking images
# at a different rate than master. Maybe this should be
# limited? Automatically set based on "master" frame rate?
#
else:
self.pgrey_props["ExposureTime"] = True
self.parameters.add(
params.ParameterRangeFloat(description="Exposure time (us)",
name="ExposureTime",
value=99800.0,
max_value=self.camera.getProperty(
"ExposureTime").getMaximum(),
min_value=self.camera.getProperty(
"ExposureTime").getMinimum()))
# Load properties as required by the spinnaker Python wrapper.
for pname in self.pgrey_props:
self.camera.getProperty(pname)
max_intensity = 2**12
self.parameters.setv("max_intensity", max_intensity)
# Set chip size and HAL parameter ranges.
x_chip = self.camera.getProperty("WidthMax").getValue()
self.parameters.setv("x_chip", x_chip)
for pname in ["x_end", "x_start"]:
self.parameters.getp(pname).setMaximum(x_chip)
y_chip = self.camera.getProperty("HeightMax").getValue()
self.parameters.setv("y_chip", y_chip)
for pname in ["y_end", "y_start"]:
self.parameters.getp(pname).setMaximum(y_chip)
#
# Reset X, Y offsets. We do this here because otherwise the
# initial ranges of these parameters will be incorrect and the
# only way to fix them is using the parameters editor.
#
self.camera.setProperty("OffsetX", 0)
self.camera.setProperty("OffsetY", 0)
self.parameters.add(
params.ParameterRangeFloat(
description="Black level",
name="BlackLevel",
value=1.0,
max_value=self.camera.getProperty("BlackLevel").getMaximum(),
min_value=self.camera.getProperty("BlackLevel").getMinimum()))
self.parameters.add(
params.ParameterRangeFloat(
description="Gain",
name="Gain",
value=10.0,
max_value=self.camera.getProperty("Gain").getMaximum(),
min_value=self.camera.getProperty("Gain").getMinimum()))
self.parameters.add(
params.ParameterRangeInt(description="AOI height",
name="Height",
value=y_chip,
max_value=y_chip,
min_value=4))
self.parameters.add(
params.ParameterRangeInt(description="AOI x offset",
name="OffsetX",
value=0,
max_value=x_chip - 4,
min_value=0))
self.parameters.add(
params.ParameterRangeInt(description="AOI y offset",
name="OffsetY",
value=0,
max_value=y_chip - 4,
min_value=0))
self.parameters.add(
params.ParameterRangeInt(description="AOI width",
name="Width",
value=x_chip,
max_value=x_chip,
min_value=4))
# Disable editing of the HAL versions of these parameters.
for param in [
"exposure_time", "x_bin", "x_end", "x_start", "y_end",
"y_start", "y_bin"
]:
self.parameters.getp(param).setMutable(False)
self.newParameters(self.parameters, initialization=True)
def __init__(self, config=None, is_master=False, **kwds):
kwds["config"] = config
super().__init__(**kwds)
self.is_master = is_master
# The camera functionality.
self.camera_functionality = cameraFunctionality.CameraFunctionality(
camera_name=self.camera_name,
is_master=self.is_master,
parameters=self.parameters)
# Initialize library.
spinnaker.pySpinInitialize(verbose=False)
# Get the camera & set some defaults.
self.camera = spinnaker.getCamera(config.get("camera_id"))
# In order to turn off pixel defect correction the camera has
# to be in video mode 0.
self.camera.setProperty("VideoMode", "Mode0")
self.camera.setProperty("pgrDefectPixelCorrectionEnable", False)
# Set pixel format.
#self.camera.setProperty("PixelFormat", "Mono12Packed")
#self.camera.setProperty("PixelFormat", "Mono12p")
self.camera.setProperty("PixelFormat", "Mono16")
self.camera.setProperty("VideoMode", config.get("video_mode"))
# We don't want any of these 'features'.
self.camera.setProperty("AcquisitionFrameRateAuto", "Off")
self.camera.setProperty("ExposureAuto", "Off")
self.camera.setProperty("GainAuto", "Off")
if self.camera.hasProperty("pgrExposureCompensationAuto"):
self.camera.setProperty("pgrExposureCompensationAuto", "Off")
if self.camera.hasProperty("BlackLevelClampingEnable"):
self.camera.setProperty("BlackLevelClampingEnable", False)
if self.camera.hasProperty("SharpnessEnabled"):
self.camera.setProperty("SharpnessEnabled", False)
if self.camera.hasProperty("GammaEnabled"):
self.camera.setProperty("GammaEnabled", False)
#
# No idea what this means in the context of a black and white
# camera. We try and turn it off but that seems to be much
# harder to do than one would hope.
#
self.camera.setProperty("OnBoardColorProcessEnabled", False)
# Verify that we have turned off some of these 'features'.
for feature in [
"pgrDefectPixelCorrectionEnable", "BlackLevelClampingEnable",
"SharpnessEnabled", "GammaEnabled"
]:
if self.camera.hasProperty(feature):
assert not self.camera.getProperty(feature).getValue()
# Configure 'master' cameras to not use triggering.
#
self.camera.getProperty("TriggerMode")
if self.is_master:
self.camera.setProperty("TriggerMode", "Off")
# This line is connected to the DAQ.
self.camera.setProperty("LineSelector", "Line1")
self.camera.setProperty("LineSource", "ExposureActive")
# This line is connected to the other cameras.
self.camera.setProperty("LineSelector", "Line2")
self.camera.setProperty("LineMode", "Output")
self.camera.setProperty("LineSource", "ExposureActive")
# Configure 'slave' cameras to use triggering.
#
# We are following: http://www.ptgrey.com/KB/11052
# "Configuring Synchronized Capture with Multiple Cameras"
#
# Also, we connected the master camera to the DAQ card
# using it's OPTO-OUT connection.
#
else:
self.camera.setProperty("TriggerMode", "On")
self.camera.setProperty("TriggerSource", "Line3")
self.camera.setProperty("TriggerOverlap", "ReadOut")
self.camera.setProperty(
"TriggerActivation",
config.get("trigger_activation", "FallingEdge"))
#
# Dictionary of Point Grey specific camera parameters.
#
# All cameras can set these.
self.pgrey_props = {
"BlackLevel": True,
"Gain": True,
"Height": True,
"OffsetX": True,
"OffsetY": True,
"Width": True
}
# Only master cameras can set "AcquisitionFrameRate".
if self.is_master:
self.pgrey_props["AcquisitionFrameRate"] = True
#
# FIXME: We're using a made up max_value for this parameter because it is
# the default parameter. If we use the real range then any
# parameters that are added later could have their frame rate
# changed in an unexpected way. Unfortunately this also means that
# if the user goes above the real maximum on this parameter then
# the software will crash.
#
self.parameters.add(
params.ParameterRangeFloat(
description="Acquisition frame rate (FPS)",
name="AcquisitionFrameRate",
value=10.0,
max_value=500.0,
min_value=self.camera.getProperty(
"AcquisitionFrameRate").getMinimum()))
# Slave cameras can set "ExposureTime".
#
# FIXME? If this is too large then the slave will be taking images
# at a different rate than master. Maybe this should be
# limited? Automatically set based on "master" frame rate?
#
else:
self.pgrey_props["ExposureTime"] = True
self.parameters.add(
params.ParameterRangeFloat(description="Exposure time (us)",
name="ExposureTime",
value=99800.0,
max_value=self.camera.getProperty(
"ExposureTime").getMaximum(),
min_value=self.camera.getProperty(
"ExposureTime").getMinimum()))
# Load properties as required by the spinnaker Python wrapper.
for pname in self.pgrey_props:
self.camera.getProperty(pname)
max_intensity = 2**12
self.parameters.setv("max_intensity", max_intensity)
# Set chip size and HAL parameter ranges.
x_chip = self.camera.getProperty("WidthMax").getValue()
self.parameters.setv("x_chip", x_chip)
for pname in ["x_end", "x_start"]:
self.parameters.getp(pname).setMaximum(x_chip)
y_chip = self.camera.getProperty("HeightMax").getValue()
self.parameters.setv("y_chip", y_chip)
for pname in ["y_end", "y_start"]:
self.parameters.getp(pname).setMaximum(y_chip)
#
# Reset X, Y offsets. We do this here because otherwise the
# initial ranges of these parameters will be incorrect and the
# only way to fix them is using the parameters editor.
#
self.camera.setProperty("OffsetX", 0)
self.camera.setProperty("OffsetY", 0)
self.parameters.add(
params.ParameterRangeFloat(
description="Black level",
name="BlackLevel",
value=1.0,
max_value=self.camera.getProperty("BlackLevel").getMaximum(),
min_value=self.camera.getProperty("BlackLevel").getMinimum()))
self.parameters.add(
params.ParameterRangeFloat(
description="Gain",
name="Gain",
value=10.0,
max_value=self.camera.getProperty("Gain").getMaximum(),
min_value=self.camera.getProperty("Gain").getMinimum()))
self.parameters.add(
params.ParameterRangeInt(description="AOI height",
name="Height",
value=y_chip,
max_value=y_chip,
min_value=4))
self.parameters.add(
params.ParameterRangeInt(description="AOI x offset",
name="OffsetX",
value=0,
max_value=x_chip - 4,
min_value=0))
self.parameters.add(
params.ParameterRangeInt(description="AOI y offset",
name="OffsetY",
value=0,
max_value=y_chip - 4,
min_value=0))
self.parameters.add(
params.ParameterRangeInt(description="AOI width",
name="Width",
value=x_chip,
max_value=x_chip,
min_value=4))
# Disable editing of the HAL versions of these parameters.
for param in [
"exposure_time", "x_bin", "x_end", "x_start", "y_end",
"y_start", "y_bin"
]:
self.parameters.getp(param).setMutable(False)
self.newParameters(self.parameters, initialization=True)
def __init__(self, camera_id=None, parameters=None, **kwds):
super().__init__(**kwds)
self.cur_offsetx = None
self.cur_offsety = None
self.old_offsetx = None
self.old_offsety = None
self.max_offsetx = None
self.max_offsety = None
self.n_analyzed = 0
self.n_dropped = 0
self.start_time = None
self.params_mutex = QtCore.QMutex()
self.running = False
self.zero_dist = parameters.get("zero_dist")
# Initialize library.
spinnaker.pySpinInitialize(verbose=False)
# Get the camera & set some defaults.
self.camera = spinnaker.getCamera(camera_id)
# In order to turn off pixel defect correction the camera has
# to be in video mode 0.
self.camera.setProperty("VideoMode", "Mode0")
self.camera.setProperty("pgrDefectPixelCorrectionEnable", False)
# Set pixel format.
self.camera.setProperty("PixelFormat", "Mono16")
self.camera.setProperty("VideoMode", parameters.get("video_mode"))
# We don't want any of these 'features'.
self.camera.setProperty("AcquisitionFrameRateAuto", "Off")
self.camera.setProperty("ExposureAuto", "Off")
self.camera.setProperty("GainAuto", "Off")
if self.camera.hasProperty("pgrExposureCompensationAuto"):
self.camera.setProperty("pgrExposureCompensationAuto", "Off")
if self.camera.hasProperty("BlackLevelClampingEnable"):
self.camera.setProperty("BlackLevelClampingEnable", False)
if self.camera.hasProperty("SharpnessEnabled"):
self.camera.setProperty("SharpnessEnabled", False)
if self.camera.hasProperty("GammaEnabled"):
self.camera.setProperty("GammaEnabled", False)
#
# No idea what this means in the context of a black and white
# camera. We try and turn it off but that seems to be much
# harder to do than one would hope.
#
self.camera.setProperty("OnBoardColorProcessEnabled", False)
# Verify that we have turned off some of these 'features'.
for feature in [
"pgrDefectPixelCorrectionEnable", "BlackLevelClampingEnable",
"SharpnessEnabled", "GammaEnabled"
]:
if self.camera.hasProperty(feature):
assert not self.camera.getProperty(feature).getValue()
# Configure camera to not use triggering.
#
self.camera.setProperty("TriggerMode", "Off")
# Configure acquisition parameters.
#
# Note: The order is important here.
#
for pname in [
"BlackLevel", "Gain", "Height", "Width", "OffsetX", "OffsetY",
"AcquisitionFrameRate"
]:
self.camera.setProperty(pname, parameters.get(pname))
# Use maximum exposure time allowed by desired frame rate.
#
self.camera.setProperty(
"ExposureTime",
self.camera.getProperty("ExposureTime").getMaximum())
# Get current offsets.
#
self.cur_offsetx = self.camera.getProperty("OffsetX").getValue()
self.cur_offsety = self.camera.getProperty("OffsetY").getValue()
self.old_offsetx = self.cur_offsetx
self.old_offsety = self.cur_offsety
# Set maximum offsets.
#
self.max_offsetx = self.camera.getProperty("OffsetX").getMaximum()
self.max_offsety = self.camera.getProperty("OffsetY").getMaximum()
def __init__(self, config = None, is_master = False, **kwds):
kwds["config"] = config
super().__init__(**kwds)
self.is_master = is_master
# The camera functionality.
self.camera_functionality = cameraFunctionality.CameraFunctionality(camera_name = self.camera_name,
is_master = self.is_master,
parameters = self.parameters)
# Initialize library.
spinnaker.pySpinInitialize(verbose = False)
# Get the camera & set some defaults.
self.camera = spinnaker.getCamera(config.get("camera_id"))
# In order to turn off pixel defect correction the camera has
# to be in video mode 0.
self.camera.setProperty("VideoMode", "Mode0")
self.camera.setProperty("pgrDefectPixelCorrectionEnable", False)
# Set pixel format.
#self.camera.setProperty("PixelFormat", "Mono12Packed")
#self.camera.setProperty("PixelFormat", "Mono12p")
self.camera.setProperty("PixelFormat", "Mono16")
self.camera.setProperty("VideoMode", config.get("video_mode"))
# We don't want any of these 'features'.
self.camera.setProperty("AcquisitionFrameRateAuto", "Off")
self.camera.setProperty("ExposureAuto", "Off")
self.camera.setProperty("GainAuto", "Off")
if self.camera.hasProperty("pgrExposureCompensationAuto"):
self.camera.setProperty("pgrExposureCompensationAuto", "Off")
if self.camera.hasProperty("BlackLevelClampingEnable"):
self.camera.setProperty("BlackLevelClampingEnable", False)
if self.camera.hasProperty("SharpnessEnabled"):
self.camera.setProperty("SharpnessEnabled", False)
if self.camera.hasProperty("GammaEnabled"):
self.camera.setProperty("GammaEnabled", False)
#
# No idea what this means in the context of a black and white
# camera. We try and turn it off but that seems to be much
# harder to do than one would hope.
#
self.camera.setProperty("OnBoardColorProcessEnabled", False)
# Verify that we have turned off some of these 'features'.
for feature in ["pgrDefectPixelCorrectionEnable",
"BlackLevelClampingEnable",
"SharpnessEnabled",
"GammaEnabled"]:
if self.camera.hasProperty(feature):
assert not self.camera.getProperty(feature).getValue()
# Configure 'master' cameras to not use triggering.
#
self.camera.getProperty("TriggerMode")
if self.is_master:
self.camera.setProperty("TriggerMode", "Off")
# This line is connected to the DAQ.
self.camera.setProperty("LineSelector", "Line1")
self.camera.setProperty("LineSource", "ExposureActive")
# This line is connected to the other cameras.
self.camera.setProperty("LineSelector", "Line2")
self.camera.setProperty("LineMode", "Output")
self.camera.setProperty("LineSource", "ExposureActive")
# Configure 'slave' cameras to use triggering.
#
# We are following: http://www.ptgrey.com/KB/11052
# "Configuring Synchronized Capture with Multiple Cameras"
#
# Also, we connected the master camera to the DAQ card
# using it's OPTO-OUT connection.
#
else:
self.camera.setProperty("TriggerMode", "On")
self.camera.setProperty("TriggerSource", "Line3")
self.camera.setProperty("TriggerOverlap", "ReadOut")
#
# Dictionary of Point Grey specific camera parameters.
#
# All cameras can set these.
self.pgrey_props = {"BlackLevel" : True,
"Gain" : True,
"Height" : True,
"OffsetX" : True,
"OffsetY" : True,
"Width" : True}
# Only master cameras can set "AcquisitionFrameRate".
if self.is_master:
self.pgrey_props["AcquisitionFrameRate"] = True
#
# FIXME: We're using a made up max_value for this parameter because it is
# the default parameter. If we use the real range then any
# parameters that are added later could have their frame rate
# changed in an unexpected way. Unfortunately this also means that
# if the user goes above the real maximum on this parameter then
# the software will crash.
#
self.parameters.add(params.ParameterRangeFloat(description = "Acquisition frame rate (FPS)",
name = "AcquisitionFrameRate",
value = 10.0,
max_value = 500.0,
min_value = self.camera.getProperty("AcquisitionFrameRate").getMinimum()))
# Slave cameras can set "ExposureTime".
#
# FIXME? If this is too large then the slave will be taking images
# at a different rate than master. Maybe this should be
# limited? Automatically set based on "master" frame rate?
#
else:
self.pgrey_props["ExposureTime"] = True
self.parameters.add(params.ParameterRangeFloat(description = "Exposure time (us)",
name = "ExposureTime",
value = 99800.0,
max_value = self.camera.getProperty("ExposureTime").getMaximum(),
min_value = self.camera.getProperty("ExposureTime").getMinimum()))
# Load properties as required by the spinnaker Python wrapper.
for pname in self.pgrey_props:
self.camera.getProperty(pname)
max_intensity = 2**12
self.parameters.setv("max_intensity", max_intensity)
# Set chip size and HAL parameter ranges.
x_chip = self.camera.getProperty("WidthMax").getValue()
self.parameters.setv("x_chip", x_chip)
for pname in ["x_end", "x_start"]:
self.parameters.getp(pname).setMaximum(x_chip)
y_chip = self.camera.getProperty("HeightMax").getValue()
self.parameters.setv("y_chip", y_chip)
for pname in ["y_end", "y_start"]:
self.parameters.getp(pname).setMaximum(y_chip)
#
# Reset X, Y offsets. We do this here because otherwise the
# initial ranges of these parameters will be incorrect and the
# only way to fix them is using the parameters editor.
#
self.camera.setProperty("OffsetX", 0)
self.camera.setProperty("OffsetY", 0)
self.parameters.add(params.ParameterRangeFloat(description = "Black level",
name = "BlackLevel",
value = 1.0,
max_value = self.camera.getProperty("BlackLevel").getMaximum(),
min_value = self.camera.getProperty("BlackLevel").getMinimum()))
self.parameters.add(params.ParameterRangeFloat(description = "Gain",
name = "Gain",
value = 10.0,
max_value = self.camera.getProperty("Gain").getMaximum(),
min_value = self.camera.getProperty("Gain").getMinimum()))
self.parameters.add(params.ParameterRangeInt(description = "AOI height",
name = "Height",
value = y_chip,
max_value = y_chip,
min_value = 4))
self.parameters.add(params.ParameterRangeInt(description = "AOI x offset",
name = "OffsetX",
value = 0,
max_value = x_chip - 4,
min_value = 0))
self.parameters.add(params.ParameterRangeInt(description = "AOI y offset",
name = "OffsetY",
value = 0,
max_value = y_chip - 4,
min_value = 0))
self.parameters.add(params.ParameterRangeInt(description = "AOI width",
name = "Width",
value = x_chip,
max_value = x_chip,
min_value = 4))
# Disable editing of the HAL versions of these parameters.
for param in ["exposure_time", "x_bin", "x_end", "x_start", "y_end", "y_start", "y_bin"]:
self.parameters.getp(param).setMutable(False)
self.newParameters(self.parameters, initialization = True)