def capture_image(cam, gripper_height):
camera_height = gripper_height + 70 # Camera is placed 70mm above gripper
# TODO: Find a curve that correlates distance from subject and focus value
if camera_height > 300:
nRet = ueye.is_Focus(cam.handle(), ueye.FOC_CMD_SET_MANUAL_FOCUS,
config.focus_overview,
ueye.sizeof(config.focus_overview))
else:
nRet = ueye.is_Focus(cam.handle(), ueye.FOC_CMD_SET_MANUAL_FOCUS,
config.focus_closeup,
ueye.sizeof(config.focus_closeup))
#nRet = ueye.is_Focus(cam.handle(), ueye.FOC_CMD_SET_ENABLE_AUTOFOCUS_ONCE, None, 0)
# autofocus_status = ueye.INT(0)
# ueye.is_Focus(cam.handle(), ueye.FOC_CMD_GET_AUTOFOCUS_STATUS, autofocus_status, ueye.sizeof(autofocus_status))
img_buffer = ImageBuffer() # Create image_tools buffer
#ueye.is_Focus(cam.handle(), ueye.FOC_CMD_SET_ENABLE_AUTOFOCUS_ONCE, None, 0)
time.sleep(0.5)
# cam.freeze_video(True) # Freeze video captures a single image_tools
nRet = ueye.is_WaitForNextImage(cam.handle(), 1000, img_buffer.mem_ptr,
img_buffer.mem_id)
img_data = ImageData(cam.handle(), img_buffer)
array = img_data.as_1d_image()
img_data.unlock()
return array
def calculate_focus(cam, working_distance):
"""This characteristic belongs to the IDS XS camera with serial code 4102885308.
As stated by IDS themselves the characteristic is not robust and could vary between
different cameras.
The characteristic was made based on images up to a working distance of 620mm.
"""
# TODO: Make characteristics for all IDS XS cameras at UiS.
# By checking the serial code through ueye.SENSORINFO, one would know which specific camera is in use
if working_distance >= 357.5:
focus_value = 204
elif 237 <= working_distance < 357.5:
focus_value = 192
elif 169 <= working_distance < 237:
focus_value = 180
elif 131.5 <= working_distance < 169:
focus_value = 168
elif 101.5 <= working_distance < 131.5:
focus_value = 156
elif 86.5 <= working_distance < 101.5:
focus_value = 144
elif 72 <= working_distance < 86.5:
focus_value = 128
elif 42.5 <= working_distance < 72:
focus_value = 112
else:
print("Too close to subject. Focus value not found. Default value: 204")
focus_value = 204
# Set the correct focus value
focus_UINT = ueye.UINT(focus_value)
ueye.is_Focus(cam.hCam, ueye.FOC_CMD_SET_MANUAL_FOCUS, focus_UINT, ueye.sizeof(focus_UINT))
time.sleep(0.3)
def set_parameters(self, disable_exposure=True):
# Change image format
# formatID = ueye.UINT(5) # Change image format to 2048x1536
formatID = ueye.UINT(8) # Change image format to 1280x960
nRet = ueye.is_ImageFormat(self.hCam, ueye.IMGFRMT_CMD_SET_FORMAT,
formatID, ueye.sizeof(formatID))
if disable_exposure:
# Disable auto exposure
dblEnable = ueye.DOUBLE(0)
dblDummy = ueye.DOUBLE(0)
ueye.is_SetAutoParameter(
self.hCam, ueye.IS_SET_ENABLE_AUTO_SENSOR_GAIN_SHUTTER,
dblEnable, dblDummy)
# Set new exposure value from .ini-file
config = configparser.ConfigParser()
config.read('image_tools/cam_adjustments.ini')
exposure = float(config['EXPOSURE']['exposure'])
newExposure = ueye.DOUBLE(exposure)
ret = ueye.is_Exposure(self.hCam,
ueye.IS_EXPOSURE_CMD_SET_EXPOSURE,
newExposure, ueye.sizeof(newExposure))
# Disable autofocus
ueye.is_Focus(self.hCam, ueye.FOC_CMD_SET_DISABLE_AUTOFOCUS, None, 0)
def initialize_camera_settings(self):
'''Sets pixel_clock, fps, exposure, autofocus, autogain based on self.config.'''
# get max pixel clock
pixel_clock_range = (ueye.c_uint * 3)()
ret = ueye.is_PixelClock(self.input, ueye.IS_PIXELCLOCK_CMD_GET_RANGE, pixel_clock_range, 3 * ueye.sizeof(ueye.UINT()))
log.info(f'pixel_clock max: {pixel_clock_range[0]}, pixel_clock min: {pixel_clock_range[1]}, ret val: {ret}')
# set max pixel clock
pixel_clock = ueye.c_int(pixel_clock_range[1])
ret = ueye.is_PixelClock(self.input, ueye.IS_PIXELCLOCK_CMD_SET, pixel_clock, ueye.sizeof(pixel_clock))
self.config['pixel_clock'] = pixel_clock.value
log.info(f'Actual pixel clock: {pixel_clock}, ret val: {ret}')
# max out frame rate
target_frame_rate = ueye.double(self.config.get('fps'))
actual_frame_rate = ueye.double(0.0)
ret = ueye.is_SetFrameRate(self.input, target_frame_rate, actual_frame_rate)
self.config['fps'] = actual_frame_rate.value
log.info(f'Attempted to set frame rate to {target_frame_rate}, ret value: {ret}, actual frame rate: {actual_frame_rate}')
# max out exposure
target_exposure = ueye.double(self.config.get('exposure'))
actual_exposure = ueye.double(0.0)
ret = ueye.is_Exposure(self.input, ueye.IS_EXPOSURE_CMD_SET_EXPOSURE, target_exposure, ueye.sizeof(target_exposure))
get_ret = ueye.is_Exposure(self.input, ueye.IS_EXPOSURE_CMD_GET_EXPOSURE, actual_exposure, ueye.sizeof(actual_exposure))
self.config['exposure'] = actual_exposure.value
log.info(f'Attempted to set exposure to {target_exposure}, ret value: {ret}, actual frame rate: {actual_exposure}')
# set autofocus limits
if self.config.get('focus_min') is not None and self.config.get('focus_max') is not None:
limit = ueye.AUTOFOCUS_LIMIT()
limit.sMin = ueye.c_int(self.config['focus_min'])
limit.sMax = ueye.c_int(self.config['focus_max'])
ret = ueye.is_Focus(self.input, ueye.FOC_CMD_SET_AUTOFOCUS_LIMIT, limit, ueye.sizeof(limit));
if ret == ueye.IS_SUCCESS:
log.info(f'Successfully set focus min: {self.config["focus_min"]}, focus max: {self.config["focus_max"]}')
else:
log.error('Failed to set focus min/max.')
# enable autofocus
if self.config.get('autofocus'):
ret = ueye.is_Focus(self.input, ueye.FOC_CMD_SET_ENABLE_AUTOFOCUS, None, 0)
if ret == ueye.IS_SUCCESS:
log.info(f'Successfully set autofocus to {self.config.get("autofocus")}.')
else:
log.error('Failed to set autofocus.')
# enable autogain
if self.config.get('autogain'):
ret = ueye.is_SetAutoParameter(self.input, ueye.IS_SET_ENABLE_AUTO_GAIN, ueye.double(1), ueye.double(0))
if ret == ueye.IS_SUCCESS:
log.info(f'Successfully set autogain to {self.config.get("autogain")}.')
else:
log.error('Failed to set autogain.')
# Change the format to 1280x960 formatID = ueye.UINT(8) nRet = ueye.is_ImageFormat(cam.handle(), ueye.IMGFRMT_CMD_SET_FORMAT, formatID, ueye.sizeof(formatID)) cam.alloc() # Allocate image memory # Disable auto exposure dblEnable = ueye.DOUBLE(0) dblDummy = ueye.DOUBLE(0) ueye.is_SetAutoParameter(cam.handle(), ueye.IS_SET_ENABLE_AUTO_SENSOR_GAIN_SHUTTER, dblEnable, dblDummy) newExposure = ueye.DOUBLE(30) ret = ueye.is_Exposure(cam.handle(), ueye.IS_EXPOSURE_CMD_SET_EXPOSURE, newExposure, ueye.sizeof(newExposure)) ueye.is_Focus(cam.handle(), ueye.FOC_CMD_SET_DISABLE_AUTOFOCUS, None, 0) # Disable autofocus focus_overview = ueye.INT(205) # Focus value for overview image (taken from 570mm above table) focus_closeup = ueye.INT(144) # Focus value for closeup image (taken from 190mm above table) """ exp_min = ueye.DOUBLE() ret = ueye.is_Exposure(cam.handle(), ueye.IS_EXPOSURE_CMD_GET_EXPOSURE_RANGE_MIN, exp_min, ueye.sizeof(exp_min)) exp_max = ueye.DOUBLE() ret = ueye.is_Exposure(cam.handle(), ueye.IS_EXPOSURE_CMD_GET_EXPOSURE_RANGE_MAX, exp_max, ueye.sizeof(exp_max)) print(exp_min, exp_max) exp_def = ueye.DOUBLE() ret = ueye.is_Exposure(cam.handle(), ueye.IS_EXPOSURE_CMD_GET_EXPOSURE_DEFAULT, exp_def, ueye.sizeof(exp_def)) print(exp_def)