Polarization¶
Polarization.cpp shows how to extract and create images from a source image of Polarized8 or BayerRGPolarized8 pixel format using methods from the ImageUtilityPolarization, ImageUtility and ImageUtilityHeatmap classes. It relies on information provided in the Enumeration, Acquisition, and NodeMapInfo examples.
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/**
* @example Polarization.cpp
*
* @brief Polarization.cpp shows how to extract and create images from a source image of
* Polarized8 or BayerRGPolarized8 pixel format using methods from the ImageUtilityPolarization,
* ImageUtility and ImageUtilityHeatmap classes.
* It relies on information provided in the Enumeration, Acquisition, and NodeMapInfo examples.
*
* This example demonstrates some of the methods that can be used to extract polarization quadrant
* images and create Stokes', AoLP, and DoLP images from the ImageUtilityPolarization class.
* It then demonstrates how to use some of the available methods in the ImageUtility and
* ImageUtilityHeatmap classes to create normalized and heatmap images.
*
* Polarization is only available for polarized cameras. For more information
* please visit our website;
* https://www.teledynevisionsolutions.com/learn/learning-center/machine-vision/imaging-reflective-surfaces-sonys-first-polarized-sensor/
*
* Please leave us feedback at: https://www.surveymonkey.com/r/TDYMVAPI
* More source code examples at: https://github.com/Teledyne-MV/Spinnaker-Examples
* Need help? Check out our forum at: https://teledynevisionsolutions.zendesk.com/hc/en-us/community/topics
*/
#include "Spinnaker.h"
#include "SpinGenApi/SpinnakerGenApi.h"
#include <iostream>
#include <string>
#include <array>
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace std;
static bool isPixelFormatColor = false;
// This function prints the device information of the camera from the transport
// layer; please see NodeMapInfo example for more in-depth comments on printing
// device information from the nodemap.
int PrintDeviceInfo(INodeMap& nodeMap)
{
int result = 0;
cout << endl << "*** DEVICE INFORMATION ***" << endl << endl;
try
{
FeatureList_t features;
CCategoryPtr category = nodeMap.GetNode("DeviceInformation");
if (IsReadable(category))
{
category->GetFeatures(features);
FeatureList_t::const_iterator it;
for (it = features.begin(); it != features.end(); ++it)
{
try
{
CNodePtr pfeatureNode = *it;
cout << pfeatureNode->GetName() << " : ";
CValuePtr pValue = (CValuePtr)pfeatureNode;
cout << (IsReadable(pValue) ? pValue->ToString() : gcstring("Node not readable"));
cout << endl;
}
catch (Spinnaker::Exception)
{
cout << "Node not readable" << endl;
}
}
}
else
{
cout << "Device control information not readable." << endl;
}
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
return result;
}
// This function sets the pixel format to a Polarized pixel format, and acquisition mode to single frame.
int ConfigureStream(INodeMap& nodeMap)
{
//
// Set the pixel format to Polarized8 or BayerRGPolarized8
//
// *** NOTES ***
// Methods in the ImageUtilityPolarization class are supported for images of pixel format
// Polarized8 and BayerRGPolarized8. These formats are only available on the polarized camera.
// For more in-depth comments on formatting images, see the ImageFormatControl example.
// Retrieve the enumeration node from the nodemap
CEnumerationPtr ptrPixelFormat = nodeMap.GetNode("PixelFormat");
if (IsReadable(ptrPixelFormat) && IsWritable(ptrPixelFormat))
{
// Retrieve the desired entry node from the enumeration node
CEnumEntryPtr ptrPixelFormatPolarized8 = ptrPixelFormat->GetEntryByName("Polarized8");
CEnumEntryPtr ptrPixelFormatBayerRGPolarized8 = ptrPixelFormat->GetEntryByName("BayerRGPolarized8");
if (IsReadable(ptrPixelFormatPolarized8))
{
// Retrieve the integer value from the entry node
const int64_t pixelFormatPolarized8 = ptrPixelFormatPolarized8->GetValue();
// Set integer as new value for enumeration node
ptrPixelFormat->SetIntValue(pixelFormatPolarized8);
isPixelFormatColor = false;
cout << "Pixel format set to " << ptrPixelFormat->GetCurrentEntry()->GetSymbolic() << "..." << endl;
}
else if (IsReadable(ptrPixelFormatBayerRGPolarized8))
{
// Retrieve the integer value from the entry node
const int64_t pixelFormatBayerRGPolarized8 = ptrPixelFormatBayerRGPolarized8->GetValue();
// Set integer as new value for enumeration node
ptrPixelFormat->SetIntValue(pixelFormatBayerRGPolarized8);
isPixelFormatColor = true;
cout << "Pixel format set to " << ptrPixelFormat->GetCurrentEntry()->GetSymbolic() << "..." << endl;
}
else
{
// Methods in the ImageUtilityPolarization class are supported for images of
// polarized pixel formats only.
cout << "Pixel format Polarized8 or BayerRGPolarized8 not readable (entry retrieval). Aborting..." << endl;
return -1;
}
}
else
{
// Methods in the ImageUtilityPolarization class are supported for images of
// polarized pixel formats only.
cout << "Pixel format not writable (enum retrieval). Aborting..." << endl;
return -1;
}
// Set acquisition mode to single frame
CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
if (!IsReadable(ptrAcquisitionMode) || !IsWritable(ptrAcquisitionMode))
{
cout << "Unable to get or set acquisition mode to single frame (enum retrieval). Aborting..." << endl << endl;
return -1;
}
// Retrieve entry node from enumeration node
CEnumEntryPtr ptrAcquisitionModeSingleFrame = ptrAcquisitionMode->GetEntryByName("SingleFrame");
if (!IsReadable(ptrAcquisitionModeSingleFrame))
{
cout << "Unable to get acquisition mode to single frame (entry retrieval). Aborting..." << endl << endl;
return -1;
}
// Retrieve integer value from entry node
const int64_t acquisitionModeSingleFrame = ptrAcquisitionModeSingleFrame->GetValue();
// Set integer value from entry node as new value of enumeration node
ptrAcquisitionMode->SetIntValue(acquisitionModeSingleFrame);
cout << "Acquisition mode set to single frame..." << endl;
return 0;
}
// This function saves an image and prints some information.
// The serial number will be prepended to the filename if it is not empty.
int SaveImage(const ImagePtr& pImage, const string filename, gcstring& serialNumber)
{
try
{
string fullFilename;
if (!serialNumber.empty())
{
// Prepend the filename with the serial number
fullFilename = serialNumber.c_str() + filename;
// Add a hyphen between the serial number and original filename
fullFilename.insert(serialNumber.length(), 1, '-');
}
else
{
fullFilename = filename;
}
// Save the image and print image info
pImage->Save(fullFilename.c_str());
cout << "Image saved at " << fullFilename << endl;
cout << "Width = " << pImage->GetWidth() << ", height = " << pImage->GetHeight()
<< ", pixel format = " << pImage->GetPixelFormatName() << endl
<< endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
return -1;
}
return 0;
}
// This function returns a string of the specified polarization quadrant appendage.
std::string GetQuadFileNameAppendage(const PolarizationQuadrant quadrant)
{
switch (quadrant)
{
case SPINNAKER_POLARIZATION_QUADRANT_I0:
return "I0";
case SPINNAKER_POLARIZATION_QUADRANT_I45:
return "I45";
case SPINNAKER_POLARIZATION_QUADRANT_I90:
return "I90";
case SPINNAKER_POLARIZATION_QUADRANT_I135:
return "I135";
default:
return "UNKNOWN_QUAD";
}
}
// This function creates and saves a heatmap image using the ImageUtilityHeatmap class.
// The function demonstrates setting the heatmap gradient and range.
int CreateHeatmapImages(const ImagePtr& mono8Image, const string baseFilename, gcstring& deviceSerialNumber)
{
try
{
//
// Set the heatmap color gradient and range.
//
// *** NOTES ***
// By default the heatmap gradient will be set from HEATMAP_BLACK to HEATMAP_WHITE, and the
// range from 0 to 100 percent radiance. Changes to the heatmap can be visualized in SpinView
// using the 'Configure Heatmap Gradient' tool when streaming with any heatmap polarization
// algorithm applied.
// (ex. Heatmap (AoLP)). Below are the optional functions available to modify the heatmap.
//
ImageUtilityHeatmap::SetHeatmapColorGradient(SPINNAKER_HEATMAP_COLOR_BLACK, SPINNAKER_HEATMAP_COLOR_WHITE);
//
// *** NOTES ***
// The heatmap can be manipulated to focus on a portion of the calculated range (from 0 to 100%).
// The radiance of the heatmap describes the percent linear polarization for DoLP images, the
// degree of linear polarization for AoLP images (from -90 to 90), and the percent radiance for
// Stokes' parameters. Note that AoLP angles need to be expressed as a percentage of the maximum
// range (-90 to 90) before being used as inputs to this function. In SpinView the percent is
// shown in brackets in the range slider tool tip.
// Converting from the range of (-90 to 90) deg to (0 to 100) percent is shown:
// degrees = (percent / 100) * 180 - 90
// percent = (degrees + 90) * 100 / 180
//
ImageUtilityHeatmap::SetHeatmapRange(0, 100);
// Create a heatmap image and save it
//
// *** NOTES ***
// Creating heatmap images is not exclusive to polarized cameras!
// Any image of pixel format Mono8 or Mono16 can be used to create a heatmap image.
//
const auto heatmapImage = ImageUtilityHeatmap::CreateHeatmap(mono8Image);
SaveImage(heatmapImage, (baseFilename + "_Heatmap.jpg"), deviceSerialNumber);
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
return -1;
}
return 1;
}
// This function extracts polarization quadrant images using the ImageUtilityPolarization class.
// It then calls helper function CreateHeatmapImages on all monochrome polarization quadrant images.
int ExtractAndSavePolarQuadImages(const ImagePtr& pRawPolarizedImage, gcstring& deviceSerialNumber)
{
try
{
// Define an array of polarization quadrant enums to use in ExtractPolarQuadrant method
array<PolarizationQuadrant, 4> polarizationQuadEnums = {SPINNAKER_POLARIZATION_QUADRANT_I0,
SPINNAKER_POLARIZATION_QUADRANT_I45,
SPINNAKER_POLARIZATION_QUADRANT_I90,
SPINNAKER_POLARIZATION_QUADRANT_I135};
for (auto polarizationQuadEnum = polarizationQuadEnums.begin();
polarizationQuadEnum != polarizationQuadEnums.end();
++polarizationQuadEnum)
{
// Save a string that describes the image being saved
const string quadrantName = "Quadrant_" + GetQuadFileNameAppendage(*polarizationQuadEnum);
// Extract the polarization quadrant image and save it
//
// *** NOTES ***
// Polarization quadrant images are unaltered source data extracted into images that
// represent all pixels with a polarizing filter of the specified orientation.
// i.e. 0 deg polarization = QUADRANT_I0.
// This means that each extracted image will be a quarter the size of the source image,
// as each type of polarizing filter covers a fourth of the sensors photodiodes.
// Polarization quadrant images are extracted as Mono8 and BayerRG8 for monochrome and
// color cameras respectively.
//
const auto polarizationQuadImage =
ImageUtilityPolarization::ExtractPolarQuadrant(pRawPolarizedImage, *polarizationQuadEnum);
SaveImage(polarizationQuadImage, (quadrantName + ".jpg"), deviceSerialNumber);
// Save heatmap images for each Mono8 polarization quadrant images.
if (!isPixelFormatColor)
{
CreateHeatmapImages(polarizationQuadImage, quadrantName, deviceSerialNumber);
}
}
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
return -1;
}
return 1;
}
// This function creates and saves an image with reduced glare using the ImageUtilityPolarization class.
int CreateAndSaveGlareReducedImage(const ImagePtr& pRawPolarizedImage, gcstring& deviceSerialNumber)
{
try
{
// Create a glare reduced image and save it
//
// *** NOTES ***
// When unpolarized light is incident upon a dielectric surface, the reflected portion of the light
// is partially polarized according to Brewster's law. Selecting the filtered pixel that most effectively
// blocks this polarized light in each pixel quadrant reduces glare in the overall image. Since one pixel
// is selected from each 2x2 polarized pixel quadrant the resulting image will be a quarter of the raw
// image's resolution.
//
const auto glareReducedImage = ImageUtilityPolarization::CreateGlareReduced(pRawPolarizedImage);
SaveImage(glareReducedImage, "Glare_Reduced.jpg", deviceSerialNumber);
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
return -1;
}
return 1;
}
// This function creates and saves a normalized image using the ImageUtility class.
// Monochrome and color images are normalized to Pixelformat_Mono8 and PixelFormat_RGB8 respectively
int CreateNormalizedImage(
const ImagePtr& imageToNormalize,
const string baseFilename,
gcstring& deviceSerialNumber,
SourceDataRange srcDataRange = SPINNAKER_SOURCE_DATA_RANGE_IMAGE_DATA_RANGE)
{
try
{
// Create a normalized image
//
// *** NOTES ***
// Creating normalized images is not exclusive to polarized cameras!
// Any image with image data (pixel format) of type of char, short, or float can be used to
// create a normalized image.
//
const auto normalizedImage = ImageUtility::CreateNormalized(
imageToNormalize, isPixelFormatColor ? PixelFormat_RGB8 : PixelFormat_Mono8, srcDataRange);
SaveImage(normalizedImage, (baseFilename + "_Normalized.jpg"), deviceSerialNumber);
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
return -1;
}
return 1;
}
// This function creates and saves raw and normalized Stokes' images using the
// ImageUtilityPolarization class.
int CreateAndSaveStokesImages(const ImagePtr& pRawPolarizedImage, gcstring& deviceSerialNumber)
{
try
{
// Create Stokes' images using the appropriate function calls
//
// *** NOTES ***
// Stokes' images add (S0) or subtract (S1, S2) polarization quadrant images. Therefore
// each created image is a quarter the size of the source image.
//
// The algorithms are as follows:
// S0 = I0 + I90 : The overall intensity of light
// S1 = I0 - I90 : The difference in intensity accepted through the polarizers at 0 and 90
// to the horizontal
// S2 = I45 - I135 : The difference in intensity accepted through the polarizers at 45 and -45
// to the horizontal
//
// The calculated Stokes' values can range from, 0 (S0) or -255 (S1, S2), to 510 and thus are
// stored with pixel formats Mono16s or RGB16s, for monochrome and color cameras respectively.
// These formats can only be saved using a raw file extension.
//
const auto stokesS0Image = ImageUtilityPolarization::CreateStokesS0(pRawPolarizedImage);
const auto stokesS1Image = ImageUtilityPolarization::CreateStokesS1(pRawPolarizedImage);
const auto stokesS2Image = ImageUtilityPolarization::CreateStokesS2(pRawPolarizedImage);
// Add all raw Stokes' images to an array
array<ImagePtr, 3> stokesImages = {stokesS0Image, stokesS1Image, stokesS2Image};
// Save a stokes Appendage to create a descriptive filename
long long stokesAppendage = 0;
// Loop through raw Stokes' images, saving a raw and normalized copy
for (auto stokesImage = stokesImages.begin(); stokesImage != stokesImages.end(); ++stokesImage)
{
const string stokesName = "Stokes_S" + to_string(stokesAppendage++);
// Save the raw Stokes' images
SaveImage(*stokesImage, (stokesName + ".raw"), deviceSerialNumber);
// Create and save a normalized Stokes' image
CreateNormalizedImage(
*stokesImage,
stokesName,
deviceSerialNumber,
SourceDataRange::SPINNAKER_SOURCE_DATA_RANGE_ABSOLUTE_DATA_RANGE);
}
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
return -1;
}
return 1;
}
// This function creates and saves raw and normalized AoLP and DoLP images using the
// ImageUtilityPolarization class.
int CreateAndSaveAolpDolpImages(const ImagePtr& pRawPolarizedImage, gcstring& deviceSerialNumber)
{
try
{
// Create and save AoLP and DoLP images using the appropriate function calls
//
// *** NOTES ***
// The Angle of Linear Polarization, AoLP, and Degree of Linear Polarization, DoLP, are calculated
// using Stokes' values. Therefore each created image is a quarter the size of the source image.
//
// The algorithms are as follows:
// DoLP = ((S1pow(2) + S2pow(2))pow(1/2)) / S0 : The fraction of incident light intensity in
// the linear polarization states
// AoLP = (1/2)* arctan( S2 / S1) : The angle at which linearly polarized light
// oscillates with respect to a reference axis
//
// The calculated AoLP will range from -90 deg to 90 deg and DoLP values will range from 0 to 1
// (float). Therefore the images are stored with pixel formats Mono32f or RGB32f, for monochrome
// and color cameras respectively. These formats can only be saved using a raw file extension.
//
const auto aolpImage = ImageUtilityPolarization::CreateAolp(pRawPolarizedImage);
SaveImage(aolpImage, "AoLP.raw", deviceSerialNumber);
const auto dolpImage = ImageUtilityPolarization::CreateDolp(pRawPolarizedImage);
SaveImage(dolpImage, "DoLP.raw", deviceSerialNumber);
// Create and save normalized AoLP and DoLP images
const auto aolpNormalizedImage = ImageUtility::CreateNormalized(
aolpImage,
isPixelFormatColor ? PixelFormat_RGB8 : PixelFormat_Mono8,
SPINNAKER_SOURCE_DATA_RANGE_ABSOLUTE_DATA_RANGE);
SaveImage(aolpNormalizedImage, "AoLP_Normalized.jpg", deviceSerialNumber);
const auto dolpNormalizedImage = ImageUtility::CreateNormalized(
dolpImage,
isPixelFormatColor ? PixelFormat_RGB8 : PixelFormat_Mono8,
SPINNAKER_SOURCE_DATA_RANGE_ABSOLUTE_DATA_RANGE);
SaveImage(dolpNormalizedImage, "DoLP_Normalized.jpg", deviceSerialNumber);
// Create and save AoLP and DoLP heatmaps for mono images
if (!isPixelFormatColor)
{
CreateHeatmapImages(aolpNormalizedImage, "AoLP", deviceSerialNumber);
CreateHeatmapImages(dolpNormalizedImage, "DoLP", deviceSerialNumber);
}
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
return -1;
}
return 1;
}
// This function acquires a raw polarized image and then extracts and creates images using methods from
// the ImageUtilityPolarization, ImageUtility and ImageUtilityHeatmap classes;
// please see Acquisition example for more in-depth comments on acquiring images.
int AcquireImages(CameraPtr pCam, INodeMap& nodeMapTLDevice)
{
cout << endl << "*** IMAGE ACQUISITION ***" << endl << endl;
// Get a polarized image from the camera and use helper functions to create and save unique images
try
{
// Begin acquiring images
pCam->BeginAcquisition();
cout << "Acquiring an image from the polarized camera..." << endl;
// Retrieve device serial number for filename
gcstring deviceSerialNumber("");
CStringPtr ptrStringSerial = nodeMapTLDevice.GetNode("DeviceSerialNumber");
if (IsReadable(ptrStringSerial))
{
deviceSerialNumber = ptrStringSerial->GetValue();
cout << "Device serial number retrieved as " << deviceSerialNumber << "..." << endl;
}
cout << endl;
// Retrieve the received raw image
ImagePtr pRawPolarizedImage = pCam->GetNextImage(1000);
// Ensure image completion
if (pRawPolarizedImage->IsIncomplete())
{
cout << "Image incomplete with image status " << pRawPolarizedImage->GetImageStatus() << "..." << endl
<< endl;
}
else
{
// Save a polarized reference image
//
// *** NOTES ***
// SaveImage prepends the serial number to the filename and save the image
//
SaveImage(pRawPolarizedImage, "Raw_Polarized_Image.jpg", deviceSerialNumber);
// Extract and save all polarization quadrants and create heatmap images for all
// monochrome images
ExtractAndSavePolarQuadImages(pRawPolarizedImage, deviceSerialNumber);
// Create and save raw and normalized Stokes' images
CreateAndSaveStokesImages(pRawPolarizedImage, deviceSerialNumber);
// Create and save raw and normalized AoLP and DoLP images
CreateAndSaveAolpDolpImages(pRawPolarizedImage, deviceSerialNumber);
// Create and save an image with a simple glare reduction applied
CreateAndSaveGlareReducedImage(pRawPolarizedImage, deviceSerialNumber);
}
// Release image
pRawPolarizedImage->Release();
cout << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
return -1;
}
// End acquisition
pCam->EndAcquisition();
return 0;
}
// This function acts as the body of the example; please see NodeMapInfo example
// for more in-depth comments on setting up cameras.
int RunSingleCamera(CameraPtr pCam)
{
int result = 0;
try
{
// Retrieve TL device nodemap and print device information
INodeMap& nodeMapTLDevice = pCam->GetTLDeviceNodeMap();
result = PrintDeviceInfo(nodeMapTLDevice);
// Initialize camera
pCam->Init();
// Retrieve GenICam nodemap
INodeMap& nodeMap = pCam->GetNodeMap();
// Set the pixel format and acquisition mode
if (ConfigureStream(nodeMap) != -1)
{
// Acquire images
result = result | AcquireImages(pCam, nodeMapTLDevice);
}
// Deinitialize camera
pCam->DeInit();
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
return result;
}
// Example entry point; please see Enumeration example for additional
// comments on the steps in this function.
int main(int /*argc*/, char** /*argv*/)
{
// Since this application saves images in the current folder
// we must ensure that we have permission to write to this folder.
// If we do not have permission, fail right away.
FILE* tempFile = fopen("test.txt", "w+");
if (tempFile == nullptr)
{
cout << "Failed to create file in current folder. Please check "
"permissions."
<< endl;
cout << "Press Enter to exit..." << endl;
getchar();
return -1;
}
fclose(tempFile);
remove("test.txt");
int result = 0;
// Print Application Build Information
cout << "Application build date: " << __DATE__ << " " << __TIME__ << endl << endl;
// Retrieve singleton reference to system object
SystemPtr system = System::GetInstance();
// Print out current library version
const LibraryVersion spinnakerLibraryVersion = system->GetLibraryVersion();
cout << "Spinnaker library version: " << spinnakerLibraryVersion.major << "." << spinnakerLibraryVersion.minor
<< "." << spinnakerLibraryVersion.type << "." << spinnakerLibraryVersion.build << endl
<< endl;
// Retrieve list of cameras from the system
CameraList camList = system->GetCameras();
const unsigned int numCameras = camList.GetSize();
cout << "Number of cameras detected: " << numCameras << endl << endl;
// Finish if there are no cameras
if (numCameras == 0)
{
// Release camera list before releasing system
camList.Clear();
// Release system
system->ReleaseInstance();
cout << "Not enough cameras!" << endl;
cout << "Done! Press Enter to exit..." << endl;
getchar();
return -1;
}
// Run example on each camera
for (unsigned int i = 0; i < numCameras; i++)
{
cout << endl << "Running example for camera " << i << "..." << endl;
result = result | RunSingleCamera(camList.GetByIndex(i));
cout << "Camera " << i << " example complete..." << endl << endl;
}
// Release camera list before releasing system
camList.Clear();
// Release system
system->ReleaseInstance();
cout << endl << "Done! Press Enter to exit..." << endl;
getchar();
return result;
}