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提交 a2032494 编写于 作者: G gineshidalgo99
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Flir camera: sw trigger + dedicated read thread

上级 200c29cc
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Showing with 247 addition and 117 deletion
doc/release_notes.md
浏览文件 @ a2032494
......@@ -213,6 +213,7 @@ OpenPose Library - Release Notes
## Current version - future OpenPose 1.3.1
1. Main improvements:
1. Flir cameras: Added software trigger and a dedicated thread to keep reading images to remove latency (analogously to webcamReader).
2. Functions or parameters renamed:
3. Main bugs fixed:
......
src/openpose/producer/spinnakerWrapper.cpp
浏览文件 @ a2032494
......@@ -166,7 +166,8 @@ namespace op
{
int result = 0;
log("*** CONFIGURING TRIGGER ***", Priority::High);
log("Configuring hardware trigger...", Priority::High);
log("Configuring trigger...", Priority::High);
// log("Configuring hardware trigger...", Priority::High);
// Ensure trigger mode off
// *** NOTES ***
// The trigger must be disabled in order to configure whether the source
......@@ -196,16 +197,23 @@ namespace op
error("Unable to set trigger mode (node retrieval). Aborting...",
__LINE__, __FUNCTION__, __FILE__);
// Set trigger mode to hardware ('Line0')
Spinnaker::GenApi::CEnumEntryPtr ptrTriggerSourceHardware = ptrTriggerSource->GetEntryByName("Line0");
if (!Spinnaker::GenApi::IsAvailable(ptrTriggerSourceHardware)
|| !Spinnaker::GenApi::IsReadable(ptrTriggerSourceHardware))
// // Set trigger mode to hardware ('Line0')
// Spinnaker::GenApi::CEnumEntryPtr ptrTriggerSourceHardware = ptrTriggerSource->GetEntryByName("Line0");
// if (!Spinnaker::GenApi::IsAvailable(ptrTriggerSourceHardware)
// || !Spinnaker::GenApi::IsReadable(ptrTriggerSourceHardware))
// error("Unable to set trigger mode (enum entry retrieval). Aborting...",
// __LINE__, __FUNCTION__, __FILE__);
// ptrTriggerSource->SetIntValue(ptrTriggerSourceHardware->GetValue());
// log("Trigger source set to hardware...", Priority::High);
// Set trigger mode to sofware
Spinnaker::GenApi::CEnumEntryPtr ptrTriggerSourceSoftware = ptrTriggerSource->GetEntryByName("Software");
if (!Spinnaker::GenApi::IsAvailable(ptrTriggerSourceSoftware)
|| !Spinnaker::GenApi::IsReadable(ptrTriggerSourceSoftware))
error("Unable to set trigger mode (enum entry retrieval). Aborting...",
__LINE__, __FUNCTION__, __FILE__);
ptrTriggerSource->SetIntValue(ptrTriggerSourceHardware->GetValue());
log("Trigger source set to hardware...", Priority::High);
ptrTriggerSource->SetIntValue(ptrTriggerSourceSoftware->GetValue());
// log("Trigger source set to source...", Priority::High);
// Turn trigger mode on
// *** LATER ***
......@@ -237,6 +245,34 @@ namespace op
return -1;
}
}
int GrabNextImageByTrigger(Spinnaker::GenApi::INodeMap& nodeMap)
{
try
{
int result = 0;
// Execute software trigger
Spinnaker::GenApi::CCommandPtr ptrSoftwareTriggerCommand = nodeMap.GetNode("TriggerSoftware");
if (!IsAvailable(ptrSoftwareTriggerCommand) || !IsWritable(ptrSoftwareTriggerCommand))
error("Unable to enable trigger. Aborting...",
__LINE__, __FUNCTION__, __FILE__);
ptrSoftwareTriggerCommand->Execute();
return result;
}
catch (const Spinnaker::Exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return -1;
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return -1;
}
}
#else
const std::string WITH_FLIR_CAMERA_ERROR{"OpenPose CMake must be compiled with the `WITH_FLIR_CAMERA`"
" flag in order to use the FLIR camera. Alternatively, disable `--flir_camera`."};
......@@ -251,6 +287,12 @@ namespace op
Spinnaker::CameraList mCameraList;
Spinnaker::SystemPtr mSystemPtr;
std::vector<cv::Mat> mCvMats;
// Thread
bool mThreadOpened;
std::vector<Spinnaker::ImagePtr> mBuffer;
std::mutex mBufferMutex;
std::atomic<bool> mCloseThread;
std::thread mThread;
ImplSpinnakerWrapper() :
mInitialized{false}
......@@ -272,9 +314,60 @@ namespace op
cv::undistort(cvMatDistorted, mCvMats[i], cameraIntrinsics, cameraDistorsions);
}
void bufferingThread()
{
#ifdef WITH_FLIR_CAMERA
try
{
mCloseThread = false;
// Get cameras - ~0.005 ms (3 cameras)
std::vector<Spinnaker::CameraPtr> cameraPtrs(mCameraList.GetSize());
for (auto i = 0u; i < cameraPtrs.size(); i++)
cameraPtrs.at(i) = mCameraList.GetByIndex(i);
while (!mCloseThread)
{
// Trigger
for (auto i = 0u; i < cameraPtrs.size(); i++)
{
// Retrieve GenICam nodemap
auto& iNodeMap = cameraPtrs[i]->GetNodeMap();
Spinnaker::GenApi::CEnumerationPtr ptrAcquisitionMode = iNodeMap.GetNode("AcquisitionMode");
const auto result = GrabNextImageByTrigger(iNodeMap);
if (result != 0)
error("Error in GrabNextImageByTrigger.", __LINE__, __FUNCTION__, __FILE__);
}
// Get frame
std::vector<Spinnaker::ImagePtr> imagePtrs(cameraPtrs.size());
for (auto i = 0u; i < cameraPtrs.size(); i++)
imagePtrs.at(i) = cameraPtrs.at(i)->GetNextImage();
// Move to buffer
bool imagesExtracted = true;
for (auto& imagePtr : imagePtrs)
{
if (imagePtr->IsIncomplete())
{
log("Image incomplete with image status " + std::to_string(imagePtr->GetImageStatus())
+ "...", Priority::High, __LINE__, __FUNCTION__, __FILE__);
imagesExtracted = false;
break;
}
}
if (imagesExtracted)
{
const std::lock_guard<std::mutex> lock{mBufferMutex};
std::swap(mBuffer, imagePtrs);
}
}
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
#endif
}
// This function acquires and displays images from each device.
std::vector<cv::Mat> acquireImages(Spinnaker::CameraList &cameraList,
const std::vector<cv::Mat>& cameraIntrinsics,
std::vector<cv::Mat> acquireImages(const std::vector<cv::Mat>& cameraIntrinsics,
const std::vector<cv::Mat>& cameraDistorsions)
{
try
......@@ -287,15 +380,34 @@ namespace op
// through the cameras; otherwise, all images will be grabbed from a
// single camera before grabbing any images from another.
// Get cameras - ~0.005 ms (3 cameras)
std::vector<Spinnaker::CameraPtr> cameraPtrs(cameraList.GetSize());
for (auto i = 0u; i < cameraPtrs.size(); i++)
cameraPtrs.at(i) = cameraList.GetByIndex(i);
// // Get cameras - ~0.005 ms (3 cameras)
// std::vector<Spinnaker::CameraPtr> cameraPtrs(cameraList.GetSize());
// for (auto i = 0u; i < cameraPtrs.size(); i++)
// cameraPtrs.at(i) = cameraList.GetByIndex(i);
// Read raw images - ~0.15 ms (3 cameras)
std::vector<Spinnaker::ImagePtr> imagePtrs(cameraPtrs.size());
for (auto i = 0u; i < cameraPtrs.size(); i++)
imagePtrs.at(i) = cameraPtrs.at(i)->GetNextImage();
// std::vector<Spinnaker::ImagePtr> imagePtrs(cameraPtrs.size());
// for (auto i = 0u; i < cameraPtrs.size(); i++)
// imagePtrs.at(i) = cameraPtrs.at(i)->GetNextImage();
std::vector<Spinnaker::ImagePtr> imagePtrs;
// Retrieve frame
auto cvMatRetrieved = false;
while (!cvMatRetrieved)
{
// Retrieve frame
std::unique_lock<std::mutex> lock{mBufferMutex};
if (!mBuffer.empty())
{
std::swap(imagePtrs, mBuffer);
cvMatRetrieved = true;
}
// No frames available -> sleep & wait
else
{
lock.unlock();
std::this_thread::sleep_for(std::chrono::microseconds{5});
}
}
// Commented code was supposed to clean buffer, but `NewestFirstOverwrite` does that
// Getting frames
// Retrieve next received image and ensure image completion
......@@ -452,37 +564,37 @@ namespace op
// acquired.
cameraPtr->Init();
// // Retrieve GenICam nodemap
// auto& iNodeMap = cameraPtr->GetNodeMap();
// Retrieve GenICam nodemap
auto& iNodeMap = cameraPtr->GetNodeMap();
// // Configure trigger
// int result = configureTrigger(iNodeMap);
// if (result < 0)
// error("Result > 0, error " + std::to_string(result) + " occurred...",
// __LINE__, __FUNCTION__, __FILE__);
// Configure trigger
int result = configureTrigger(iNodeMap);
if (result < 0)
error("Result > 0, error " + std::to_string(result) + " occurred...",
__LINE__, __FUNCTION__, __FILE__);
// // Configure chunk data
// result = configureChunkData(iNodeMap);
// if (result < 0)
// return result;
// Remove buffer --> Always get newest frame
Spinnaker::GenApi::INodeMap& snodeMap = cameraPtr->GetTLStreamNodeMap();
Spinnaker::GenApi::CEnumerationPtr ptrBufferHandlingMode = snodeMap.GetNode(
"StreamBufferHandlingMode");
if (!Spinnaker::GenApi::IsAvailable(ptrBufferHandlingMode)
|| !Spinnaker::GenApi::IsWritable(ptrBufferHandlingMode))
error("Unable to change buffer handling mode", __LINE__, __FUNCTION__, __FILE__);
Spinnaker::GenApi::CEnumEntryPtr ptrBufferHandlingModeNewest = ptrBufferHandlingMode->GetEntryByName(
"NewestFirstOverwrite");
if (!Spinnaker::GenApi::IsAvailable(ptrBufferHandlingModeNewest)
|| !IsReadable(ptrBufferHandlingModeNewest))
error("Unable to set buffer handling mode to newest (entry 'NewestFirstOverwrite' retrieval)."
" Aborting...", __LINE__, __FUNCTION__, __FILE__);
int64_t bufferHandlingModeNewest = ptrBufferHandlingModeNewest->GetValue();
ptrBufferHandlingMode->SetIntValue(bufferHandlingModeNewest);
// // Remove buffer --> Always get newest frame
// Spinnaker::GenApi::INodeMap& snodeMap = cameraPtr->GetTLStreamNodeMap();
// Spinnaker::GenApi::CEnumerationPtr ptrBufferHandlingMode = snodeMap.GetNode(
// "StreamBufferHandlingMode");
// if (!Spinnaker::GenApi::IsAvailable(ptrBufferHandlingMode)
// || !Spinnaker::GenApi::IsWritable(ptrBufferHandlingMode))
// error("Unable to change buffer handling mode", __LINE__, __FUNCTION__, __FILE__);
// Spinnaker::GenApi::CEnumEntryPtr ptrBufferHandlingModeNewest = ptrBufferHandlingMode->GetEntryByName(
// "NewestFirstOverwrite");
// if (!Spinnaker::GenApi::IsAvailable(ptrBufferHandlingModeNewest)
// || !IsReadable(ptrBufferHandlingModeNewest))
// error("Unable to set buffer handling mode to newest (entry 'NewestFirstOverwrite' retrieval)."
// " Aborting...", __LINE__, __FUNCTION__, __FILE__);
// int64_t bufferHandlingModeNewest = ptrBufferHandlingModeNewest->GetValue();
// ptrBufferHandlingMode->SetIntValue(bufferHandlingModeNewest);
}
// Prepare each camera to acquire images
......@@ -589,6 +701,10 @@ namespace op
serialNumbers[i] = strSerialNumbers[i];
upImpl->mCameraParameterReader.readParameters(cameraParameterPath, serialNumbers);
// Start buffering thread
upImpl->mThreadOpened = true;
upImpl->mThread = std::thread{&SpinnakerWrapper::ImplSpinnakerWrapper::bufferingThread, this->upImpl};
// Get resolution + security checks
const auto cvMats = getRawFrames();
// Security checks
......@@ -599,7 +715,6 @@ namespace op
upImpl->mResolution = Point<int>{cvMats[0].cols, cvMats[0].rows};
log("\nRunning for all cameras...\n\n*** IMAGE ACQUISITION ***\n", Priority::High);
}
catch (const Spinnaker::Exception& e)
{
......@@ -640,8 +755,7 @@ namespace op
!= upImpl->mCameraParameterReader.getNumberCameras())
error("The number of cameras must be the same as the INTRINSICS vector size.",
__LINE__, __FUNCTION__, __FILE__);
return upImpl->acquireImages(upImpl->mCameraList,
upImpl->mCameraParameterReader.getCameraIntrinsics(),
return upImpl->acquireImages(upImpl->mCameraParameterReader.getCameraIntrinsics(),
upImpl->mCameraParameterReader.getCameraDistortions());
}
catch (const Spinnaker::Exception& e)
......@@ -719,6 +833,14 @@ namespace op
{
if (upImpl->mInitialized)
{
// Stop thread
// Close and join thread
if (upImpl->mThreadOpened)
{
upImpl->mCloseThread = true;
upImpl->mThread.join();
}
// End acquisition for each camera
// Notice that what is usually a one-step process is now two steps
// because of the additional step of selecting the camera. It is worth
......
src/openpose/producer/webcamReader.cpp
浏览文件 @ a2032494
......@@ -170,17 +170,24 @@ namespace op
void WebcamReader::bufferingThread()
{
mCloseThread = false;
while (!mCloseThread)
try
{
// Get frame
auto cvMat = VideoCaptureReader::getRawFrame();
// Move to buffer
if (!cvMat.empty())
mCloseThread = false;
while (!mCloseThread)
{
const std::lock_guard<std::mutex> lock{mBufferMutex};
std::swap(mBuffer, cvMat);
// Get frame
auto cvMat = VideoCaptureReader::getRawFrame();
// Move to buffer
if (!cvMat.empty())
{
const std::lock_guard<std::mutex> lock{mBufferMutex};
std::swap(mBuffer, cvMat);
}
}
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
}
src/openpose/utilities/fileSystem.cpp
浏览文件 @ a2032494
......@@ -19,9 +19,9 @@ namespace op
{
if (!directoryPath.empty())
{
// Format the path first
const auto formatedPath = formatAsDirectory(directoryPath);
// Create dir if it doesn't exist yet
// Format the path first
const auto formatedPath = formatAsDirectory(directoryPath);
// Create dir if it doesn't exist yet
if (!existDirectory(formatedPath))
{
#ifdef _WIN32
......@@ -50,31 +50,31 @@ namespace op
{
try
{
// Format the path first
const auto formatedPath = formatAsDirectory(directoryPath);
#ifdef _WIN32
DWORD status = GetFileAttributesA(formatedPath.c_str());
// It is not a directory
if (status == INVALID_FILE_ATTRIBUTES)
return false;
// It is a directory
else if (status & FILE_ATTRIBUTE_DIRECTORY)
return true;
// It is not a directory
return false; // this is not a directory!
#elif defined __unix__
// It is a directory
if (auto* directory = opendir(formatedPath.c_str()))
{
closedir(directory);
return true;
}
// It is not a directory
else
return false;
#else
#error Unknown environment!
#endif
// Format the path first
const auto formatedPath = formatAsDirectory(directoryPath);
#ifdef _WIN32
DWORD status = GetFileAttributesA(formatedPath.c_str());
// It is not a directory
if (status == INVALID_FILE_ATTRIBUTES)
return false;
// It is a directory
else if (status & FILE_ATTRIBUTE_DIRECTORY)
return true;
// It is not a directory
return false; // this is not a directory!
#elif defined __unix__
// It is a directory
if (auto* directory = opendir(formatedPath.c_str()))
{
closedir(directory);
return true;
}
// It is not a directory
else
return false;
#else
#error Unknown environment!
#endif
}
catch (const std::exception& e)
{
......@@ -109,14 +109,14 @@ namespace op
std::string directoryPath = directoryPathString;
if (!directoryPath.empty())
{
// Replace all '\\' to '/'
std::replace(directoryPath.begin(), directoryPath.end(), '\\', '/');
if (directoryPath.back() != '/')
// Replace all '\\' to '/'
std::replace(directoryPath.begin(), directoryPath.end(), '\\', '/');
if (directoryPath.back() != '/')
directoryPath = directoryPath + "/";
// Windows - Replace all '/' to '\\'
#ifdef _WIN32
std::replace(directoryPath.begin(), directoryPath.end(), '/', '\\');
#endif
// Windows - Replace all '/' to '\\'
#ifdef _WIN32
std::replace(directoryPath.begin(), directoryPath.end(), '/', '\\');
#endif
}
return directoryPath;
}
......@@ -235,35 +235,35 @@ namespace op
if (!existDirectory(formatedPath))
error("Folder " + formatedPath + " does not exist.", __LINE__, __FUNCTION__, __FILE__);
// Read all files in folder
std::vector<std::string> filePaths;
#ifdef _WIN32
auto formatedPathWindows = formatedPath;
formatedPathWindows.append("\\*");
WIN32_FIND_DATA data;
HANDLE hFind;
if ((hFind = FindFirstFile(formatedPathWindows.c_str(), &data)) != INVALID_HANDLE_VALUE)
{
do
filePaths.emplace_back(formatedPath + data.cFileName);
while (FindNextFile(hFind, &data) != 0);
FindClose(hFind);
}
#elif defined __unix__
std::shared_ptr<DIR> directoryPtr(
opendir(formatedPath.c_str()),
[](DIR* formatedPath){ formatedPath && closedir(formatedPath); }
);
struct dirent* direntPtr;
while ((direntPtr = readdir(directoryPtr.get())) != nullptr)
{
std::string currentPath = formatedPath + direntPtr->d_name;
if ((strncmp(direntPtr->d_name, ".", 1) == 0) || existDirectory(currentPath))
continue;
filePaths.emplace_back(currentPath);
}
#else
#error Unknown environment!
#endif
std::vector<std::string> filePaths;
#ifdef _WIN32
auto formatedPathWindows = formatedPath;
formatedPathWindows.append("\\*");
WIN32_FIND_DATA data;
HANDLE hFind;
if ((hFind = FindFirstFile(formatedPathWindows.c_str(), &data)) != INVALID_HANDLE_VALUE)
{
do
filePaths.emplace_back(formatedPath + data.cFileName);
while (FindNextFile(hFind, &data) != 0);
FindClose(hFind);
}
#elif defined __unix__
std::shared_ptr<DIR> directoryPtr(
opendir(formatedPath.c_str()),
[](DIR* formatedPath){ formatedPath && closedir(formatedPath); }
);
struct dirent* direntPtr;
while ((direntPtr = readdir(directoryPtr.get())) != nullptr)
{
std::string currentPath = formatedPath + direntPtr->d_name;
if ((strncmp(direntPtr->d_name, ".", 1) == 0) || existDirectory(currentPath))
continue;
filePaths.emplace_back(currentPath);
}
#else
#error Unknown environment!
#endif
// Check #files > 0
if (filePaths.empty())
error("No files were found on " + formatedPath, __LINE__, __FUNCTION__, __FILE__);
......
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