def setExposure(self, exposure):
if self.connected:
try:
self.camHandle.ExposureTime = exposure
except genicam.GenericException:
self.connected = False
raise errors.CameraError("Camera communication failed")
else:
log.message(DEFINES.LOG_MESSAGE_PRIORITY_DEBUG_WARNING, 0,
'Trying to set the exposure of an unconnected camera')
def getAvailableCameraIDs():
try:
available_cameras = pypylon.TlFactory.GetInstance().EnumerateDevices()
available_ids = []
for i in range(0, len(available_cameras)):
available_ids.append(int(available_cameras[i].GetSerialNumber()))
return available_ids
except genicam.GenericException:
self.connected = False
raise errors.CameraError("Camera communication failed")
def setProperties(self, exposure, gain, blackLevel, gamma):
if self.connected:
#modify properties
try:
self.camHandle.ExposureTime = exposure
self.camHandle.Gain = gain
self.camHandle.BlackLevel = blackLevel
self.camHandle.Gamma = gamma
except genicam.GenericException:
self.connected = False
raise errors.CameraError("Camera communication failed")
else:
log.message(
DEFINES.LOG_MESSAGE_PRIORITY_DEBUG_WARNING, 0,
'Trying to set the properties of an unconnected camera')
def setMaxROI(self):
if self.connected:
try:
self.parameters.ROICenter = (self.parameters.maxX,
self.parameters.maxY)
self.parameters.validityRadius = DEFINES.PC_IMAGE_GET_ALL_ROI
self.parameters.ROIoffsetX = 0
self.parameters.ROIoffsetY = 0
self.parameters.ROIwidth = self.parameters.maxX
self.parameters.ROIheight = self.parameters.maxY
self.camHandle.OffsetX = 0
self.camHandle.Width = self.camHandle.Width.Max
self.camHandle.OffsetY = 0
self.camHandle.Height = self.camHandle.Height.Max
except genicam.GenericException:
self.connected = False
raise errors.CameraError("Camera communication failed")
else:
log.message(DEFINES.LOG_MESSAGE_PRIORITY_DEBUG_WARNING, 0,
'Trying to set the ROI of an unconnected camera')
def connect(self, cameraType=None, compatibleCameraID=None):
if not self.connected or not (self.parameters.cameraType == cameraType
) or not (self.parameters.ID
== compatibleCameraID):
#If we want to change the camera, close the currently connected one
if self.connected:
try:
self.camHandle.close()
except genicam.GenericException:
pass
#Connect to the new camera
try:
if cameraType == None:
raise TypeError
#initalize the camera
tlf = pypylon.TlFactory.GetInstance()
available_cameras = tlf.EnumerateDevices()
available_ids = np.zeros(len(available_cameras))
for i in range(0, len(available_cameras)):
available_ids[i] = available_cameras[i].GetSerialNumber()
if available_ids[
i] == compatibleCameraID or compatibleCameraID == None:
cameraAlreadyUsed = False
try:
self.camHandle = pypylon.InstantCamera(
tlf.CreateDevice(available_cameras[i]))
except genicam.GenericException:
cameraAlreadyUsed = True
log.message(
DEFINES.LOG_MESSAGE_PRIORITY_WARNING, 0,
f'Camera {available_ids[i]:.0f} is already used in another application'
)
if not compatibleCameraID == None:
raise errors.CameraError(
"No compatible camera could be found"
) from None #If this was a specific ID search, break
if not cameraAlreadyUsed:
self.camHandle.Open()
#configure default camera settings
self.camHandle.PixelFormat = DEFINES.PC_CAMERA_PIXEL_FORMAT
self.camHandle.OffsetX = 0
self.camHandle.OffsetY = 0
self.camHandle.Width = self.camHandle.Width.Max
self.camHandle.Height = self.camHandle.Height.Max
self.parameters.cameraType = cameraType
self.parameters.maxX = self.camHandle.Width.Max
self.parameters.maxY = self.camHandle.Height.Max
self.parameters.ID = int(available_ids[i])
if cameraType == DEFINES.PC_CAMERA_TYPE_XY:
self.parameters.nbImagesToGrab = DEFINES.PC_CAMERA_XY_NB_IMAGES_PER_POINT
self.parameters.minCropWindow = DEFINES.PC_CAMERA_XY_MIN_CROP_WINDOW
else:
self.parameters.nbImagesToGrab = DEFINES.PC_CAMERA_TILT_NB_IMAGES_PER_POINT
self.parameters.minCropWindow = DEFINES.PC_CAMERA_FORBID_CROPPING
if self.parameters.minCropWindow == DEFINES.PC_CAMERA_FORBID_CROPPING:
self.parameters.minCropWindow = np.max(
self.parameters.maxX, self.parameters.maxY)
if self.camHandle.GetDeviceInfo().GetModelName(
) == 'acA5472-17um': #Require soft ROI for the acA5472-17um cameras
self.parameters.softROIrequired = True
self.connected = True
return
if not self.connected:
raise errors.CameraError(
"No compatible camera could be found"
) from None #If this was a specific ID search, break
except errors.CameraError as e:
log.message(DEFINES.LOG_MESSAGE_PRIORITY_ERROR, 0, str(e))
raise errors.CameraError(
"Camera initialization failed") from None
except genicam.GenericException:
raise errors.CameraError(
"Camera initialization failed") from None
def main():
import matplotlib.image as mpimg
import matplotlib.pyplot as plt
from computeCentroid import compute_centroid as compute_centroid
import classConfig
# try:
# try:
# raise OSError
# except OSError:
# raise errors.CameraError("error1")
# try:
# raise OSError
# except OSError:
# raise errors.CameraError("error2")
# except Exception as e:
# print(e)
#Set the default values
im_path = os.path.join('Python_garbage', 'garbage.png')
nbCentroidsLoop = 1000
ncComputationsPerCentroid = 1
centroids_txt_path = os.path.join('Python_garbage', 'centroids.mat')
image_ID = 1
exposure_time = 250
gain = 0.0
black_level = 1.25
gamma = 1.0
ROI = np.zeros(5, dtype=np.uint16)
#python grab_image.py "" "..\41000-Matlab-Calibration_and_test\calibration_data_cam1_XY.mat" 1 12345 4 11111 2 2.5 1.5 1.5
nb_args = len(sys.argv) - 1
if nb_args > 0:
im_path = sys.argv[1]
if nb_args > 1:
cam_path = sys.argv[2]
if nb_args > 2:
camera_ID = int(sys.argv[3])
if nb_args > 3:
image_ID = int(sys.argv[4])
if nb_args > 4:
nb_images = int(sys.argv[5])
if nb_args > 5:
exposure_time = float(sys.argv[6])
if nb_args > 6:
gain = float(sys.argv[7])
if nb_args > 7:
black_level = float(sys.argv[8])
if nb_args > 8:
gamma = float(sys.argv[9])
if im_path != '' or image_ID > -1:
centroid = (0, 0, 0, 0, 0, 0, 0, 0)
try:
#create camera instance
camera = Camera(cameraType=DEFINES.PC_CAMERA_TYPE_XY,
compatibleCameraID=22289804) #22942361 #22994237
#_=os.system('echo Taking picture')
camera.setMaxROI()
exposure_time = camera.getOptimalExposure(exposure_time)
log.message(DEFINES.LOG_MESSAGE_PRIORITY_INFO, 0,
f'Exposure time is: {exposure_time:.1f}')
if exposure_time >= DEFINES.PC_CAMERA_XY_MAX_EXPOSURE:
log.message(DEFINES.LOG_MESSAGE_PRIORITY_ERROR, 0,
f'Max exposure was reached')
camera.close()
return
camera.setProperties(exposure_time, gain, black_level, gamma)
if image_ID > -1:
config = classConfig.Config()
camera.setDistortionCorrection(config)
centroids = np.zeros((nbCentroidsLoop, 3))
minimum = 1000000 * np.ones(2)
maximum = 0 * np.ones(2)
mean = 0 * np.ones(2)
std = 0 * np.ones(2)
#Get first centroid to set ROI
picture = camera.getImage()
#Save the image
if im_path != '':
mpimg.imsave(im_path, picture)
#compute the centroid
if image_ID > -1:
centroid = compute_centroid(picture, camera.parameters,
image_ID)
if np.isnan(centroid[0]):
log.message(DEFINES.LOG_MESSAGE_PRIORITY_WARNING, 0,
"No centroid detected")
return
ROI[0] = int(centroid[2])
ROI[1] = int(centroid[3])
ROI[2] = camera.parameters.minCropWindow + 20
ROI[3] = camera.parameters.minCropWindow
ROI[4] = np.sqrt(ROI[2]**2 + ROI[3]**2)
camera.setROI(ROI)
print("camera params", camera.parameters)
for i in range(0, nbCentroidsLoop):
currentComputation = []
for j in range(0, ncComputationsPerCentroid):
t0 = time.perf_counter()
picture = camera.getImage()
#Save the image
if im_path != '':
mpimg.imsave(im_path, picture)
#compute the centroid
t1 = time.perf_counter()
if image_ID > -1:
currentComputation.append(
compute_centroid(picture, camera.parameters,
image_ID))
# log.message(DEFINES.LOG_MESSAGE_PRIORITY_WARNING, 0, f'Image: {t1-t0:4.3f} s. Centroid: {time.perf_counter()-t1:4.3f} s')
if np.isnan(centroid[0]):
log.message(DEFINES.LOG_MESSAGE_PRIORITY_WARNING, 0,
"No centroid detected")
raise errors.CameraError("Fiber light went out")
currentComputation = np.array(currentComputation)
# print(currentComputation)
# print(currentComputation[0])
# print(currentComputation[0,0])
centroid = (np.mean(currentComputation[:,0]),\
np.mean(currentComputation[:,1]),\
np.mean(currentComputation[:,2]),\
np.mean(currentComputation[:,3]),\
np.mean(currentComputation[:,4]),\
np.mean(currentComputation[:,5]),\
np.mean(currentComputation[:,6]),\
currentComputation[0,7])
centroids[i, 2] = i
for j in range(0, 2):
centroids[i, j] = centroid[j]
if centroid[j] < minimum[j]:
minimum[j] = centroid[j]
if centroid[j] > maximum[j]:
maximum[j] = centroid[j]
mean[j] = np.mean(centroids[0:(i + 1), j])
std[j] = np.std(centroids[0:(i + 1), j])
log.message(DEFINES.LOG_MESSAGE_PRIORITY_INFO, 0, f'{centroid[0]:.6f},{centroid[1]:.6f},{centroid[6]:.6f}'+\
f' Centroid {i+1:4}/{nbCentroidsLoop:4}'+\
f' Max diff: {maximum[0]-minimum[0]:.6f},{maximum[1]-minimum[1]:.6f}'+\
f' Mean: {mean[0]:.6f},{mean[1]:.6f}'+\
f' STD: {std[0]:.6f},{std[1]:.6f}')
centroids[:, 0] = centroids[:, 0] - np.nanmean(centroids[:, 0])
centroids[:, 1] = centroids[:, 1] - np.nanmean(centroids[:, 1])
except errors.CameraError as e:
log.message(DEFINES.LOG_MESSAGE_PRIORITY_CRITICAL, 0, str(e))
log.stop()
return
try:
io.savemat(centroids_txt_path, \
{'centroids': centroids})
except OSError as e:
log.message(DEFINES.LOG_MESSAGE_PRIORITY_CRITICAL, 0, str(e))
log.stop()
return
camera.close()
plt.figure()
plt.scatter(centroids[:, 0],
centroids[:, 1],
color='red',
marker='x',
s=1)
plt.show()
def getOptimalExposure(self, initExposure):
if not self.connected:
raise errors.CameraError("Camera is not connected")
else:
try:
#init loop
i = 1
nbOk = 0
if self.parameters.cameraType == DEFINES.PC_CAMERA_TYPE_XY:
maxExposure = DEFINES.PC_CAMERA_XY_MAX_EXPOSURE
else:
maxExposure = DEFINES.PC_CAMERA_GET_EXPOSURE_EXPOSURE_MAX
currentExposure = initExposure
self.camHandle.ExposureTime = currentExposure
#grab images and adapt exposure
while i <= DEFINES.PC_CAMERA_GET_EXPOSURE_MAX_ITERATIONS:
#get one image
image = self.camHandle.GrabOne(DEFINES.PC_IMAGE_TIMEOUT)
image = np.divide(image.Array,
DEFINES.PC_CAMERA_MAX_INTENSITY_RAW)
#crop validity circle
validityCenter = (self.parameters.ROICenter[0] -
self.camHandle.OffsetX.Value,
self.parameters.ROICenter[1] -
self.camHandle.OffsetY.Value)
image, offsetX, offsetY = self.computeValidSoftROI(
image, validityCenter, self.parameters.validityRadius)
#filter the image with a gaussian filter
if self.parameters.cameraType == DEFINES.PC_CAMERA_TYPE_XY:
image = gaussianFilter(
image, DEFINES.CC_IMAGE_XY_FILTERING_SIGMA)
else:
image = gaussianFilter(
image, DEFINES.CC_IMAGE_TILT_FILTERING_SIGMA)
maxPxIntensity = np.max(image)
#Check the stopping criterias
if (maxPxIntensity >= DEFINES.PC_CAMERA_GET_EXPOSURE_TARGET_INTENSITY-DEFINES.PC_CAMERA_GET_EXPOSURE_INTENSITY_TOLERANCE and \
maxPxIntensity <= DEFINES.PC_CAMERA_GET_EXPOSURE_TARGET_INTENSITY+DEFINES.PC_CAMERA_GET_EXPOSURE_INTENSITY_TOLERANCE) or \
currentExposure == DEFINES.PC_CAMERA_GET_EXPOSURE_EXPOSURE_MIN or \
currentExposure == maxExposure:
nbOk += 1
#Check if the stopping condition is reached
if nbOk >= DEFINES.PC_CAMERA_GET_EXPOSURE_NB_OK:
return currentExposure
#Adapt the exposure
if maxPxIntensity >= DEFINES.PC_CAMERA_GET_EXPOSURE_SATURED_THRESHOLD:
currentExposure = currentExposure * DEFINES.PC_CAMERA_GET_EXPOSURE_TARGET_INTENSITY / maxPxIntensity * DEFINES.PC_CAMERA_GET_EXPOSURE_SATURED_GAIN #if we are satured, decrease exposure faster
else:
currentExposure = currentExposure * DEFINES.PC_CAMERA_GET_EXPOSURE_TARGET_INTENSITY / maxPxIntensity
if currentExposure < DEFINES.PC_CAMERA_GET_EXPOSURE_EXPOSURE_MIN:
currentExposure = DEFINES.PC_CAMERA_GET_EXPOSURE_EXPOSURE_MIN
elif currentExposure > maxExposure:
currentExposure = maxExposure
self.camHandle.ExposureTime = currentExposure
i = i + 1
return currentExposure
except genicam.GenericException:
self.connected = False
raise errors.CameraError(
"Camera communication failed during optimal exposure determination"
)
def getImage(self, computationManager=None, imageID=None):
if not self.connected:
raise errors.CameraError("Camera is not connected") from None
else:
try:
#Initialize result container
i = 0
result = np.zeros(
(self.camHandle.Height.Value, self.camHandle.Width.Value),
dtype=np.uint16)
#grab images
# t0 = time.perf_counter()
self.camHandle.StartGrabbingMax(self.parameters.nbImagesToGrab)
# t1 = time.perf_counter()
# print(f'StartGrab\t\t\t{t1-t0:3.3f}')
while self.camHandle.IsGrabbing():
# t2 = time.perf_counter()
grabResult = self.camHandle.RetrieveResult(
DEFINES.PC_IMAGE_TIMEOUT,
pypylon.TimeoutHandling_Return)
# t3 = time.perf_counter()
if grabResult.GrabSucceeded():
result = np.add(grabResult.Array, result)
grabResult.Release()
i = i + 1
# t4 = time.perf_counter()
# print(f'RetrieveResult\t\t\t{t3-t2:3.3f}')
# print(f'Add and release result\t\t{t4-t3:3.3f}')
# t5 = time.perf_counter()
# print(f'Total grab\t\t\t{t5-t0:3.3f}')
#crop validity circle
if self.parameters.validityRadius != DEFINES.PC_IMAGE_GET_ALL_ROI:
validityCenter = (self.parameters.ROICenter[0] -
self.camHandle.OffsetX.Value,
self.parameters.ROICenter[1] -
self.camHandle.OffsetY.Value)
circularMask = mm.create_circular_mask(
result.shape[0], result.shape[1], validityCenter,
self.parameters.validityRadius)
result[~circularMask] = 0
# t6 = time.perf_counter()
# print(f'Precropping circle\t\t{t6-t5:3.3f}')
image = np.divide(result, i)
# t7 = time.perf_counter()
# print(f'NP Divide image\t\t\t{t7-t6:3.3f}')
#directly send to computation queue if asked for
if computationManager is not None:
computationManager.put_in_centroid_queue(
(image, self.parameters.ROIoffsetX,
self.parameters.ROIoffsetY, imageID),
block=True)
# t8 = time.perf_counter()
# print(f'Total execution\t\t\t{t8-t0:3.3f}')
#return image
return image
except (genicam.GenericException, SystemError):
self.connected = False
raise errors.CameraError(
"Camera communication failed during image grabbing")
def getROI(self):
if not self.connected:
raise errors.CameraError("Camera is not connected") from None
else:
return self.parameters.ROIoffsetX, self.parameters.ROIoffsetY, self.parameters.ROIwidth, self.parameters.ROIheight
def setROI(self, ROI):
if self.connected:
if ROI[0] > self.parameters.maxX or ROI[0] < 0 or ROI[
1] > self.parameters.maxY or ROI[1] < 0:
raise errors.OutOfRangeError(
"Specified camera ROI is out of range")
return
try:
x_min = int(ROI[0] - ROI[2] / 2)
x_max = int(ROI[0] + ROI[2] / 2)
y_min = int(ROI[1] - ROI[3] / 2)
y_max = int(ROI[1] + ROI[3] / 2)
#crop ROI while it is not in the image, up to the minimal window allowed
if x_min < 0:
x_min = 0
if x_max - x_min < self.parameters.minCropWindow:
x_max = x_min + self.parameters.minCropWindow
if x_max > self.parameters.maxX:
x_max = self.parameters.maxX
if x_max - x_min < self.parameters.minCropWindow:
x_min = x_max - self.parameters.minCropWindow
if y_min < 0:
y_min = 0
if y_max - y_min < self.parameters.minCropWindow:
y_max = y_min + self.parameters.minCropWindow
if y_max > self.parameters.maxY:
y_max = self.parameters.maxY
if y_max - y_min < self.parameters.minCropWindow:
y_min = y_max - self.parameters.minCropWindow
if self.camHandle.GetDeviceInfo().GetModelName(
) == 'acA5472-17um': #Strangly, the acA5472-17um camera needs a multiple of 4 for Xoffset and width
x_min = x_min - x_min % 4
width = x_max - x_min
width = width - width % 4
else:
width = x_max - x_min
height = y_max - y_min
self.parameters.ROICenter = (ROI[0], ROI[1])
self.parameters.validityRadius = ROI[4]
self.parameters.ROIoffsetX = x_min
self.parameters.ROIoffsetY = y_min
self.parameters.ROIwidth = width
self.parameters.ROIheight = height
#set the ROI properties
if self.camHandle.OffsetX.Value + width < self.parameters.maxX:
self.camHandle.Width = width
self.camHandle.OffsetX = x_min
else:
self.camHandle.OffsetX = x_min
self.camHandle.Width = width
if self.camHandle.OffsetY.Value + height < self.parameters.maxY:
self.camHandle.Height = height
self.camHandle.OffsetY = y_min
else:
self.camHandle.OffsetY = y_min
self.camHandle.Height = height
except genicam.GenericException:
self.connected = False
raise errors.CameraError("Camera communication failed")
else:
log.message(DEFINES.LOG_MESSAGE_PRIORITY_DEBUG_WARNING, 0,
'Trying to set the ROI of an unconnected camera')