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Merge pull request #77 from dragandbot/pylon6-dev
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GigE Ace2 and USB cameras Ace2 and Dart imax.
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@pablo-quilez
pablo-quilez committed Apr 15, 2021
2 parents abdd85f + e07c886 commit efc9932
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Showing 8 changed files with 946 additions and 35 deletions.
2 changes: 2 additions & 0 deletions pylon_camera/CHANGELOG.rst
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Expand Up @@ -2,6 +2,8 @@
Changelog for package pylon_camera
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.17.0 (2021-04-14)
-------------------
pylon6:
- replaced /opt/pylon5 with /opt/pylon in cmake
- updated all calls for usb cameras
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3 changes: 2 additions & 1 deletion pylon_camera/CMakeLists.txt
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Expand Up @@ -62,6 +62,7 @@ roslint_cpp(
include/${PROJECT_NAME}/internal/impl/${PROJECT_NAME}_base.hpp
include/${PROJECT_NAME}/internal/impl/${PROJECT_NAME}_dart.hpp
include/${PROJECT_NAME}/internal/impl/${PROJECT_NAME}_gige.hpp
include/${PROJECT_NAME}/internal/impl/${PROJECT_NAME}_gige_ace2.hpp
include/${PROJECT_NAME}/internal/impl/${PROJECT_NAME}_usb.hpp
)

Expand Down Expand Up @@ -204,4 +205,4 @@ foreach(child ${children})
list(APPEND ${PROJECT_NAME}_extra_files ${dir_files})
endif()
endforeach()
add_custom_target(dummy_${PROJECT_NAME} SOURCES ${${PROJECT_NAME}_extra_files})
add_custom_target(dummy_${PROJECT_NAME} SOURCES ${${PROJECT_NAME}_extra_files})
131 changes: 116 additions & 15 deletions pylon_camera/include/pylon_camera/internal/impl/pylon_camera_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,8 @@
#include <pylon_camera/internal/pylon_camera.h>
#include <pylon_camera/encoding_conversions.h>
#include <sensor_msgs/image_encodings.h>
#include <pylon/StringParameter.h>
#include <pylon/BaslerUniversalInstantCamera.h>


namespace pylon_camera
Expand Down Expand Up @@ -1018,7 +1020,7 @@ bool PylonCameraImpl<CameraTraitT>::setBrightness(const int& target_brightness,
// pixel data output format, i.e., 0.0 -> black, 1.0 -> white.
typename CameraTraitT::AutoTargetBrightnessValueType brightness_to_set =
CameraTraitT::convertBrightness(std::min(255, target_brightness));

/**
#if DEBUG
std::cout << "br = " << current_brightness << ", gain = "
<< currentGain() << ", exp = "
Expand All @@ -1034,7 +1036,7 @@ bool PylonCameraImpl<CameraTraitT>::setBrightness(const int& target_brightness,
<< currentAutoGainLowerLimit() << ", max: "
<< currentAutoGainUpperLimit() << "]" << std::endl;
#endif

**/
if ( isPylonAutoBrightnessFunctionRunning() )
{
// do nothing while the pylon-auto function is active and if the
Expand All @@ -1046,12 +1048,29 @@ bool PylonCameraImpl<CameraTraitT>::setBrightness(const int& target_brightness,
ROS_INFO("pylon auto finished . . .");
#endif

if ( autoTargetBrightness().GetMin() <= brightness_to_set &&
autoTargetBrightness().GetMax() >= brightness_to_set )
float autoTargetBrightnessMin = 0.0;
float autoTargetBrightnessMax = 0.0;
if ( GenApi::IsAvailable(cam_->AutoTargetValue) )
{
autoTargetBrightnessMin = cam_->AutoTargetValue.GetMin();
autoTargetBrightnessMax = cam_->AutoTargetValue.GetMax();
} else if (GenApi::IsAvailable(cam_->AutoTargetBrightness))
{
autoTargetBrightnessMin = cam_->AutoTargetBrightness.GetMin();
autoTargetBrightnessMax = cam_->AutoTargetBrightness.GetMax();
}
if ( autoTargetBrightnessMin <= brightness_to_set &&
autoTargetBrightnessMax >= brightness_to_set )
{
// Use Pylon Auto Function, whenever in possible range
// -> Own binary exposure search not necessary
autoTargetBrightness().SetValue(brightness_to_set, true);
if ( GenApi::IsAvailable(cam_->AutoTargetValue) )
{
cam_->AutoTargetValue.SetValue(brightness_to_set, true);
} else if (GenApi::IsAvailable(cam_->AutoTargetBrightness))
{
cam_->AutoTargetBrightness.SetValue(brightness_to_set);
}
if ( exposure_auto )
{
cam_->ExposureAuto.SetValue(ExposureAutoEnums::ExposureAuto_Once);
Expand Down Expand Up @@ -1083,10 +1102,16 @@ bool PylonCameraImpl<CameraTraitT>::setBrightness(const int& target_brightness,
// But in fact it's the only solution, because the exact exposure
// times related to the min & max limit of the pylon auto function
// are unknown, beacause they depend on the current light scene
if ( brightness_to_set < autoTargetBrightness().GetMin() )
if ( brightness_to_set < autoTargetBrightnessMin )
{
// target < 50 -> pre control to 50
autoTargetBrightness().SetValue(autoTargetBrightness().GetMin(), true);
if ( GenApi::IsAvailable(cam_->AutoTargetValue) )
{
cam_->AutoTargetValue.SetValue(autoTargetBrightnessMin, true);
} else if (GenApi::IsAvailable(cam_->AutoTargetBrightness))
{
cam_->AutoTargetBrightness.SetValue(autoTargetBrightnessMin);
}
if ( exposure_auto )
{
cam_->ExposureAuto.SetValue(ExposureAutoEnums::ExposureAuto_Once);
Expand All @@ -1098,7 +1123,13 @@ bool PylonCameraImpl<CameraTraitT>::setBrightness(const int& target_brightness,
}
else // target > 205 -> pre control to 205
{
autoTargetBrightness().SetValue(autoTargetBrightness().GetMax(), true);
if ( GenApi::IsAvailable(cam_->AutoTargetValue) )
{
cam_->AutoTargetValue.SetValue(autoTargetBrightnessMax, true);
} else if (GenApi::IsAvailable(cam_->AutoTargetBrightness))
{
cam_->AutoTargetBrightness.SetValue(autoTargetBrightnessMax);
}
if ( exposure_auto )
{
cam_->ExposureAuto.SetValue(ExposureAutoEnums::ExposureAuto_Once);
Expand Down Expand Up @@ -1127,6 +1158,17 @@ template <typename CameraTraitT>
bool PylonCameraImpl<CameraTraitT>::setExtendedBrightness(const int& target_brightness,
const float& current_brightness)
{
float autoTargetBrightnessMin = 0.0;
float autoTargetBrightnessMax = 0.0;
if ( GenApi::IsAvailable(cam_->AutoTargetValue) )
{
autoTargetBrightnessMin = cam_->AutoTargetValue.GetMin();
autoTargetBrightnessMax = cam_->AutoTargetValue.GetMax();
} else if (GenApi::IsAvailable(cam_->AutoTargetBrightness))
{
autoTargetBrightnessMin = cam_->AutoTargetBrightness.GetMin();
autoTargetBrightnessMax = cam_->AutoTargetBrightness.GetMax();
}
if (target_brightness > 0 && target_brightness <= 255)
{
ROS_ERROR_STREAM("Error: Brightness value should be greater than 0 and equal to or smaller than 255");
Expand All @@ -1138,7 +1180,7 @@ bool PylonCameraImpl<CameraTraitT>::setExtendedBrightness(const int& target_brig

if ( !binary_exp_search_ )
{
if ( brightness_to_set < autoTargetBrightness().GetMin() ) // Range from [0 - 49]
if ( brightness_to_set < autoTargetBrightnessMin ) // Range from [0 - 49]
{
binary_exp_search_ = new BinaryExposureSearch(target_brightness,
currentAutoExposureTimeLowerLimit(),
Expand Down Expand Up @@ -1555,6 +1597,12 @@ std::string PylonCameraImpl<CameraTraitT>::setNoiseReduction(const float& value)
cam_->NoiseReduction.SetValue(value);
return "done";
}
else if ( GenApi::IsAvailable(cam_->BslNoiseReduction))
{
cam_->BslNoiseReduction.SetValue(value);
return "done";
}

else
{
ROS_ERROR_STREAM("Error while trying to change the noise reduction value. The connected Camera not supporting this feature");
Expand All @@ -1576,6 +1624,9 @@ float PylonCameraImpl<CameraTraitT>::getNoiseReduction()
if ( GenApi::IsAvailable(cam_->NoiseReduction) )
{
return static_cast<float>(cam_->NoiseReduction.GetValue());
} else if ( GenApi::IsAvailable(cam_->BslNoiseReduction) )
{
return static_cast<float>(cam_->BslNoiseReduction.GetValue());
}
else
{
Expand Down Expand Up @@ -1618,6 +1669,11 @@ std::string PylonCameraImpl<CameraTraitT>::setSharpnessEnhancement(const float&
cam_->SharpnessEnhancement.SetValue(value);
return "done";
}
else if ( GenApi::IsAvailable(cam_->BslSharpnessEnhancement) )
{
cam_->BslSharpnessEnhancement.SetValue(value);
return "done";
}
else
{
ROS_ERROR_STREAM("Error while trying to change the sharpness enhancement value, The connected Camera not supporting this feature");
Expand All @@ -1640,6 +1696,10 @@ float PylonCameraImpl<CameraTraitT>::getSharpnessEnhancement()
{
return static_cast<float>(cam_->SharpnessEnhancement.GetValue());
}
else if (GenApi::IsAvailable(cam_->BslSharpnessEnhancement))
{
return static_cast<float>(cam_->BslSharpnessEnhancement.GetValue());
}
else
{
return -10000.0;
Expand Down Expand Up @@ -2196,14 +2256,20 @@ std::string PylonCameraImpl<CameraTraitT>::setLineDebouncerTime(const float& val
{
try
{
if ( cam_->LineMode.GetValue() == LineModeEnums::LineMode_Input)
{
cam_->LineDebouncerTime.SetValue(value);
}
else
if ( GenApi::IsAvailable(cam_->LineDebouncerTime) )
{
return "Error: can't set the line debouncer time, the selected line mode should be input";
if ( cam_->LineMode.GetValue() == LineModeEnums::LineMode_Input)
{
cam_->LineDebouncerTime.SetValue(value);
}
else
{
return "Error: can't set the line debouncer time, the selected line mode should be input";
}
} else {
return "The connected Camera not supporting this feature";
}

}
catch ( const GenICam::GenericException &e )
{
Expand Down Expand Up @@ -2431,6 +2497,23 @@ std::string PylonCameraImpl<CameraTraitT>::setLightSourcePreset(const int& mode)
{
return "Error: unknown value";
}
} else if (GenApi::IsAvailable(cam_->BslLightSourcePreset)) {
if (mode == 0)
{
cam_->BslLightSourcePreset.SetValue(Basler_UniversalCameraParams::BslLightSourcePresetEnums::BslLightSourcePreset_Off);
}
else if (mode == 1)
{
cam_->BslLightSourcePreset.SetValue(Basler_UniversalCameraParams::BslLightSourcePresetEnums::BslLightSourcePreset_Daylight5000K);
}
else if (mode == 2)
{
cam_->BslLightSourcePreset.SetValue(Basler_UniversalCameraParams::BslLightSourcePresetEnums::BslLightSourcePreset_Daylight6500K);
}
else
{
return "Error: unknown value";
}
}
else
{
Expand Down Expand Up @@ -2473,6 +2556,24 @@ int PylonCameraImpl<CameraTraitT>::getLightSourcePreset()
{
return -3; // Unkonwn
}
} else if ( GenApi::IsAvailable(cam_->BslLightSourcePreset))
{
if (cam_->BslLightSourcePreset.GetValue() == Basler_UniversalCameraParams::BslLightSourcePresetEnums::BslLightSourcePreset_Off)
{
return 0; // Off
}
else if (cam_->BslLightSourcePreset.GetValue() == Basler_UniversalCameraParams::BslLightSourcePresetEnums::BslLightSourcePreset_Daylight5000K)
{
return 1; // Daylight5000K
}
else if (cam_->BslLightSourcePreset.GetValue() == Basler_UniversalCameraParams::BslLightSourcePresetEnums::BslLightSourcePreset_Daylight6500K)
{
return 2; // Daylight6500K
}
else
{
return -3; // Unkonwn
}
}
else
{
Expand Down
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