ContinuousCapture_BVS-3D-RV0.cpp

The ContinuousCapture_BVS-3D-RV0 program is based on the ContinuousCapture.cpp example concerning the acquisition implementation. The sample is intended for BVS 3D-RV0 devices only as it makes use of device specific settings which won't be supported by the majority of other devices. The sample will set up a device in a way that Multi-Part Format data will be delivered and will display intensitiy image buffer and confidence image buffer parts in two different display windows.

Since

2.50.0

Program location

The source file ContinuousCapture_BVS-3D-RV0.cpp is only part of this document so far, so in order to play around with it must be copied from here!

Note

The following device families are currently supported by this sample:

• BVS 3D-RV0 (rc_visard)

ContinuousCapture_BVS-3D-RV0 example:

1. Opens a BVS 3D-RV0 device.
2. Configures the device in a way it will deliver multi-part data OR will terminate with an error message if the configuration fails.
3. Captures buffers continuously and will display (Windows) or output information (on other platforms) for the both parts of the delivered buffer.

How it works

After getting the device from user input the sample opens the device (pDev->open()). Then the sample will try to set up the device accordingly by calling the configureDevice() function. The image acquisition will make use of the mvIMPACT::acquire::helper::RequestProvider class discussed in the ContinuousCapture.cpp example application. If necessary, the device will disable the pattern projector once the acquisition is stopped.

Used device settings:

• The delivered Multi-Part Format data is configured to an intensity and a confidence map.
• To make sure intensity image and confidence map are combined to a single multi-part buffer, the property mvIMPACT::acquire::GenICam::AcquisitionControl::acquisitionMultiPartMode, is configured to "SynchronizedComponents". Otherwise each image would be delivered in a single buffer.
• For a continuous image acquisition the mvIMPACT::acquire::GenICam::DepthControl::depthAcquisitionMode is set to "Continuous".
• The device offers a possibility to have a high quality depth image, the value of mvIMPACT::acquire::GenICam::DepthControl::depthQuality is set to "High", which results in an image which has a slightly smaller resolution than the intensity image.
• The device is capable of a method to make the setup more robust against the influence of environmental light. Once enabled, the system will take several images before the disparity image is created. The timeout for allowing multiple images can be set by using the mvIMPACT::acquire::GenICam::DepthControl::depthExposureAdaptTimeout property.

//-----------------------------------------------------------------------------
bool configureDevice( Device* pDev )
//-----------------------------------------------------------------------------
{
    ImageFormatControl ifc( pDev );
    if( ifc.componentSelector.isValid() && ifc.componentSelector.isWriteable() )
    {
        if( !supportsEnumStringValue( ifc.componentSelector, "Confidence" ) )
        {
            return false;
        }
        ifc.componentSelector.writeS( "Confidence" );
        ifc.componentEnable.write( TBoolean::bTrue );
 
        if( !supportsEnumStringValue( ifc.componentSelector, "Disparity" ) )
        {
            return false;
        }
        ifc.componentSelector.writeS( "Disparity" );
        ifc.componentEnable.write( TBoolean::bFalse );
    }
    else
    {
        return false;
    }
 
    AcquisitionControl acq( pDev );
    if( !acq.exposureAuto.isValid() ||
        !acq.exposureAuto.isWriteable() ||
        !acq.acquisitionMultiPartMode.isValid() ||
        !acq.acquisitionMultiPartMode.isWriteable() )
    {
        return false;
    }
    if( !supportsEnumStringValue( acq.exposureAuto, "Continuous" ) ||
        !supportsEnumStringValue( acq.acquisitionMultiPartMode, "SynchronizedComponents" ) )
    {
        return false;
    }
    acq.exposureAuto.writeS( "Continuous" );
    acq.acquisitionMultiPartMode.writeS( "SynchronizedComponents" );
 
    ChunkDataControl cdc( pDev );
    if( !cdc.chunkModeActive.isValid() || !cdc.chunkModeActive.isWriteable() )
    {
        return false;
    }
    cdc.chunkModeActive.write( TBoolean::bTrue );
 
    DepthControl dctl( pDev );
    if( !dctl.depthAcquisitionMode.isValid() ||
        !dctl.depthAcquisitionMode.isWriteable() ||
        !dctl.depthExposureAdaptTimeout.isValid() ||
        !dctl.depthExposureAdaptTimeout.isWriteable() ||
        !dctl.depthQuality.isValid() ||
        !dctl.depthQuality.isWriteable() )
    {
        return false;
    }
    if( !supportsEnumStringValue( dctl.depthAcquisitionMode, "Continuous" ) ||
        !supportsEnumStringValue( dctl.depthQuality, "High" ) ||
        !supportsValue( dctl.depthExposureAdaptTimeout, 0.0 ) )
    {
        return false;
    }
    dctl.depthAcquisitionMode.writeS( "Continuous" );
    dctl.depthExposureAdaptTimeout.write( 0.0 );
    dctl.depthQuality.writeS( "High" );
 
    return true;
}

Handling multi part data

Once the request object is ready the number of included multi part buffers can be obtained by calling mvIMPACT::acquire::Request::getBufferPartCount(). A specific buffer part can be used by calling mvIMPACT::acquire::Request::getBufferPart( ) and passing the number of the desired part to create a BufferPart object which can be used like a usual mvIMPACT::acquire::Request object afterwards.

//-----------------------------------------------------------------------------
void myThreadCallback( shared_ptr<Request> pRequest, ThreadParameter& threadParameter )
//-----------------------------------------------------------------------------
{
    // display some statistical information every 100th image
    if( threadParameter.requestsCaptured_ % 100 == 0 )
    {
        const Statistics& s = threadParameter.statistics_;
        cout << "Info from " << threadParameter.pDev_->serial.read()
             << ": " << s.framesPerSecond.name() << ": " << s.framesPerSecond.readS()
             << ", " << s.errorCount.name() << ": " << s.errorCount.readS()
             << ", " << s.captureTime_s.name() << ": " << s.captureTime_s.readS() << endl;
    }
    if( pRequest->isOK() )
    {
        const unsigned int bufferPartCount = pRequest->getBufferPartCount();
        if( bufferPartCount > 0 )
        {
            // data has been delivered in multi-part format
            for( unsigned int i = 0; i < bufferPartCount; i++ )
            {
                const BufferPart& bufferPart( pRequest->getBufferPart( i ) );
                const string pixelFormat = bufferPart.pixelFormat.readS();
#ifdef USE_DISPLAY
                const TBufferPartDataType bufferDataType = bufferPart.dataType.read();
                const int linePitch = static_cast<int>( bufferPart.linePitch.read() );
                const int width = static_cast<int>( bufferPart.width.read() );
                const int height = static_cast<int>( bufferPart.height.read() );
                const int channelbBitDepth = static_cast<int>( bufferPart.channelBitDepth.read() );
                cout << "Image captured: " << pRequest->imageWidth.read() << "x" << pRequest->imageHeight.read() << "buffer contains: " << bufferDataType << " data" << endl;
                if( bufferDataType == bpdt2DImage )
                {
                    threadParameter.displayWindowPrimary_.GetImageDisplay().SetImage( bufferPart.address.read(), width, height, channelbBitDepth, linePitch );
                    threadParameter.displayWindowPrimary_.GetImageDisplay().Update();
                }
                else if( bufferDataType == bpdtConfidenceMap )
                {
                    threadParameter.displayWindowSecondary_.GetImageDisplay().SetImage( bufferPart.address.read(), width, height, channelbBitDepth, linePitch );
                    threadParameter.displayWindowSecondary_.GetImageDisplay().Update();
                }
                else
                {
                    cout << "The data type of buffer part " << i << " of the current request is reported as " << bufferPart.dataType.readS() << ", which will NOT be handled by this example application" << endl;
                }
#else
                cout << "Image captured: " << pRequest->imageWidth.read() << "x" << pRequest->imageHeight.read() << "buffer contains: " << bufferPart.dataType.readS() << " data" << endl;
#endif // #ifdef USE_DISPLAY
            }
        }
    }
    else
    {
        cout << "Error: " << pRequest->requestResult.readS() << endl;
    }
}

Source code

#include <apps/Common/exampleHelper.h>
#include <common/crt/mvstdio.h>
#include <iostream>
#include <mvIMPACT_CPP/mvIMPACT_acquire_helper.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire_GenICam.h>
#ifdef _WIN32
#   include <mvDisplay/Include/mvIMPACT_acquire_display.h>
using namespace mvIMPACT::acquire::display;
#   define USE_DISPLAY
#endif // #ifdef _WIN32
 
using namespace mvIMPACT::acquire;
using namespace mvIMPACT::acquire::GenICam;
using namespace std;
 
//-----------------------------------------------------------------------------
struct ThreadParameter
//-----------------------------------------------------------------------------
{
    Device* pDev_;
    unsigned int requestsCaptured_;
    Statistics statistics_;
#ifdef USE_DISPLAY
    ImageDisplayWindow displayWindowPrimary_;
    ImageDisplayWindow displayWindowSecondary_;
#endif // #ifdef USE_DISPLAY
    explicit ThreadParameter( Device* pDev ) : pDev_( pDev ), requestsCaptured_( 0 ), statistics_( pDev )
#ifdef USE_DISPLAY
        // initialise display window
        // IMPORTANT: It's NOT safe to create multiple display windows in multiple threads!!!
        , displayWindowPrimary_( "mvIMPACT_acquire sample, Device " + pDev_->serial.read() + " 2D Image" )
        , displayWindowSecondary_( "mvIMPACT_acquire sample, Device " + pDev_->serial.read() + " 3D Data" )
#endif // #ifdef USE_DISPLAY
    {}
    ThreadParameter( const ThreadParameter& src ) = delete;
    ThreadParameter& operator=( const ThreadParameter& rhs ) = delete;
};
 
//-----------------------------------------------------------------------------
void myThreadCallback( shared_ptr<Request> pRequest, ThreadParameter& threadParameter )
//-----------------------------------------------------------------------------
{
    // display some statistical information every 100th image
    if( threadParameter.requestsCaptured_ % 100 == 0 )
    {
        const Statistics& s = threadParameter.statistics_;
        cout << "Info from " << threadParameter.pDev_->serial.read()
             << ": " << s.framesPerSecond.name() << ": " << s.framesPerSecond.readS()
             << ", " << s.errorCount.name() << ": " << s.errorCount.readS()
             << ", " << s.captureTime_s.name() << ": " << s.captureTime_s.readS() << endl;
    }
    if( pRequest->isOK() )
    {
        const unsigned int bufferPartCount = pRequest->getBufferPartCount();
        if( bufferPartCount > 0 )
        {
            // data has been delivered in multi-part format
            for( unsigned int i = 0; i < bufferPartCount; i++ )
            {
                const BufferPart& bufferPart( pRequest->getBufferPart( i ) );
                const string pixelFormat = bufferPart.pixelFormat.readS();
#ifdef USE_DISPLAY
                const TBufferPartDataType bufferDataType = bufferPart.dataType.read();
                const int linePitch = static_cast<int>( bufferPart.linePitch.read() );
                const int width = static_cast<int>( bufferPart.width.read() );
                const int height = static_cast<int>( bufferPart.height.read() );
                const int channelbBitDepth = static_cast<int>( bufferPart.channelBitDepth.read() );
                cout << "Image captured: " << pRequest->imageWidth.read() << "x" << pRequest->imageHeight.read() << "buffer contains: " << bufferDataType << " data" << endl;
                if( bufferDataType == bpdt2DImage )
                {
                    threadParameter.displayWindowPrimary_.GetImageDisplay().SetImage( bufferPart.address.read(), width, height, channelbBitDepth, linePitch );
                    threadParameter.displayWindowPrimary_.GetImageDisplay().Update();
                }
                else if( bufferDataType == bpdtConfidenceMap )
                {
                    threadParameter.displayWindowSecondary_.GetImageDisplay().SetImage( bufferPart.address.read(), width, height, channelbBitDepth, linePitch );
                    threadParameter.displayWindowSecondary_.GetImageDisplay().Update();
                }
                else
                {
                    cout << "The data type of buffer part " << i << " of the current request is reported as " << bufferPart.dataType.readS() << ", which will NOT be handled by this example application" << endl;
                }
#else
                cout << "Image captured: " << pRequest->imageWidth.read() << "x" << pRequest->imageHeight.read() << "buffer contains: " << bufferPart.dataType.readS() << " data" << endl;
#endif // #ifdef USE_DISPLAY
            }
        }
    }
    else
    {
        cout << "Error: " << pRequest->requestResult.readS() << endl;
    }
}
 
//-----------------------------------------------------------------------------
// This function will allow to select devices that support the GenICam interface
// layout(these are devices, that claim to be compliant with the GenICam standard)
// and that are bound to drivers that support the user controlled start and stop
// of the internal acquisition engine. Other devices will not be listed for
// selection as the code of the example relies on these features in the code.
bool isDeviceSupportedBySample( const Device* const pDev )
//-----------------------------------------------------------------------------
{
    const string product = pDev->product.readS();
    return ( product.find( "rc_visard" ) != std::string::npos );
}
 
//-----------------------------------------------------------------------------
bool configureDevice( Device* pDev )
//-----------------------------------------------------------------------------
{
    ImageFormatControl ifc( pDev );
    if( ifc.componentSelector.isValid() && ifc.componentSelector.isWriteable() )
    {
        if( !supportsEnumStringValue( ifc.componentSelector, "Confidence" ) )
        {
            return false;
        }
        ifc.componentSelector.writeS( "Confidence" );
        ifc.componentEnable.write( TBoolean::bTrue );
 
        if( !supportsEnumStringValue( ifc.componentSelector, "Disparity" ) )
        {
            return false;
        }
        ifc.componentSelector.writeS( "Disparity" );
        ifc.componentEnable.write( TBoolean::bFalse );
    }
    else
    {
        return false;
    }
 
    AcquisitionControl acq( pDev );
    if( !acq.exposureAuto.isValid() ||
        !acq.exposureAuto.isWriteable() ||
        !acq.acquisitionMultiPartMode.isValid() ||
        !acq.acquisitionMultiPartMode.isWriteable() )
    {
        return false;
    }
    if( !supportsEnumStringValue( acq.exposureAuto, "Continuous" ) ||
        !supportsEnumStringValue( acq.acquisitionMultiPartMode, "SynchronizedComponents" ) )
    {
        return false;
    }
    acq.exposureAuto.writeS( "Continuous" );
    acq.acquisitionMultiPartMode.writeS( "SynchronizedComponents" );
 
    ChunkDataControl cdc( pDev );
    if( !cdc.chunkModeActive.isValid() || !cdc.chunkModeActive.isWriteable() )
    {
        return false;
    }
    cdc.chunkModeActive.write( TBoolean::bTrue );
 
    DepthControl dctl( pDev );
    if( !dctl.depthAcquisitionMode.isValid() ||
        !dctl.depthAcquisitionMode.isWriteable() ||
        !dctl.depthExposureAdaptTimeout.isValid() ||
        !dctl.depthExposureAdaptTimeout.isWriteable() ||
        !dctl.depthQuality.isValid() ||
        !dctl.depthQuality.isWriteable() )
    {
        return false;
    }
    if( !supportsEnumStringValue( dctl.depthAcquisitionMode, "Continuous" ) ||
        !supportsEnumStringValue( dctl.depthQuality, "High" ) ||
        !supportsValue( dctl.depthExposureAdaptTimeout, 0.0 ) )
    {
        return false;
    }
    dctl.depthAcquisitionMode.writeS( "Continuous" );
    dctl.depthExposureAdaptTimeout.write( 0.0 );
    dctl.depthQuality.writeS( "High" );
 
    return true;
}
 
//-----------------------------------------------------------------------------
int main( void )
//-----------------------------------------------------------------------------
{
    DeviceManager devMgr;
    Device* pDev = getDeviceFromUserInput( devMgr, isDeviceSupportedBySample );
    if( pDev == nullptr )
    {
        cout << "Unable to continue! Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
 
    // if this device offers the 'GenICam' interface switch it on, as this will
    // allow are better control over GenICam compliant devices
    conditionalSetProperty( pDev->interfaceLayout, dilGenICam, true );
    // if this device offers a user defined acquisition start/stop behavior
    // enable it as this allows finer control about the streaming behavior
    conditionalSetProperty( pDev->acquisitionStartStopBehaviour, assbUser, true );
 
    if( !pDev->isOpen() )
    {
        pDev->open();
    }
    else
    {
        cout << "Unable to continue! The selected device could not be opnened. Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
 
    cout << "Initialising the device. This might take some time..." << endl;
    if( !configureDevice( pDev ) )
    {
        cout << "Unable to continue! The selected device does not support some of the required features. Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
 
    ThreadParameter threadParam( pDev );
    helper::RequestProvider requestProvider( pDev );
    requestProvider.acquisitionStart( myThreadCallback, std::ref( threadParam ) );
    cout << "Press [ENTER] to stop the acquisition thread" << endl;
    cin.get();
    requestProvider.acquisitionStop();
 
    return 0;
}