Julia interface to Spinnaker cameras

The SpinnakerCameras package is to use cameras via the Spinnaker SDK (Software Development Kit).

Installation

Copy file deps/example-deps.jl as deps/deps.jl and edit the value of constant lib to reflect the full path to the Spinnaker SDK dynamic library for C code.

Usage

System, interface and camera objects

Compared to the Spinnaker SDK for C code, the managment of objects is much simplified by the Julia interface. For instance, Spinnaker objects are automatically released or destroyed when their Julia counterpart is rabage collected.

To deal with Spinnaker cameras and interfaces, you must first get an instance of the Spinnaker object system:

using SpinnakerCameras
system = SpinnakerCameras.System()

To retrieve a list of Spinnaker interfaces to which cameras can be connected, call one of:

interfaces = system.interfaces
interfaces = SpinnakerCameras.InterfaceList(system)

To get a specific interface instance, say the i-th one, call one of:

interface = SpinnakerCameras.Interface(interfaces, i)
interface = interfaces[i]

which are completely equivalent. As you may expect, calling length(interfaces) yields the number of entries in the interface list. Note that the indices of Spinnaker interfaces, cameras, enumerations, and nodes are 1-based in Julia.

To retrieve a list of all cameras connected to the system, call one of:

cameras = system.cameras
cameras = SpinnakerCameras.CameraList(system)

To retrieve a list of cameras connected to a given interface, call one of:

cameras = interface.cameras
cameras = SpinnakerCameras.CameraList(interface)

Calling length(cameras) yields the number of cameras in the list.

An instance of a specific camera, say the i-th one, is given by:

camera = SpinnakerCameras.Camera(cameras, i)
camera = cameras[i]

which are completely equivalent.

Note that you may chain operations. For instance, you may do:

camera = system.interfaces[2].cameras[1]

to retrieve the 1st camera on the 2nd interface. Chaining operations however results in creating temporary objects which are automatically released or destroyed but which are only used once.

Lists of interfaces and lists of cameras are iterable so you may write:

for camera in system.cameras
    ...
end

to loop over the cameras of the system.

Images

A Spinnaker image may be created by:

img = SpinnakerCameras.Image(pixelsformat, (width,height))

where pixelsformat is an integer specifying the pixel format (see enumeration spinImageFileFormat in header SpinnakerDefsC.h for possible values) while the 2-tuple (width,height) specifies the dimensions of the image in pixels.

An image may also be acquired from a camera (streaming acquisition must be running):

img = SpinnakerCameras.next_image(camera)

which waits forever until a new image is available. In general it is better to specify a time limit, for instance:

secs = 5.0 # maximum number of seconds to wait
img = SpinnakerCameras.next_image(camera, secs)

If you want to catch timeout error, the following piece of code yields a result img that is an image if a new image is acquirred before the time limit, or nothing if the time limit is exceeded, and throws an exception otherwise:

img = try
    SpinnakerCameras.next_image(camera, secs)
catch ex
    if (!isa(ex, SpinnakerCameras.CallError) ||
        ex.code != SpinnakerCameras.SPINNAKER_ERR_TIMEOUT)
        rethrow(ex)
    end
    nothing
end

Images implement many properties. For example:

img.bitsperpixel     # yields the number of bits per pixel of `img`
img.buffersize       # yields the buffer size of `img`
img.data             # yields the image data of `img`
img.privatedata      # yields the private data of `img`
img.frameid          # yields the frame Id of `img`
img.height           # yields the height of `img`
img.id               # yields the Id of `img`
img.offsetx          # yields the X-offset of `img`
img.offsety          # yields the Y-offset of `img`
img.paddingx         # yields the X-padding of `img`
img.paddingy         # yields the Y-padding of `img`
img.payloadtype      # yields the payload type of `img`
img.pixelformat      # yields the pixel format of `img`
img.pixelformatname  # yields the pixel format name of `img`
img.size             # yields the size of `img` (number of bytes)
img.stride           # yields the stride of `img`
img.timestamp        # yields the timestamp of `img`
img.validpayloadsize # yields the valid payload size of `img`
img.width            # yields the width of `img`