Vision Cam PS / SM2-D

Transcription

1 Vision Cam PS / SM2-D Tutorial Version 1.2 (August 2008) TUT001 08/2008 V1.2 Strampe Systemelektronik GmbH & Co KG and Photonfocus AG reserve the right to make changes, without notice to the VisionCam PS / SM2-D specifications.

2 Tutorial VisionCam PS / SM2-D Contents Contents 1. Introduction Project View Framework User Class Example Constructor Destructor OnUserIO() OnImage() Example Constructor Destructor OnUserIO() OnImage() Example Constructor Destructor OnUserIO() OnImage() Further examples Revision History...12 Seite 2 von 12

3 Tutorial VisionCam PS / SM2-D Introduction 1. Introduction This tutorial introduces basic concepts of using the VisionCam PS / SM2-D software framework. It is assumed that the user has a basic knowledge of using the Texas Instruments (TI) Code Composer Studio (CCS) development suite (Opening a project, compiling the project and loading the program to the target DSP) Project View Each project consists of some files which are listed in the Project View window of the Code Composer Studio (CCS) after opening a project (see fig. 1). File types: Figure 1: Project View window DSP/BIOS Configuration Configuration for the DSP/BIOS multitasking kernel The DSP/BIOS configuration allows you to statically configure objects and properties for use by the DSP/BIOS API at run time. These objects include threads, thread priorities, I/O streams, event logs, memory, and interrupt handlers. Generated Files Files automatically generated by DSP/BIOS Include You do not need to manually add include files to your project, because the program finds them automatically when it scans for dependencies as part of the build process. After you build your project, the include files appear in the Project View. Libraries These are precompiled function libraries. Seite 3 von 12

4 Tutorial VisionCam PS / SM2-D Introduction Source Your own source files CMD Linker Command File This file maps program and data sections to memory Framework The software for the VisionCam PS / SM2-D consists mainly of a framework which is provided as source code or as a precompiled library (Framework.lib). It contains many C ++ classes which manage the following functions: Image transfer from camera sensor to DSP memory Modifying, loading and saving camera features Providing Ethernet interface Handling of user inputs Visualization of graphical user interface (GUI) User Class For an application one class has to be implemented by the user: The application dialog class, CDlgApp. It is made of a header file CDlgApp.hpp and an implementation file CDlgApp.cpp. The class creates an own dialog on the left side of screen and gives access to images grabbed by the camera. This class declares four functions: Constructor (CDlgApp()) - Construction of the class - Initialization of user variables, etc. Destructor (~CDlgApp()) - Clean up of the class - Free allocated memory, etc. OnUserIO() - This function is automatically called by the framework - It is designed to handle user inputs like keyboard or mouse. OnImage() - This function is called by the framework after an image has been grabbed - It is intended for performing the image processing Seite 4 von 12

5 Tutorial VisionCam PS 2 Example 1 2. Example 1 The first example project demonstrates how to show a live image from the camera and how to handle user inputs. Figure 2: Example Constructor The constructor loads an icon image from the µsd card with the ReadIcon("B_BACK.PNG", 98, 98) function and adds an icon button to the application dialog (GUI_DlgAddIconButton()). The button obtains the identifier DLG_ABORT, which is necessary for leaving the dialog and returning to the main dialog of the program. CDlgApp::CDlgApp(CPSApp *phapp, int x, int y, int Width, int Height) :CDlg(pHApp, x, y, Width, Height) SetID(DLG_APP); // Set Id of dialog GUI_DlgSetTitle(&m_Dlg, "Example 1"); // Change title of dialog // Add cancel button int iheight = m_pa->m_icon[icon_back].height; GUI_DlgAddIconButton(&m_Dlg, 110, Height - (iheight + 8), 98, 98, "_Back", &m_pa->m_icon[icon_back], DLG_ABORT); Seite 5 von 12

6 Tutorial VisionCam PS / SM2-D Example Destructor The destructor frees the memory of the previously allocated dialog with GUI_DlgFree(&m_Dlg). CDlgApp::~CDlgApp() GUI_DlgFree(&m_Dlg); OnUserIO() This function first checks if the dialog has the focus of the application. This means that our dialog is the active dialog of the program and has to handle all user inputs. Then the function GUI_DlgWork() is called. This function from the GUI library redirects the user inputs to the dialog event handler, which manages the visualization of dialog items and determines which item the user has selected. If the user has selected the button which was created in the constructor (Id = DLG_ABORT), the focus is returned to the main dialog of the application. After a user input the dialog is redrawn on the screen with GUI_DlgRefresh(). int CDlgApp::OnUserIO(int nkey) m_activity = 0; if ((*m_dlgfocus == m_id) && (*m_dlgnewfocus == m_id)) // m_activity contains an event ID of the last user input m_activity = GUI_DlgWork(&m_Dlg, nkey); switch (m_activity) case DLG_ABORT: // Return focus to main dialog *m_dlgnewfocus = DLG_MAIN; pdlgmain->enable(1); // Enable DlgMain again m_pa->m_view = m_pa->m_viewold; m_visible = 0; // Hide example dialog break; if (m_activity) // Update dialog after user interaction GUI_DlgRefresh(&m_Dlg); return m_activity; OnImage() The function copies (and converts) the grey image from the camera to a RGB image which is necessary for the Ethernet displays. Seite 6 von 12

7 Tutorial VisionCam PS / SM2-D Example 2 int CDlgApp::OnImage(YIMAGE *psrc, CIMAGE *pdst) // Copy the image from psrc to pdst GUI_CopyYArea2RGB(pSrc, pdst, 0, 0, psrc->width, psrc->height, 0, 0); return 0; 3. Example 2 The second example is based on the first one. Additionally it demonstrates simple image processing and handling extra user inputs. Figure 3: Example Constructor The constructor is inherited from the first example. There is a new member variable m_thresh, which is assigned to an edit slider dialog item. m_thresh = 128; // Create dialog edit slider GUI_DlgAddEditSlider(&m_Dlg, 8, 32, Width-16, "_Threshold", &m_thresh, 0, 255, 1); Seite 7 von 12

8 Tutorial VisionCam PS / SM2-D Example Destructor The destructor is identically to example OnUserIO() This function is also identically to example 1. The value of m_thresh is automatically changed by GUI_DlgWork() OnImage() The function performs an additionally threshold of the camera image. Every pixel of the image is compared with the threshold value; bigger values are set to white (255), smaller values are set to black (0). int CDlgApp::OnImage(YIMAGE *psrc, CIMAGE *pdst) unsigned char *restrict py = psrc->py; // Shortcut to camera image pointer // Threshold image for (int i=0; i<psrc->width*psrc->height; i++) py[i] = (py[i]>m_thresh)? 255 : 0; // Copy the image from psrc to pdst GUI_CopyYArea2RGB(pSrc, pdst, 0, 0, psrc->width, psrc->height, 0, 0); return 0; This is, of course, not the fastest threshold algorithm for the DSP. See further documentation for using optimization techniques. Seite 8 von 12

9 Tutorial VisionCam PS 4 Example 3 4. Example 3 This example is also based on the first one. It demonstrates how to change features of the camera like the exposure time. Figure 4: Example Constructor The constructor is also inherited from the first example. There is a new member variable m_exposuretime, which is assigned to an edit slider dialog item. The edit slider is switched to logarithmic mode to get a better adaption to the value range of this feature. A pointer to the exposure feature is generated by accessing the member from the application main class (m_pa->m_pexposuretime). The current value of a camera feature is read by GetValue(), minimum and maximum values are read by GetMin() and GetMax(). SetValue() sets a new value to the feature. Seite 9 von 12

10 Tutorial VisionCam PS / SM2-D Example 3 CFeature *pexposuretime = m_pa->m_pexposuretime; // Shortcut to exposure feature m_exposuretime = pexposuretime->getvalue(); // Copy value of exposure into member variable // Create dialog buttons GUI_DlgAddButton(&m_Dlg, 8, 32, Width-16, 24, "Exposure _10000", 1); GUI_DlgAddButton(&m_Dlg, 8, 64, Width-16, 24, "Exposure _20000", 2); // Create dialog edit slider DLG_ITEMD *pitem = GUI_DlgAddEditSlider(&m_Dlg, 8, 96, Width-16, "_Exp", &m_exposuretime, pexposuretime->getmin(), pexposuretime->getmax(), 3); GUI_DlgSetEditSliderType(pItem, DLG_ES_LOGARITHMIC); Destructor The destructor is identically to example OnUserIO() This function has to handle some further user input events after GUI_DlgWork(). Selecting button 1 or 2 sets the exposure time to a specified value. If the edit slider is moved, the return value of GUI_DlgWork() is DLG_VALUE_- CHANGED. In this case the identifier of the active dialog item has to be determined by GUI_GetSelectedID(). If the returned Id is identically to our edit slider, the exposure time is changed. Seite 10 von 12

11 Tutorial VisionCam PS / SM2-D Example 3 int CDlgApp::OnUserIO(int nkey) CFeature *pexposuretime = m_pa->m_pexposuretime; // Shortcut m_activity = 0; if ((*m_dlgfocus == m_id) && (*m_dlgnewfocus == m_id)) m_activity = GUI_DlgWork(&m_Dlg, nkey); // m_activity contains an event ID of the last user input switch (m_activity) case 1: // Button 1 pexposuretime->setvalue(10000); m_exposuretime = 10000; break; case 2: // Button 2 pexposuretime->setvalue(20000); m_exposuretime = 20000; break; case DLG_VALUE_CHANGED: // Slider value has changed if (GUI_DlgGetSelectedID(&m_Dlg) == 3) // Exposure edit slider pexposuretime->setvalue(m_exposuretime); break; case DLG_ABORT: *m_dlgnewfocus = DLG_MAIN; pdlgmain->enable(1); m_pa->m_view = m_pa->m_viewold; m_visible = 0; break; if (m_activity) GUI_DlgRefresh(&m_Dlg); return m_activity; OnImage() This function is identically to example 1. Seite 11 von 12

12 Tutorial VisionCam PS 5 Further examples 5. Further examples There are further examples delivered with the VisionCam PS / SM2-D The prj_imagelib project provides access to some functions of the highly optimized image library from Texas Instruments. The user can select a region of interest like in the SDK project and switch between different edge detection functions from the library (IMG_thr_gt2max(), IMG_thr_le2min(), IMG_perimeter(), IMG_sobel()). Figure 5: Image Lib and Halcon examples Another example shows how integrate the Halcon library into a project (prj_halcon). The image processing steps are threshold, segmentation, morphology and detection of object features. 6. Revision History Revision Date Changes 1.0 May 2008 First version 1.1 July 2008 Update screenshots 1.2 August 2008 Photonfocus information added Seite 12 von 12