vpPylonGrabberGigE.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description: Implementation of vpPylonGrabberGigE class.
 *
 * Authors:
 * Wenfeng CAI
 */

 
#include "vpPylonGrabberGigE.h"
 
#ifdef VISP_HAVE_PYLON
 
#include <visp3/core/vpException.h>
#include <visp3/core/vpTime.h>
 
BEGIN_VISP_NAMESPACE
  vpPylonGrabberGigE::vpPylonGrabberGigE() : m_camera(), m_index(0), m_numCameras(0), m_connected(false)
{
  getNumCameras();
}

vpPylonGrabberGigE::~vpPylonGrabberGigE() { close(); }

unsigned int vpPylonGrabberGigE::getNumCameras()
{
  Pylon::CTlFactory &TlFactory = Pylon::CTlFactory::GetInstance();
  Pylon::DeviceInfoList_t lstDevices;
  Pylon::DeviceInfoList_t filter; // Filter for GigE cameras.
  Pylon::CBaslerGigEDeviceInfo gige_devinfo;
  filter.push_back(gige_devinfo);
  TlFactory.EnumerateDevices(lstDevices, filter);
 
  m_numCameras = lstDevices.size();
  return m_numCameras;
}

std::ostream &vpPylonGrabberGigE::getCameraInfo(std::ostream &os)
{
  connect();
 
  Pylon::CDeviceInfo deviceInfo = m_camera.GetDeviceInfo();
  // Get the camera control object.
  GenApi::INodeMap &control = m_camera.GetNodeMap();
 
  GenApi::CIntegerPtr widthMax = control.GetNode("WidthMax");
  GenApi::CIntegerPtr heightMax = control.GetNode("HeightMax");
 
  os << "Camera information:   " << std::endl;
  os << " Serial number      : " << deviceInfo.GetSerialNumber() << std::endl;
  os << " Camera model       : " << deviceInfo.GetModelName() << std::endl;
  os << " Camera vendor      : " << deviceInfo.GetVendorName() << std::endl;
  os << " Resolution         : " << widthMax->GetValue() << "x" << heightMax->GetValue() << std::endl;
  os << " Firmware version   : " << deviceInfo.GetDeviceVersion() << std::endl;
 
  return os;
}

Pylon::CInstantCamera *vpPylonGrabberGigE::getCameraHandler()
{
  connect();
 
  if (m_connected == true) {
    return &m_camera;
  }
  else {
    return nullptr;
  }
}

float vpPylonGrabberGigE::getFrameRate()
{
  connect();
 
  float frame_rate = m_camera.AcquisitionFrameRateAbs.GetValue();
  return frame_rate;
}

float vpPylonGrabberGigE::getGain()
{
  connect();
 
  if (GenApi::IsReadable(m_camera.GainAbs))
    return m_camera.GainAbs.GetValue();
  else if (GenApi::IsReadable(m_camera.GainRaw))
    return m_camera.GainRaw.GetValue();
  else
    throw vpException(vpException::notImplementedError, "Don't know how to get gain.");
}

float vpPylonGrabberGigE::getBlackLevel()
{
  connect();
 
  if (GenApi::IsReadable(m_camera.BlackLevelAbs))
    return m_camera.BlackLevelAbs.GetValue();
  else if (GenApi::IsReadable(m_camera.BlackLevelRaw))
    return m_camera.BlackLevelRaw.GetValue();
  else
    throw vpException(vpException::notImplementedError, "Don't know how to get blacklevel.");
}

float vpPylonGrabberGigE::getExposure()
{
  connect();
 
  if (GenApi::IsReadable(m_camera.ExposureTimeAbs))
    return m_camera.ExposureTimeAbs.GetValue() * 0.001;
  else if (GenApi::IsReadable(m_camera.ExposureTimeRaw))
    return m_camera.ExposureTimeRaw.GetValue();
  else
    throw vpException(vpException::notImplementedError, "Don't know how to get exposure.");
}

float vpPylonGrabberGigE::getGamma()
{
  connect();
 
  float gamma = m_camera.Gamma.GetValue();
  return gamma;
}

std::string vpPylonGrabberGigE::getCameraSerial(unsigned int index)
{
  getNumCameras();
 
  if (index >= m_numCameras) {
    throw(vpException(vpException::badValue, "The camera with index %u is not present. Only %d cameras connected.",
                      index, m_numCameras));
  }
 
  Pylon::CTlFactory &TlFactory = Pylon::CTlFactory::GetInstance();
  Pylon::DeviceInfoList_t lstDevices; // List of connected cameras
  Pylon::DeviceInfoList_t filter;     // Filter for GigE cameras.
  Pylon::CBaslerGigEDeviceInfo gige_devinfo;
  filter.push_back(gige_devinfo);
  TlFactory.EnumerateDevices(lstDevices, filter);
 
  std::ostringstream os;
  os << lstDevices[index].GetSerialNumber();
  return os.str();
}

bool vpPylonGrabberGigE::loadUserSet(UserSetName user_set)
{
  connect();
 
  bool success = selectUserSet(user_set);
 
  if (success) {
    m_camera.UserSetLoad.Execute();
    vpTime::wait(200); // How long you have to wait?
    success = m_camera.UserSetLoad.IsDone();
  }
 
  return success;
}

vpPylonGrabber::UserSetName vpPylonGrabberGigE::getUserSetDefault()
{
  connect();
 
  Basler_GigECamera::UserSetDefaultSelectorEnums user_set = m_camera.UserSetDefaultSelector.GetValue();
 
  switch (user_set) {
  case Basler_GigECamera::UserSetDefaultSelector_Default:
    return USERSET_DEFAULT;
    break;
  case Basler_GigECamera::UserSetDefaultSelector_UserSet1:
    return USERSET_USERSET1;
    break;
  case Basler_GigECamera::UserSetDefaultSelector_UserSet2:
    return USERSET_USERSET2;
    break;
  case Basler_GigECamera::UserSetDefaultSelector_UserSet3:
    return USERSET_USERSET3;
    break;
  default:
    return USERSET_UNKNOWN;
  }
}

void vpPylonGrabberGigE::setCameraIndex(unsigned int index)
{
  if (index >= m_numCameras) {
    throw(vpException(vpException::badValue, "The camera with index %u is not present. Only %d cameras connected.",
                      index, m_numCameras));
  }
 
  m_index = index;
}

void vpPylonGrabberGigE::setCameraSerial(const std::string &serial)
{
  m_numCameras = getNumCameras();
  for (unsigned int i = 0; i < m_numCameras; i++) {
    if (getCameraSerial(i) == serial) {
      m_index = i;
      return;
    }
  }
  throw(vpException(vpException::badValue, "The camera with serial id %s is not present.", serial.c_str()));
}

float vpPylonGrabberGigE::setFrameRate(float frame_rate)
{
  connect();
 
  m_camera.AcquisitionFrameRateAbs.SetValue(frame_rate);
 
  return m_camera.AcquisitionFrameRateAbs.GetValue();
}

float vpPylonGrabberGigE::setGain(bool gain_auto, float gain_value)
{
  connect();
 
  if (gain_auto)
    m_camera.GainAuto.SetValue(Basler_GigECamera::GainAuto_Continuous);
  else
    m_camera.GainAuto.SetValue(Basler_GigECamera::GainAuto_Off);
 
  if (GenApi::IsWritable(m_camera.GainAbs)) {
    m_camera.GainAbs.SetValue(gain_value);
    return m_camera.GainAbs.GetValue();
  }
  else if (GenApi::IsWritable(m_camera.GainRaw)) {
    m_camera.GainRaw.SetValue(gain_value);
    return m_camera.GainRaw.GetValue();
  }
  else
    throw vpException(vpException::notImplementedError, "Don't know how to set gain.");
}

float vpPylonGrabberGigE::setBlackLevel(float blacklevel_value)
{
  connect();
 
  if (GenApi::IsWritable(m_camera.BlackLevelAbs)) {
    m_camera.BlackLevelAbs.SetValue(blacklevel_value);
    return m_camera.BlackLevelAbs.GetValue();
  }
  else if (GenApi::IsWritable(m_camera.BlackLevelRaw)) {
    m_camera.BlackLevelRaw.SetValue(blacklevel_value);
    return m_camera.BlackLevelRaw.GetValue();
  }
  else
    throw vpException(vpException::notImplementedError, "Don't know how to set blacklevel.");
}

float vpPylonGrabberGigE::setExposure(bool exposure_on, bool exposure_auto, float exposure_value)
{
  connect();
 
  if (exposure_on)
    m_camera.ExposureMode.SetValue(Basler_GigECamera::ExposureMode_Timed);
  else
    m_camera.ExposureMode.SetValue(Basler_GigECamera::ExposureMode_Off);
 
  if (exposure_auto)
    m_camera.ExposureAuto.SetValue(Basler_GigECamera::ExposureAuto_Continuous);
  else
    m_camera.ExposureAuto.SetValue(Basler_GigECamera::ExposureAuto_Off);
 
  if (GenApi::IsWritable(m_camera.ExposureTimeAbs)) {
    m_camera.ExposureTimeAbs.SetValue(exposure_value * 1000);
    return m_camera.ExposureTimeAbs.GetValue() * 0.001;
  }
  else if (GenApi::IsWritable(m_camera.ExposureTimeRaw)) {
    m_camera.ExposureTimeRaw.SetValue(exposure_value);
    return m_camera.ExposureTimeRaw.GetValue();
  }
  else
    throw vpException(vpException::notImplementedError, "Don't know how to set exposure.");
}

float vpPylonGrabberGigE::setGamma(bool gamma_on, float gamma_value)
{
  connect();
 
  if (GenApi::IsWritable(m_camera.GammaEnable))
    m_camera.GammaEnable.SetValue(gamma_on);
 
  if (GenApi::IsWritable(m_camera.Gamma)) {
    m_camera.Gamma.SetValue(gamma_value);
    return m_camera.Gamma.GetValue();
  }
  else
    throw vpException(vpException::notImplementedError, "Don't know how to set gamma.");
}

bool vpPylonGrabberGigE::saveUserSet(UserSetName user_set, bool set_default)
{
  connect();
 
  bool success = selectUserSet(user_set);
 
  if (success) {
    m_camera.UserSetSave.Execute();
    vpTime::wait(200); // How long you have to wait?
    success = m_camera.UserSetSave.IsDone();
  }
 
  if (success && set_default)
    success = setUserSetDefault(user_set);
 
  return success;
}

bool vpPylonGrabberGigE::setUserSetDefault(UserSetName user_set)
{
  connect();
 
  switch (user_set) {
  case USERSET_DEFAULT:
    m_camera.UserSetDefaultSelector.SetValue(Basler_GigECamera::UserSetDefaultSelector_Default);
    return true;
    break;
  case USERSET_USERSET1:
    m_camera.UserSetDefaultSelector.SetValue(Basler_GigECamera::UserSetDefaultSelector_UserSet1);
    return true;
    break;
  case USERSET_USERSET2:
    m_camera.UserSetDefaultSelector.SetValue(Basler_GigECamera::UserSetDefaultSelector_UserSet2);
    return true;
    break;
  case USERSET_USERSET3:
    m_camera.UserSetDefaultSelector.SetValue(Basler_GigECamera::UserSetDefaultSelector_UserSet3);
    return true;
    break;
  default:
    return false;
  }
}

void vpPylonGrabberGigE::startCapture()
{
  connect();
 
  if (!m_camera.IsGrabbing()) {
    m_camera.StartGrabbing(1);
  }
  if (m_connected && m_camera.IsGrabbing())
    init = true;
  else
    init = false;
}

void vpPylonGrabberGigE::stopCapture()
{
  if (m_camera.IsGrabbing()) {
    m_camera.StopGrabbing();
  }
  if (m_connected && m_camera.IsGrabbing())
    init = true;
  else
    init = false;
}

void vpPylonGrabberGigE::connect()
{
  if (m_connected == false) {
    m_numCameras = getNumCameras();
    if (m_numCameras == 0) {
      throw(vpException(vpException::fatalError, "No camera found"));
    }
 
    if (!m_camera.IsPylonDeviceAttached()) {
      Pylon::CTlFactory &TlFactory = Pylon::CTlFactory::GetInstance();
      Pylon::DeviceInfoList_t lstDevices;
      Pylon::DeviceInfoList_t filter; // Filter for GigE cameras.
      Pylon::CBaslerGigEDeviceInfo gige_devinfo;
      filter.push_back(gige_devinfo);
      TlFactory.EnumerateDevices(lstDevices, filter);
 
      m_camera.Attach(TlFactory.CreateDevice(lstDevices[m_index]));
    }
    // Connect to a camera
    m_camera.Open();
    m_connected = true;
  }
  if (m_connected && m_camera.IsGrabbing())
    init = true;
  else
    init = false;
}

void vpPylonGrabberGigE::disconnect()
{
  if (m_connected == true) {
    m_camera.Close();
    m_connected = false;
  }
  if (m_connected && m_camera.IsGrabbing())
    init = true;
  else
    init = false;
}

void vpPylonGrabberGigE::close()
{
  stopCapture();
  disconnect();
}

void vpPylonGrabberGigE::acquire(vpImage<unsigned char> &I)
{
  open();
 
  Pylon::CGrabResultPtr grabResult;
  // Retrieve an image
  if (!m_camera.RetrieveResult(2000, grabResult)) {
    throw(vpException(vpException::fatalError, "Cannot retrieve image from camera with serial %s",
                      getCameraSerial(m_index).c_str()));
  }
 
  if (grabResult->GrabSucceeded()) {
    height = grabResult->GetHeight();
    width = grabResult->GetWidth();
    I.resize(height, width);
 
    Pylon::CImageFormatConverter imageConvert;
    imageConvert.OutputPixelFormat = Pylon::PixelType_Mono8;
    imageConvert.OutputPaddingX = 0;
    // Create a converted image
    imageConvert.Convert(I.bitmap, sizeof(unsigned char) * width * height, (Pylon::IImage &)grabResult);
  }
}

void vpPylonGrabberGigE::acquire(vpImage<vpRGBa> &I)
{
  open();
 
  Pylon::CGrabResultPtr grabResult;
  // Retrieve an image
  if (!m_camera.RetrieveResult(2000, grabResult)) {
    throw(vpException(vpException::fatalError, "Cannot retrieve image from camera with serial %s",
                      getCameraSerial(m_index).c_str()));
  }
 
  if (grabResult->GrabSucceeded()) {
    height = grabResult->GetHeight();
    width = grabResult->GetWidth();
    I.resize(height, width);
 
    Pylon::CImageFormatConverter imageConvert;
    imageConvert.OutputPixelFormat = Pylon::PixelType_BGRA8packed;
    imageConvert.OutputPaddingX = 0;
    // Create a converted image
    Pylon::CPylonImage destImage;
    imageConvert.Convert(destImage, (Pylon::IImage &)grabResult);
    Pylon::SBGRA8Pixel *pixel = (Pylon::SBGRA8Pixel *)destImage.GetBuffer();
    for (unsigned int i = 0; i < height; i++) {
      for (unsigned int j = 0; j < width; j++) {
        unsigned int p_index = i * width + j;
        I[i][j].R = pixel[p_index].R;
        I[i][j].G = pixel[p_index].G;
        I[i][j].B = pixel[p_index].B;
        I[i][j].A = pixel[p_index].A;
      }
    }
  }
}

void vpPylonGrabberGigE::open(vpImage<unsigned char> &I)
{
  open();
  acquire(I);
}

void vpPylonGrabberGigE::open(vpImage<vpRGBa> &I)
{
  open();
  acquire(I);
}

void vpPylonGrabberGigE::open()
{
  connect();
  startCapture();
}

bool vpPylonGrabberGigE::selectUserSet(UserSetName user_set)
{
  connect();
 
  switch (user_set) {
  case USERSET_DEFAULT:
    m_camera.UserSetSelector.SetValue(Basler_GigECamera::UserSetSelector_Default);
    return true;
    break;
  case USERSET_USERSET1:
    m_camera.UserSetSelector.SetValue(Basler_GigECamera::UserSetSelector_UserSet1);
    return true;
    break;
  case USERSET_USERSET2:
    m_camera.UserSetSelector.SetValue(Basler_GigECamera::UserSetSelector_UserSet2);
    return true;
    break;
  case USERSET_USERSET3:
    m_camera.UserSetSelector.SetValue(Basler_GigECamera::UserSetSelector_UserSet3);
    return true;
    break;
  default:
    return false;
  }
}

vpPylonGrabber &vpPylonGrabberGigE::operator>>(vpImage<unsigned char> &I)
{
  acquire(I);
  return *this;
}

vpPylonGrabber &vpPylonGrabberGigE::operator>>(vpImage<vpRGBa> &I)
{
  acquire(I);
  return *this;
}
END_VISP_NAMESPACE
#else
// Work around to avoid warning:
// libvisp_pylon.a(vpPylonGrabberGigE.cpp.o) has no symbols
void dummy_vpPylonGrabberGigE() { }
#endif // #ifdef VISP_HAVE_PYLON