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ThorlabsCapture.cs
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using OpenCV.Net;
using System;
using System.ComponentModel;
using System.Reactive;
using System.Reactive.Linq;
using System.Threading.Tasks;
using Thorlabs.TSI.ColorInterfaces;
using Thorlabs.TSI.ColorProcessor;
using Thorlabs.TSI.Core;
using Thorlabs.TSI.CoreInterfaces;
using Thorlabs.TSI.Demosaicker;
using Thorlabs.TSI.ImageData;
using Thorlabs.TSI.ImageDataInterfaces;
using Thorlabs.TSI.TLCamera;
using Thorlabs.TSI.TLCameraInterfaces;
namespace Bonsai.Thorlabs
{
[Combinator(MethodName = nameof(Generate))]
[WorkflowElementCategory(ElementCategory.Source)]
[Description("Acquires a sequence of images from a Thorlabs camera.")]
public class ThorlabsCapture : Source<ThorlabsDataFrame>
{
static readonly object systemLock = new object();
[TypeConverter(typeof(SerialNumberConverter))]
[Description("The optional serial number of the camera from which to acquire images.")]
public string SerialNumber { get; set; }
[Description("Frame exposure time (in microseconds).")]
public int Exposure { get; set; } = 5000;
private CameraSensorType cameraSensorType { get; set; } = CameraSensorType.Bayer;
private ushort[] _demosaickedData = null;
private ushort[] _processedImage = null;
private Demosaicker _demosaicker = new Demosaicker();
private ColorFilterArrayPhase _colorFilterArrayPhase;
private ColorProcessor _colorProcessor = null;
private bool _isColor = false;
private ColorProcessorSDK _colorProcessorSDK = null;
protected virtual void Configure(ITLCamera camera)
{
camera.Disarm();
camera.ExposureTime_us = 50000;
camera.MaximumNumberOfFramesToQueue = 2;
_isColor = camera.CameraSensorType == cameraSensorType;
if (_isColor)
{
_colorProcessorSDK = new ColorProcessorSDK();
_colorFilterArrayPhase = camera.ColorFilterArrayPhase;
var colorCorrectionMatrix = camera.GetCameraColorCorrectionMatrix();
var whiteBalanceMatrix = camera.GetDefaultWhiteBalanceMatrix();
_colorProcessor = (ColorProcessor)_colorProcessorSDK.CreateStandardRGBColorProcessor(whiteBalanceMatrix, colorCorrectionMatrix, (int)camera.BitDepth);
}
camera.OperationMode = OperationMode.HardwareTriggered;
camera.Arm();
}
public override IObservable<ThorlabsDataFrame> Generate()
{
return Generate(Observable.Return(Unit.Default));
}
public IObservable<ThorlabsDataFrame> Generate<TSource>(IObservable<TSource> start)
{
return Observable.Create<ThorlabsDataFrame>((observer, cancellationToken) =>
{
return Task.Factory.StartNew(async () =>
{
ITLCameraSDK _tlCameraSDK = TLCameraSDK.OpenTLCameraSDK();
ITLCamera camera = _tlCameraSDK.OpenCamera(SerialNumber, true);
try
{
Configure(camera);
await start;
using (var cancellation = cancellationToken.Register(camera.Dispose))
{
while (!cancellationToken.IsCancellationRequested)
{
if (camera.NumberOfQueuedFrames > 0)
{
var frame = camera.GetPendingFrameOrNull();
ImageDataUShort1D imageData;
ushort[] rawData;
IplImage img;
if (frame != null)
{
if (_isColor)
{
rawData = ((IImageDataUShort1D)frame.ImageData).ImageData_monoOrBGR;
var size = frame.ImageData.Width_pixels * frame.ImageData.Height_pixels * 3;
if ((_demosaickedData == null) || (size != _demosaickedData.Length))
{
_demosaickedData = new ushort[frame.ImageData.Width_pixels * frame.ImageData.Height_pixels * 3];
}
_demosaicker.Demosaic(
frame.ImageData.Width_pixels,
frame.ImageData.Height_pixels,
0,
0,
_colorFilterArrayPhase,
ColorFormat.BGRPixel,
ColorSensorType.Bayer,
frame.ImageData.BitDepth,
rawData,
_demosaickedData);
if ((_processedImage == null) || (size != _demosaickedData.Length))
{
_processedImage = new ushort[frame.ImageData.Width_pixels * frame.ImageData.Height_pixels * 3];
}
ushort maxValue = (ushort)((1 << frame.ImageData.BitDepth) - 1);
_colorProcessor.Transform48To48(
_demosaickedData,
ColorFormat.BGRPixel,
0, maxValue,
0, maxValue,
0, maxValue,
0, 0, 0,
_processedImage,
ColorFormat.BGRPixel);
imageData = new ImageDataUShort1D(
_processedImage,
frame.ImageData.Width_pixels,
frame.ImageData.Height_pixels,
frame.ImageData.BitDepth,
ImageDataFormat.BGRPixel);
int width = (imageData.Width_pixels);
int height = (imageData.Height_pixels);
img = new IplImage(new Size(width, height), IplDepth.U16, imageData.NumberOfChannels);
using (var buffer = Mat.CreateMatHeader(_processedImage, height, width, Depth.U16, imageData.NumberOfChannels))
{
CV.Copy(buffer, img);
}
}
else
{
rawData = ((IImageDataUShort1D)frame.ImageData).ImageData_monoOrBGR;
imageData = ((ImageDataUShort1D)(frame.ImageData));
int width = (imageData.Width_pixels);
int height = (imageData.Height_pixels);
img = new IplImage(new Size(width, height), IplDepth.U16, imageData.NumberOfChannels);
using (var buffer = Mat.CreateMatHeader(rawData, height, width, Depth.U16, imageData.NumberOfChannels))
{
CV.Copy(buffer, img);
}
observer.OnNext(new ThorlabsDataFrame(
img,
new Metadata{
FrameNumber = frame.FrameNumber,
Timestamp = frame.TimeStampRelative_ns_OrNull.HasValue ? frame.TimeStampRelative_ns_OrNull.Value : 0}
));
}
}
}
}
}
}
catch (Exception ex) {
Console.WriteLine(ex);
observer.OnError(ex); throw; }
finally
{
camera.Disarm();
camera.Dispose();
}
},
cancellationToken,
TaskCreationOptions.LongRunning,
TaskScheduler.Default);
});
}
}
}