/********************************************************************
** Image Component Library (ICL) **
** **
** Copyright (C) 2006-2012 CITEC, University of Bielefeld **
** Neuroinformatics Group **
** Website: www.iclcv.org and **
** http://opensource.cit-ec.de/projects/icl **
** **
** File : include/ICLIO/PylonGrabber.h **
** Module : ICLIO **
** Authors: Viktor Richter **
** **
** **
** Commercial License **
** ICL can be used commercially, please refer to our website **
** www.iclcv.org for more details. **
** **
** GNU General Public License Usage **
** Alternatively, this file may be used under the terms of the **
** GNU General Public License version 3.0 as published by the **
** Free Software Foundation and appearing in the file LICENSE.GPL **
** included in the packaging of this file. Please review the **
** following information to ensure the GNU General Public License **
** version 3.0 requirements will be met: **
** http://www.gnu.org/copyleft/gpl.html. **
** **
** The development of this software was supported by the **
** Excellence Cluster EXC 277 Cognitive Interaction Technology. **
** The Excellence Cluster EXC 277 is a grant of the Deutsche **
** Forschungsgemeinschaft (DFG) in the context of the German **
** Excellence Initiative. **
** **
*********************************************************************/
#ifndef ICL_PYLON_GRABBER_H
#define ICL_PYLON_GRABBER_H
#include <pylon/PylonIncludes.h>
#include <ICLIO/GrabberHandle.h>
#include <ICLIO/PylonUtils.h>
#include <ICLIO/PylonCameraOptions.h>
#include <ICLIO/PylonGrabberThread.h>
#include <ICLIO/PylonColorConverter.h>
#include <ICLUtils/Time.h>
namespace icl {
namespace pylon {
/// Actual implementation of the Basler Pylon based GIG-E Grabber \ingroup GIGE_G
class PylonGrabberImpl : public Grabber, public Interruptable {
public:
friend class PylonGrabber;
/// interface for the setter function for video device properties
virtual void setProperty(const std::string &property, const std::string &value);
/// returns a list of properties, that can be set using setProperty
virtual std::vector<std::string> getPropertyList();
/// checks if property is returned, implemented, available and of processable GenApi::EInterfaceType
virtual bool supportsProperty(const std::string &property);
/// get type of property
virtual std::string getType(const std::string &name);
/// get information of a properties valid values
virtual std::string getInfo(const std::string &name);
/// returns the current value of a property or a parameter
virtual std::string getValue(const std::string &name);
/// Returns whether this property may be changed internally.
virtual int isVolatile(const std::string &propertyName);
/// Destructor
~PylonGrabberImpl();
/// grab function grabs an image (destination image is adapted on demand)
/** @copydoc icl::Grabber::grab(ImgBase**) **/
virtual const ImgBase* acquireImage();
/// Prints information about the startup argument options
static void printHelp();
/// Uses args to choose a pylon device
/**
* @param args The arguments provided to this grabber.
* @throw ICLException when no suitable device exists.
*/
static Pylon::CDeviceInfo getDeviceFromArgs(std::string args) throw(ICLException);
private:
/// The constructor is private so only the friend class can create instances
/**
* @param dev The PylonDevice that should be used for image acquisition.
* @param args The arguments provided to this grabber.
*/
PylonGrabberImpl(const Pylon::CDeviceInfo &dev, const std::string args);
/// A mutex lock to synchronize buffer and color converter access.
Mutex m_ImgMutex;
/// The PylonEnvironment automation.
PylonAutoEnv m_PylonEnv;
/// Count of buffers for grabbing
static const int m_NumBuffers = 3;
/// The camera interface.
Pylon::IPylonDevice* m_Camera;
/// The streamGrabber of the camera.
Pylon::IStreamGrabber* m_Grabber;
/// PylonCameraOptions used to get and set camera settings.
PylonCameraOptions* m_CameraOptions;
/// PylonColorConverter used for color conversion.
PylonColorConverter* m_ColorConverter;
/// PylonGrabberThread used for continous image acquisition.
PylonGrabberThread* m_GrabberThread;
/// A list of used buffers.
std::vector<PylonGrabberBuffer<uint16_t>*> m_BufferList;
/// A pointer to the last used buffer.
ImgBase* m_LastBuffer;
/// starts the acquisition of pictures by the camera
void acquisitionStart();
/// stops the acquisition of pictures by the camera
void acquisitionStop();
/// creates buffers and registers them at the grabber
void grabbingStart();
/// deregisters buffers from grabber and deletes them
void grabbingStop();
/// helper function that makes default settings for the camera.
void cameraDefaultSettings();
/// Converts pImageBuffer to correct type and writes it into m_Image
void convert(const void *pImageBuffer);
};
/// Grabber implementation for a Basler Pylon-based GIG-E Grabber \ingroup GIGE_G
/**
This is just a wrapper class of the underlying PylonGrabberImpl class
Some useful hints to increase GigE camera output:
-# Jumbo Frames: If your Network Adapter supports Jumbo Frames they
should be enabled by setting the Maximum Transfer Unit (MTU) size
to 8192. Accordingly the cameras property "GevSCPSPacketSize" is
set to 8192 per default. Setting this property to a value higher
then the Network Adapters MTU may create transfer errors.
-# Real-time thread priorities: To minimize network packet losses it
helps to grant pylon the permission to change a threads priority
to real time. This can be achieved by adding the line:
\code
* - rtprio 99
\endcode
to
\code
/etc/security/limits.conf
\endcode
This can make the difference between a network throughput of 32 and 100Mb/s.
-# Transmission errors: If you often get the error code
'GX status 0xe1000014' and already followed the previous hints
increasing the 'GevSCPD' (Inter packet delay) parameter can help to
minimize these transmission errors.
-# Camera IP Configuration: can be made with the IpConfigurator which
is included in the Pylon driver package. When the tool does not
find the camera, ICL will neither. This most commonly means that the
camera is in an other ip-address block then the computer. Because a
connection to the camera is needed in order to change the cameras ip
settings, it is possible to either chnage the ip address of the
computer to the same ip-address block or to use the Windows version
of the IpConfigurator - which does not seem to have souch problems - to
change the cameras ip settings once.
-# Network Adapter: Basler is recommending Network Adapters of the
Intel PRO 1000 series. They observed a significantly higher CPU load
when working with other.
**/
struct PylonGrabber : public GrabberHandle<PylonGrabberImpl>{
/// create a new PylonGrabber
/** @see PylonGrabberImpl for more details*/
inline PylonGrabber(const std::string args="") throw(ICLException) {
/// looking for Pylon device compatible to args
Pylon::CDeviceInfo dev = getDeviceFromArgs(args);
if(isNew(dev.GetFullName().c_str())){
initialize(new PylonGrabberImpl(dev, args), dev.GetFullName().c_str());
}else{
initialize(dev.GetFullName().c_str());
}
}
/// Returns a list of detected pylon devices
static Pylon::DeviceInfoList_t
getPylonDeviceList(Pylon::DeviceInfoList_t* filter=NULL){
return icl::pylon::getPylonDeviceList();
}
/// Prints information about the startup argument options of PylonGrabberImpl
static void printHelp(){
return pylon::printHelp();
}
static std::vector<GrabberDeviceDescription> getDeviceList(bool rescan){
static std::vector<GrabberDeviceDescription> deviceList;
if(rescan){
deviceList.clear();
Pylon::DeviceInfoList_t devs = getPylonDeviceList();
for(unsigned int i = 0 ; i < devs.size() ; ++i){
deviceList.push_back(
GrabberDeviceDescription(
"pylon",
str(i) + "|||" + devs.at(i).GetFullName().c_str(),
devs.at(i).GetFullName().c_str()
)
);
}
}
return deviceList;
}
};
} //namespace pylon
typedef pylon::PylonGrabber PylonGrabber;
} //namespace icl
#endif