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fix a bug where the ROI is not computed properly #2

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fix a bug where the ROI is not computed properly #2

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78 changes: 50 additions & 28 deletions prosilica_camera/src/nodes/prosilica_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,44 @@
#include "prosilica/prosilica.h"
#include "prosilica/rolling_sum.h"

/** Given ROI and binning parameters, define the new ROI
* @param x_offset_in the X offset of the input ROI (might be changed to fit in the image)
* @param y_offset_in the Y offset of the input ROI (might be changed to fit in the image)
* @param width_in the width of the input ROI (might be changed to fit in the image)
* @param height_in the height of the input ROI (might be changed to fit in the image)
* @param sensor_width the width of the input image
* @param sensor_height the height of the input image
* @param binning_x the binning in X (number of pixels mered together)
* @param binning_y the binning in X (number of pixels mered together)
* @param x_offset_out the X offset of the output ROI
* @param y_offset_out the Y offset of the output ROI
* @param width_out the width of the output ROI
* @param height_out the height of the output ROI
*/
void defineROI(int &x_offset_in, int &y_offset_in, int &width_in, int &height_in, int sensor_width, int sensor_height, int binning_x, int binning_y,
int &x_offset_out, int &y_offset_out, int &width_out, int &height_out) {
// Region of interest configuration
// Make sure ROI fits in image
x_offset_in = std::min(x_offset_in, (int)sensor_width - 1);
y_offset_in = std::min(y_offset_in, (int)sensor_height - 1);
width_in = std::min(width_in, (int)sensor_width - x_offset_in);
height_in = std::min(height_in, (int)sensor_height - y_offset_in);
// If width or height is 0, set it as large as possible
width_out = width_in ? width_in : sensor_width - x_offset_in;
height_out = height_in ? height_in : sensor_height - y_offset_in;

// Adjust full-res ROI to binning ROI
x_offset_out = x_offset_in / binning_x;
y_offset_out = y_offset_in / binning_y;
int right_x = (x_offset_in + width_out + binning_x - 1) / binning_x;
int bottom_y = (y_offset_in + height_out + binning_y - 1) / binning_y;
// Rounding up is bad when at max resolution which is not divisible by the amount of binning
right_x = std::min(right_x, sensor_width / binning_x);
bottom_y = std::min(bottom_y, sensor_height / binning_y);
width_out = right_x - x_offset_out;
height_out = bottom_y - y_offset_out;
}

/// @todo Only stream when subscribed to
class ProsilicaNode
{
Expand Down Expand Up @@ -296,27 +334,9 @@ class ProsilicaNode
config.binning_x = config.binning_y = 1;
}

// Region of interest configuration
// Make sure ROI fits in image
config.x_offset = std::min(config.x_offset, (int)sensor_width_ - 1);
config.y_offset = std::min(config.y_offset, (int)sensor_height_ - 1);
config.width = std::min(config.width, (int)sensor_width_ - config.x_offset);
config.height = std::min(config.height, (int)sensor_height_ - config.y_offset);
// If width or height is 0, set it as large as possible
int width = config.width ? config.width : sensor_width_ - config.x_offset;
int height = config.height ? config.height : sensor_height_ - config.y_offset;

// Adjust full-res ROI to binning ROI
/// @todo Replicating logic from polledCallback
int x_offset = config.x_offset / config.binning_x;
int y_offset = config.y_offset / config.binning_y;
unsigned int right_x = (config.x_offset + width + config.binning_x - 1) / config.binning_x;
unsigned int bottom_y = (config.y_offset + height + config.binning_y - 1) / config.binning_y;
// Rounding up is bad when at max resolution which is not divisible by the amount of binning
right_x = std::min(right_x, (unsigned)(sensor_width_ / config.binning_x));
bottom_y = std::min(bottom_y, (unsigned)(sensor_height_ / config.binning_y));
width = right_x - x_offset;
height = bottom_y - y_offset;
int x_offset, y_offset, width, height;
defineROI(config.x_offset, config.y_offset, config.width, config.height, sensor_width_, sensor_height_,
config.binning_x, config.binning_y, x_offset, y_offset, width, height);

cam_->setRoi(x_offset, y_offset, width, height);

Expand Down Expand Up @@ -403,15 +423,17 @@ class ProsilicaNode
cam_->setBinning(req.binning_x, req.binning_y);

if (req.roi.x_offset || req.roi.y_offset || req.roi.width || req.roi.height) {
// Those variables might be modified so we copy them
int x_offset_in = req.roi.x_offset, y_offset_in = req.roi.y_offset, width_in = req.roi.width,
height_in = req.roi.height;
// Final results
int x_offset, y_offset, width, height;
// GigE cameras use ROI in binned coordinates, so scale the values down.
// The ROI is expanded if necessary to land on binned coordinates.
unsigned int left_x = req.roi.x_offset / req.binning_x;
unsigned int top_y = req.roi.y_offset / req.binning_y;
unsigned int right_x = (req.roi.x_offset + req.roi.width + req.binning_x - 1) / req.binning_x;
unsigned int bottom_y = (req.roi.y_offset + req.roi.height + req.binning_y - 1) / req.binning_y;
unsigned int width = right_x - left_x;
unsigned int height = bottom_y - top_y;
cam_->setRoi(left_x, top_y, width, height);
defineROI(x_offset_in, y_offset_in, width_in, height_in, sensor_width_, sensor_height_,
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actually, there could be a problem here: if req is bogus, it does not get modified thus crippling later code. Not sure of who sends it. Should it be modified ?

req.binning_x, req.binning_y, x_offset, y_offset, width, height);

cam_->setRoi(x_offset, y_offset, width, height);
} else {
cam_->setRoiToWholeFrame();
}
Expand Down