300 lines
10 KiB
Python
300 lines
10 KiB
Python
|
"""BSD 2-Clause License
|
||
|
|
|
||
|
|
Copyright (c) 2019, Allied Vision Technologies GmbH
|
||
|
|
All rights reserved.
|
||
|
|
|
||
|
|
Redistribution and use in source and binary forms, with or without
|
||
|
|
modification, are permitted provided that the following conditions are met:
|
||
|
|
|
||
|
|
1. Redistributions of source code must retain the above copyright notice, this
|
||
|
|
list of conditions and the following disclaimer.
|
||
|
|
|
||
|
|
2. Redistributions in binary form must reproduce the above copyright notice,
|
||
|
|
this list of conditions and the following disclaimer in the documentation
|
||
|
|
and/or other materials provided with the distribution.
|
||
|
|
|
||
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||
|
|
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||
|
|
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||
|
|
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||
|
|
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||
|
|
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||
|
|
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||
|
|
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||
|
|
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||
|
|
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
"""
|
||
|
|
|
||
|
|
import copy
|
||
|
|
import cv2
|
||
|
|
import threading
|
||
|
|
import queue
|
||
|
|
import numpy
|
||
|
|
|
||
|
|
from typing import Optional
|
||
|
|
from vimba import *
|
||
|
|
|
||
|
|
|
||
|
|
FRAME_QUEUE_SIZE = 10
|
||
|
|
FRAME_HEIGHT = 480
|
||
|
|
FRAME_WIDTH = 480
|
||
|
|
|
||
|
|
|
||
|
|
def print_preamble():
|
||
|
|
print('////////////////////////////////////////////')
|
||
|
|
print('/// Vimba API Multithreading Example ///////')
|
||
|
|
print('////////////////////////////////////////////\n')
|
||
|
|
print(flush=True)
|
||
|
|
|
||
|
|
|
||
|
|
def add_camera_id(frame: Frame, cam_id: str) -> Frame:
|
||
|
|
# Helper function inserting 'cam_id' into given frame. This function
|
||
|
|
# manipulates the original image buffer inside frame object.
|
||
|
|
cv2.putText(frame.as_opencv_image(), 'Cam: {}'.format(cam_id), org=(0, 30), fontScale=1,
|
||
|
|
color=255, thickness=1, fontFace=cv2.FONT_HERSHEY_COMPLEX_SMALL)
|
||
|
|
return frame
|
||
|
|
|
||
|
|
|
||
|
|
def resize_if_required(frame: Frame) -> numpy.ndarray:
|
||
|
|
# Helper function resizing the given frame, if it has not the required dimensions.
|
||
|
|
# On resizing, the image data is copied and resized, the image inside the frame object
|
||
|
|
# is untouched.
|
||
|
|
cv_frame = frame.as_opencv_image()
|
||
|
|
|
||
|
|
if (frame.get_height() != FRAME_HEIGHT) or (frame.get_width() != FRAME_WIDTH):
|
||
|
|
cv_frame = cv2.resize(cv_frame, (FRAME_WIDTH, FRAME_HEIGHT), interpolation=cv2.INTER_AREA)
|
||
|
|
cv_frame = cv_frame[..., numpy.newaxis]
|
||
|
|
|
||
|
|
return cv_frame
|
||
|
|
|
||
|
|
|
||
|
|
def create_dummy_frame() -> numpy.ndarray:
|
||
|
|
cv_frame = numpy.zeros((50, 640, 1), numpy.uint8)
|
||
|
|
cv_frame[:] = 0
|
||
|
|
|
||
|
|
cv2.putText(cv_frame, 'No Stream available. Please connect a Camera.', org=(30, 30),
|
||
|
|
fontScale=1, color=255, thickness=1, fontFace=cv2.FONT_HERSHEY_COMPLEX_SMALL)
|
||
|
|
|
||
|
|
return cv_frame
|
||
|
|
|
||
|
|
|
||
|
|
def try_put_frame(q: queue.Queue, cam: Camera, frame: Optional[Frame]):
|
||
|
|
try:
|
||
|
|
q.put_nowait((cam.get_id(), frame))
|
||
|
|
|
||
|
|
except queue.Full:
|
||
|
|
pass
|
||
|
|
|
||
|
|
|
||
|
|
def set_nearest_value(cam: Camera, feat_name: str, feat_value: int):
|
||
|
|
# Helper function that tries to set a given value. If setting of the initial value failed
|
||
|
|
# it calculates the nearest valid value and sets the result. This function is intended to
|
||
|
|
# be used with Height and Width Features because not all Cameras allow the same values
|
||
|
|
# for height and width.
|
||
|
|
feat = cam.get_feature_by_name(feat_name)
|
||
|
|
|
||
|
|
try:
|
||
|
|
feat.set(feat_value)
|
||
|
|
|
||
|
|
except VimbaFeatureError:
|
||
|
|
min_, max_ = feat.get_range()
|
||
|
|
inc = feat.get_increment()
|
||
|
|
|
||
|
|
if feat_value <= min_:
|
||
|
|
val = min_
|
||
|
|
|
||
|
|
elif feat_value >= max_:
|
||
|
|
val = max_
|
||
|
|
|
||
|
|
else:
|
||
|
|
val = (((feat_value - min_) // inc) * inc) + min_
|
||
|
|
|
||
|
|
feat.set(val)
|
||
|
|
|
||
|
|
msg = ('Camera {}: Failed to set value of Feature \'{}\' to \'{}\': '
|
||
|
|
'Using nearest valid value \'{}\'. Note that, this causes resizing '
|
||
|
|
'during processing, reducing the frame rate.')
|
||
|
|
Log.get_instance().info(msg.format(cam.get_id(), feat_name, feat_value, val))
|
||
|
|
|
||
|
|
|
||
|
|
# Thread Objects
|
||
|
|
class FrameProducer(threading.Thread):
|
||
|
|
def __init__(self, cam: Camera, frame_queue: queue.Queue):
|
||
|
|
threading.Thread.__init__(self)
|
||
|
|
|
||
|
|
self.log = Log.get_instance()
|
||
|
|
self.cam = cam
|
||
|
|
self.frame_queue = frame_queue
|
||
|
|
self.killswitch = threading.Event()
|
||
|
|
|
||
|
|
def __call__(self, cam: Camera, frame: Frame):
|
||
|
|
# This method is executed within VimbaC context. All incoming frames
|
||
|
|
# are reused for later frame acquisition. If a frame shall be queued, the
|
||
|
|
# frame must be copied and the copy must be sent, otherwise the acquired
|
||
|
|
# frame will be overridden as soon as the frame is reused.
|
||
|
|
if frame.get_status() == FrameStatus.Complete:
|
||
|
|
|
||
|
|
if not self.frame_queue.full():
|
||
|
|
frame_cpy = copy.deepcopy(frame)
|
||
|
|
try_put_frame(self.frame_queue, cam, frame_cpy)
|
||
|
|
|
||
|
|
cam.queue_frame(frame)
|
||
|
|
|
||
|
|
def stop(self):
|
||
|
|
self.killswitch.set()
|
||
|
|
|
||
|
|
def setup_camera(self):
|
||
|
|
set_nearest_value(self.cam, 'Height', FRAME_HEIGHT)
|
||
|
|
set_nearest_value(self.cam, 'Width', FRAME_WIDTH)
|
||
|
|
|
||
|
|
# Try to enable automatic exposure time setting
|
||
|
|
try:
|
||
|
|
self.cam.ExposureAuto.set('Once')
|
||
|
|
|
||
|
|
except (AttributeError, VimbaFeatureError):
|
||
|
|
self.log.info('Camera {}: Failed to set Feature \'ExposureAuto\'.'.format(
|
||
|
|
self.cam.get_id()))
|
||
|
|
|
||
|
|
self.cam.set_pixel_format(PixelFormat.Mono8)
|
||
|
|
|
||
|
|
def run(self):
|
||
|
|
self.log.info('Thread \'FrameProducer({})\' started.'.format(self.cam.get_id()))
|
||
|
|
|
||
|
|
try:
|
||
|
|
with self.cam:
|
||
|
|
self.setup_camera()
|
||
|
|
|
||
|
|
try:
|
||
|
|
self.cam.start_streaming(self)
|
||
|
|
self.killswitch.wait()
|
||
|
|
|
||
|
|
finally:
|
||
|
|
self.cam.stop_streaming()
|
||
|
|
|
||
|
|
except VimbaCameraError:
|
||
|
|
pass
|
||
|
|
|
||
|
|
finally:
|
||
|
|
try_put_frame(self.frame_queue, self.cam, None)
|
||
|
|
|
||
|
|
self.log.info('Thread \'FrameProducer({})\' terminated.'.format(self.cam.get_id()))
|
||
|
|
|
||
|
|
|
||
|
|
class FrameConsumer(threading.Thread):
|
||
|
|
def __init__(self, frame_queue: queue.Queue):
|
||
|
|
threading.Thread.__init__(self)
|
||
|
|
|
||
|
|
self.log = Log.get_instance()
|
||
|
|
self.frame_queue = frame_queue
|
||
|
|
|
||
|
|
def run(self):
|
||
|
|
IMAGE_CAPTION = 'Multithreading Example: Press <Enter> to exit'
|
||
|
|
KEY_CODE_ENTER = 13
|
||
|
|
|
||
|
|
frames = {}
|
||
|
|
alive = True
|
||
|
|
|
||
|
|
self.log.info('Thread \'FrameConsumer\' started.')
|
||
|
|
|
||
|
|
while alive:
|
||
|
|
# Update current state by dequeuing all currently available frames.
|
||
|
|
frames_left = self.frame_queue.qsize()
|
||
|
|
while frames_left:
|
||
|
|
try:
|
||
|
|
cam_id, frame = self.frame_queue.get_nowait()
|
||
|
|
|
||
|
|
except queue.Empty:
|
||
|
|
break
|
||
|
|
|
||
|
|
# Add/Remove frame from current state.
|
||
|
|
if frame:
|
||
|
|
frames[cam_id] = frame
|
||
|
|
|
||
|
|
else:
|
||
|
|
frames.pop(cam_id, None)
|
||
|
|
|
||
|
|
frames_left -= 1
|
||
|
|
|
||
|
|
# Construct image by stitching frames together.
|
||
|
|
if frames:
|
||
|
|
cv_images = [resize_if_required(frames[cam_id]) for cam_id in sorted(frames.keys())]
|
||
|
|
cv2.imshow(IMAGE_CAPTION, numpy.concatenate(cv_images, axis=1))
|
||
|
|
|
||
|
|
# If there are no frames available, show dummy image instead
|
||
|
|
else:
|
||
|
|
cv2.imshow(IMAGE_CAPTION, create_dummy_frame())
|
||
|
|
|
||
|
|
# Check for shutdown condition
|
||
|
|
if KEY_CODE_ENTER == cv2.waitKey(10):
|
||
|
|
cv2.destroyAllWindows()
|
||
|
|
alive = False
|
||
|
|
|
||
|
|
self.log.info('Thread \'FrameConsumer\' terminated.')
|
||
|
|
|
||
|
|
|
||
|
|
class MainThread(threading.Thread):
|
||
|
|
def __init__(self):
|
||
|
|
threading.Thread.__init__(self)
|
||
|
|
|
||
|
|
self.frame_queue = queue.Queue(maxsize=FRAME_QUEUE_SIZE)
|
||
|
|
self.producers = {}
|
||
|
|
self.producers_lock = threading.Lock()
|
||
|
|
|
||
|
|
def __call__(self, cam: Camera, event: CameraEvent):
|
||
|
|
# New camera was detected. Create FrameProducer, add it to active FrameProducers
|
||
|
|
if event == CameraEvent.Detected:
|
||
|
|
with self.producers_lock:
|
||
|
|
self.producers[cam.get_id()] = FrameProducer(cam, self.frame_queue)
|
||
|
|
self.producers[cam.get_id()].start()
|
||
|
|
|
||
|
|
# An existing camera was disconnected, stop associated FrameProducer.
|
||
|
|
elif event == CameraEvent.Missing:
|
||
|
|
with self.producers_lock:
|
||
|
|
producer = self.producers.pop(cam.get_id())
|
||
|
|
producer.stop()
|
||
|
|
producer.join()
|
||
|
|
|
||
|
|
def run(self):
|
||
|
|
log = Log.get_instance()
|
||
|
|
consumer = FrameConsumer(self.frame_queue)
|
||
|
|
|
||
|
|
vimba = Vimba.get_instance()
|
||
|
|
vimba.enable_log(LOG_CONFIG_INFO_CONSOLE_ONLY)
|
||
|
|
|
||
|
|
log.info('Thread \'MainThread\' started.')
|
||
|
|
|
||
|
|
with vimba:
|
||
|
|
# Construct FrameProducer threads for all detected cameras
|
||
|
|
for cam in vimba.get_all_cameras():
|
||
|
|
self.producers[cam.get_id()] = FrameProducer(cam, self.frame_queue)
|
||
|
|
|
||
|
|
# Start FrameProducer threads
|
||
|
|
with self.producers_lock:
|
||
|
|
for producer in self.producers.values():
|
||
|
|
producer.start()
|
||
|
|
|
||
|
|
# Start and wait for consumer to terminate
|
||
|
|
vimba.register_camera_change_handler(self)
|
||
|
|
consumer.start()
|
||
|
|
consumer.join()
|
||
|
|
vimba.unregister_camera_change_handler(self)
|
||
|
|
|
||
|
|
# Stop all FrameProducer threads
|
||
|
|
with self.producers_lock:
|
||
|
|
# Initiate concurrent shutdown
|
||
|
|
for producer in self.producers.values():
|
||
|
|
producer.stop()
|
||
|
|
|
||
|
|
# Wait for shutdown to complete
|
||
|
|
for producer in self.producers.values():
|
||
|
|
producer.join()
|
||
|
|
|
||
|
|
log.info('Thread \'MainThread\' terminated.')
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == '__main__':
|
||
|
|
print_preamble()
|
||
|
|
main = MainThread()
|
||
|
|
main.start()
|
||
|
|
main.join()
|