"""camera.py Interface to a Blackfly GigE machine vision camera using the FLIR Spinnaker PySpin API.""" import os import sys import logging import argparse import datetime # OpenCV import cv2 as cv # NumPy import numpy as np # FLIR Spinnaker camera API import PySpin # initialize logging for this module log = logging.getLogger('camera') #================================================================ class SpinnakerCamera: """Representation of a camera using the FLIR Spinnaker PySpin API.""" #---------------------------------------------------------------- def start_continuous(self): # Retrieve enumeration node from nodemap # In order to access the node entries, they have to be casted to a pointer type (CEnumerationPtr here) node_acquisition_mode = PySpin.CEnumerationPtr(self.nodemap.GetNode('AcquisitionMode')) if not PySpin.IsReadable(node_acquisition_mode) or not PySpin.IsWritable(node_acquisition_mode): log.error("Unable to set acquisition mode to continuous (enum retrieval).") return # Retrieve entry node from enumeration node node_acquisition_mode_continuous = node_acquisition_mode.GetEntryByName('Continuous') if not PySpin.IsReadable(node_acquisition_mode_continuous): log.error("Unable to set acquisition mode to continuous (entry retrieval)") return # Retrieve integer value from entry node acquisition_mode_continuous = node_acquisition_mode_continuous.GetValue() # Set integer value from entry node as new value of enumeration node node_acquisition_mode.SetIntValue(acquisition_mode_continuous) self.continuous_mode = True log.info("Acquisition mode set to continuous.") self.cam.BeginAcquisition() # Create ImageProcessor instance for post processing images self.processor = PySpin.ImageProcessor() # Set default image processor color processing method self.processor.SetColorProcessing(PySpin.SPINNAKER_COLOR_PROCESSING_ALGORITHM_HQ_LINEAR) return #---------------------------------------------------------------- def end_continuous(self): if self.continuous_mode: log.info("Ending continuous acquisition mode.") self.cam.EndAcquisition() self.continuous_mode = False #---------------------------------------------------------------- def acquire_image(self): """Fetch the next camera image, returning either a numpy pixel array or None.""" image_result = self.cam.GetNextImage(1000) if image_result.IsIncomplete(): if self.args.verbose: log.debug("Image incomplete with image status %d", image_result.GetImageStatus()) return None else: width = image_result.GetWidth() height = image_result.GetHeight() if self.args.verbose: log.debug("Grabbed with width = %d, height = %d", width, height) # Convert image to mono 8 # The result is an instance of PySpin.ImagePtr image_converted = self.processor.Convert(image_result, PySpin.PixelFormat_Mono8) # Retrieve image object compatible with OpenCV image = image_converted.GetData().reshape(height, width, 1) result = image # Release image image_result.Release() return result #================================================================ def set_capture_property(self, name, value, dtype=int): if dtype == float: node = PySpin.CFloatPtr(self.nodemap.GetNode(name)) elif dtype == int: node = PySpin.CIntegerPtr(self.nodemap.GetNode(name)) if PySpin.IsReadable(node): log.info("Current value of %s is %s", name, node.GetValue()) if PySpin.IsWritable(node): node.SetValue(value) log.info("Set %s to %s", name, node.GetValue()) else: log.error("Unable to write property %s.", name) else: log.error("Unable to read property %s.", name) #================================================================ def log_device_info(self): log.info("*** DEVICE INFORMATION ***") node_device_information = PySpin.CCategoryPtr(self.nodemap_tldevice.GetNode('DeviceInformation')) if PySpin.IsReadable(node_device_information): features = node_device_information.GetFeatures() for feature in features: node_feature = PySpin.CValuePtr(feature) log.info('%s: %s', node_feature.GetName(), node_feature.ToString() if PySpin.IsReadable(node_feature) else 'Node not readable') else: log.warning("Device control information not readable.") #================================================================ def log_integer_property(self, name): node = PySpin.CIntegerPtr(self.nodemap.GetNode(name)) if PySpin.IsReadable(node): log.info("Current value of %s is %d", name, node.GetValue()) else: log.error("Unable to read property %s.", name) def log_float_property(self, name): node = PySpin.CFloatPtr(self.nodemap.GetNode(name)) if PySpin.IsReadable(node): log.info("Current value of %s is %f", name, node.GetValue()) else: log.error("Unable to read property %s.", name) def log_capture_properties(self): log.info("*** Capture Information ***") self.log_float_property('AcquisitionFrameRate') self.log_integer_property('Width') self.log_integer_property('Height') self.log_integer_property('OffsetX') self.log_integer_property('OffsetY') self.log_integer_property('DecimationHorizontal') self.log_integer_property('DecimationVertical') # properties to see or set # Acquisition Frame Rate Enable (shoudl be true) # Height can be set to less than the full height (e.g. 540 is half the lines) # OffsetY can be set to the height of the top margin (e.g. 270 skips the top quarter) # Decimation Horizontal could be 2 to reduce pixel count # Decimation Vertical could be 2 to reduce pixel count (applied before Height and OffsetY) #================================================================ def __init__(self, args): self.args = args self.continuous_mode = False # Retrieve singleton reference to system object self.system = PySpin.System.GetInstance() # Get current library version version = self.system.GetLibraryVersion() log.info('PySpin library version: %d.%d.%d.%d', version.major, version.minor, version.type, version.build) # Retrieve list of cameras from the system self.cam_list = self.system.GetCameras() num_cameras = self.cam_list.GetSize() log.info("Number of cameras detected: %d", num_cameras) if num_cameras == 0: print("No cameras found.") self.cam = None elif num_cameras > 1: print("Warning, detected more than one camera, only using first one.") self.cam = self.cam_list[0] else: self.cam = self.cam_list[0] if self.cam is not None: # Retrieve transport layer device nodemap self.nodemap_tldevice = self.cam.GetTLDeviceNodeMap() # Optionally log device information self.log_device_info() # Initialize camera self.cam.Init() # Retrieve GenICam nodemap self.nodemap = self.cam.GetNodeMap() self.log_capture_properties() # configure the default capture self.set_capture_property('AcquisitionFrameRate', 15.0, dtype=float) self.set_capture_property('DecimationHorizontal', 2) self.set_capture_property('DecimationVertical', 2) self.set_capture_property('Height', 270) self.set_capture_property('OffsetY', 134) # FIXME: this could be computed self.capture_width = 720 self.capture_height = 270 #---------------------------------------------------------------- def close(self): log.debug("SpinnakerCamera close called.") # End acquisition if active self.end_continuous() # Deinitialize camera self.cam.DeInit() # Release reference to camera del self.cam # Clear camera list before releasing system self.cam_list.Clear() # Release system instance self.system.ReleaseInstance() def __del__(self): log.debug("SpinnakerCamera __del__ called.") self.close() #================================================================