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Advantech ICAM-500 Series Programming Manual

Industrial ai camera
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Programming Guide
ICAM-500 Series
Industrial AI Camera

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  • Page 1 Programming Guide ICAM-500 Series Industrial AI Camera...
  • Page 2 No part of this manual may be reproduced, copied, translated or transmitted in any form or by any means without the prior written permission of Advantech Co., Ltd. Information provided in this manual is intended to be accurate and reliable. How- ever, Advantech Co., Ltd.
  • Page 3 This product has passed the CE test for environmental specifications when shielded cables are used for external wiring. We recommend the use of shielded cables. This kind of cable is available from Advantech. Please contact your local supplier for ordering information.
  • Page 4 In accordance with IEC 704-1:1982 specifications, the sound pressure level at the operator's position does not exceed 70 dB (A). DISCLAIMER: These instructions are provided according to IEC 704-1 standards. Advantech disclaims all responsibility for the accuracy of any statements contained herein. ICAM-500 Programming Guide...

  • Page 5: Table Of Contents

    Contents Chapter Introduction..........1 Introduction ....................2 Development environment ................ 2 Limitations ....................2 Chapter ICAM-500 SDK Architecture ....3 ICAM-500 Web Service................4 ICAM-500 Web Service and CamNavi2 SDK Operation......5 Chapter Operation Flow ........7 Open/Close Camera Flow................. 8 Image Acquisition..................9 Image Trigger Flow .................
  • Page 6 ICAM-500 Programming Guide...
  • Page 7 Chapter Introduction...

  • Page 8: Chapter 1 Introduction

    The Advantech CAMNavi SDK offers the tools which provide developer/ ISV to oper- ating ICAM-500 series Industrial AI camera and deploy the vision AI APP. based on NVIDIA Jetpack. The CAMNavi SDK uses Python language by default and is better adapted to image acquisition and AI algorithm integration.

  • Page 9: Chapter 2 Icam-500 Sdk Architecture

    Chapter ICAM-500 SDK Architecture...

  • Page 10: Icam-500 Web Service

    ICAM-500 Web Service ICAM-500 could use Web browser (Chrome) to operate from its web service. The service use ICAM-500 restful API to control functions of ICAM-500 device. ICAM-500 Programming Guide...

  • Page 11: Icam-500 Web Service And Camnavi2 Sdk Operation

    ICAM-500 Web Service and CamNavi2 SDK Operation ICAM-500 web service uses CamNavi2 SDK to control ICAM-500 device. Only one instance could control ICAM-500 functions. If developer use SDK to writing python appli- cations, web service should turn off to release SDK control. This flow chart shows start/stop web.service decision path.
  • Page 12 ICAM-500 Programming Guide...

  • Page 13: Chapter 3 Operation Flow

    Chapter Operation Flow...

  • Page 14: Open/Close Camera Flow

    Use ICAM-500 python SDK should turn off web service. Temporary stop web service. $ sudo systemctl stop web.service Stop iCAM-500 web service persistently. $ sudo systemctl stop web.service $ sudo systemctl disable web.service $ sudo systemctl disable autoui.service Open/Close Camera Flow ICAM-500 Programming Guide...

  • Page 15: Image Acquisition

    Image Acquisition ICAM-500 Programming Guide...

  • Page 16: Image Trigger Flow

    Image Trigger Flow ICAM-500 Programming Guide...

  • Page 17: Hw Trigger Control Flow

    HW trigger Control flow ICAM-500 Programming Guide...

  • Page 18: Software Trigger

    3.4.1 Software trigger ICAM-500 Programming Guide...

  • Page 19: Lens Focusing Control

    Lens Focusing Control ICAM-500 Programming Guide...

  • Page 20: Digital Input Flow

    3.5.1 Digital Input flow ICAM-500 Programming Guide...

  • Page 21: Chapter 4 Camnavi2 Sdk Api Manual

    Chapter CamNavi2 SDK API Manual...
  • Page 22 CamNavi2 SDK provide API of iCam-500. Include sensor operation, lighting control, board control… Below digram is SDK compoments hierarchy: Module CamNavi2 Function Description get_device_by_name() Use device name to get camera instance. get_info() Get BSP information. get_fw_info() Get firmware information. advcam_config_pipeline() Camera property configuration.

  • Page 23: Requirement

    Requirement 4.1.1 Basic Packages has contained in ICAM-500 BSP: python 3 python3-gst-1.0 python3-networkmanager 4.1.2 Option For ICAM-500 samples: sudo apt install python3-opencv module CamNavi2 4.2.1 class CamNavi2 class CamNavi2.CamNavi2(*args, **kwargs) CamNavi2 is a module for management ICAM device. enum_camera_list() Enumerate devices on iCam-500. Returns: dict A dict device name and device path mapping.
  • Page 24 advcam_config_pipeline (cam, **pipe_params) Camera gstreamer pipeline configuration. Parameters: params: dict{str, str} Set pipeline parameters. ‘format’: [‘GRAY8’, ‘YUY2’, ‘BGRA’]. Mono sku only has ‘GRAY8’. ‘acq_mode’: 0 = Continuous, 1 = Software Trigger, 2 = Hardware Trigger ‘width’: 640 ‘height’: 480 ‘frame_count’: -1 (-1 = continuous, >0 = frame count) ‘icam500=frame-rate’: 60 ‘timestamp’: [0, 1].
  • Page 25 advcam_register_new_image_handler(cam, new_image_cb) Register a new image event handler. Event handler sample: def new_sample_cb(sample): buf = smaple.get_buffer() Parameters: cam: ABSCamera Camera instance new_sample_cb New image event handler(callback). Returns: 0: Success. advcam_play(cam) Start image acquisition step. (Continuous mode or single shot) Parameters: cam: ABSCamera Camera instance Returns: bool...
  • Page 26 advcam_get_acq_mode(cam) Get acquisition mode property. Parameters: cam: ABSCamera Camera instance Returns: Acquisition mode: 0: Free run mode  1: Software trigger mode  2: Hardware trigger mode  advcam_set_acq_mode(cam, acq_mode) Set acquisition mode property. Parameters: cam: ABSCamera Camera instance acq_mode : int Acquisition mode: 0: Free run mode ...
  • Page 27 advcam_get_lighting_pos(cam) Get LED lighting location mode. Parameters: cam: ABSCamera Camera instance. Returns: 8 LED trigger location modes. range = [0..7] See also: iCam500.iCam500.get_lighting_pos() advcam_set_lighting_pos(cam, pos) Set LED lighting location mode. Parameters: cam: ABSCamera Camera instance. pos: int Trigger 8 LED lighting location. init value = 3 range = [0..7] 0: off...
  • Page 28 advcam_get_lighting_gain(cam) Get LED lighting intensity. Parameters: cam: ABSCamera Camera instance. Returns: LED lighting gain intensity. See also: iCam500.iCam500.get_lighting_gain() advcam_set_lighting_gain(cam, gain) Get LED lighting gain. Parameters: cam: ABSCamera Camera instance. gain: int LED lighting gain value. init value = 9 range = [0..25] step = 1 Returns: 0: Success...
  • Page 29 advcam_set_lighting_strobe_enable(cam, strobe) Set LED lighting enable state. Parameters: cam: ABSCamera Camera instance. strobe: enable = 1 disable = 0 Returns: 0: Success See also: HYPERLINK \l "iCam500.iCam500.set_lighting_strobe_enable() advcam_get_img_brightness(cam) Get camera sensor brightness. Parameters: cam: ABSCamera Camera instance. Returns: Sensor brightness value. See also: iCam500.iCam500.get_img_brightness() advcam_set_img_brightness(cam, brt)
  • Page 30 advcam_set_img_gain(cam, gain) Set camera sensor gain value. Parameters: cam: ABSCamera Camera instance. gain Camera sensor gain value. init value = 0 range = [0..24] step = 1 Returns: 0: Success advcam_get_img_sharpness(cam) Get camera image sharpness value. Parameters: cam: ABSCamera Camera instance. Returns: Camera image sharpness value.
  • Page 31 advcam_get_output_resolution(cam) Get camera instance status. Parameters: cam: ABSCamera Camera instance. Returns: tuple(int, int) Get (width, height) tuple. advcam_set_output_resolution(cam, out_res) Set frame resolution. Parameters: cam: ABSCamera Camera instance. out_res: tuple(int, int) Tuple contains (width, height) Returns: tuple(int, int) Assigned value width, height Raises: ValueError width or height not in valid_resolution_list *** This API can be set at run-time, but need to re-open (ie.

  • Page 32: Module Icam500

    module iCam500 4.3.1 class iCam500 class iCam500.iCam500(*args, **kwargs) iCam500 camera class Control items: camera sensor  image streaming  lens movement  strobe  digital  valid_resolution_list ICAM-500 supported resolution. ICAM-500: {1408:1080, 1280:960, 640:480, 320:240} type:dict image Camera sensor properties control. type: CImage focus Lens focusing motor control.
  • Page 33 snap_image(timeout=60 s) Snap an image. Parameters: timeout: int Wait image time. Returns: Image data in JPEG format. software_trigger() Invoke software trigger command. property hw_trigger_delay Hardware trigger delay time setting. Sku: color Getter: Read hardware trigger delay time value. Setter: Set hardware trigger delay time value. Value: init value: 0 ...
  • Page 34 get_pipeline_params(**params) Get properties value in defined pipeline. # Get width and height of image params = {'width': 0, 'height': 0} params = camera.get_pipeline_params(params) for key in params: print("key %s, value %d" % (key, params[key])) Parameters: params: dict{str, str} Dict of pipeline paramters. Returns: dict{str, str} config_pipeline(**params)
  • Page 35 close(quiet=0) Close ICAM-500 device. Parameters: quiet: int 0: default  1: Force turn off lighting.  Returns: 0: Success.  1: Error in exception.  register_new_sample(new_sample_cb) Register a new image event handler. Event handler sample: def new_sample_cb(sample): buf = smaple.get_buffer() Parameters: new_sample_cb New image event handler(callback).
  • Page 36 get_lighting_pos() Get LED lighting location mode. Returns: 8 LED trigger location modes. range = [0..7] See also: lighting.Lighting.selector Control by lighting instance. set_lighting_pos(pos) Set LED lighting location mode. Parameters: pos: int Trigger 8 LED lighting location. init value = 3 range = [0..7] 0: off Returns:...
  • Page 37 get_lighting_strobe_enable() Get LED lighting enable state. Returns: LED lighting enable state. init value = 1 range [0..1] See also: lighting.Lighting.strobe_enable Control by lighting instance. set_lighting_strobe_enable(strobe) Set LED lighting enable state. Parameters: strobe enable = 1  disable = 0  Returns: 0: Success See also:...
  • Page 38 get_img_gain() Get camera sensor gain value. Returns: Camera sensor gain value. See also: image.CImage.gain Control by image instance. set_img_gain(gain) Set camera sensor gain value. Parameters: gain Camera sensor gain value. init value = 0 range = [0..24] step = 1 Returns: 0: Success See also:...
  • Page 39 get_img_exposure_time() Get camera sensor exposure time value. Returns: Camera sensor exposure time. Convert equation: value * 100 (micro sec.) See also: image.CImage.exposure_time Control by image instance. set_img_exposure_time(exp_time) Set camera sensor exposure time value. Parameters: exp_time Camera sensor exposure value. init value = 50 range = [1..1000] step = 1 Convert equation: exp_time * 100 (micro sec.) Returns:...
  • Page 40 set_img_auto_exposure(enable) Enable camera auto exposure function. Parameters: enable 1: Enabled  0: Disabled  Returns: bool Camera auto exposure function status. 1: Enabled  0: Disabled  See also: image.CImage.auto_exposure Control by image instance. get_img_auto_exposure_range() Get auto exposure range. Returns: tuple(int, int) Auto exposure range.
  • Page 41 get_img_auto_gain() Get camera auto gain function status. Returns: Camera auto gain function status. 1: Enabled  0: Disabled  See also: image.CImage.auto_gain Control by image instance. set_img_auto_gain(enable) Enable camera auto gain function. Parameters: enable 1: Enabled  0: Disabled  Returns: bool Camera auto gain function status.
  • Page 42 See also: image.CImage.auto_gain_range Control by image instance. get_img_digital_gain() Get camera digital gain value. Returns: Camera digital gain value. See also: image.CImage.digital_gain Control by image instance. set_img_digital_gain(new_dgain) Set camera digital gain value. Parameters: new_dgain New camera digital gain. Returns: New digital gain value. See also: image.CImage.digital_gain Control by image instance.
  • Page 43 get_focus_direction() Get lens focusing motor movement direction. Returns: 1: Forward  0: Backward  See also: focus.Focus.direction Control by focus instance. set_focus_direction(new_direction) Set lens focusing motor movement direction. And invoke set_focus_distance(step) to move lens. Parameters: new_direction Change motor direction. 1: Forward ...
  • Page 44 get_status() Get camera status. Camera connection and acquisition status. Returns: CameraMode Reference iCam500.CameraMode get_output_ress() Get current frame resolution. Returns: tuple(int, int) Get width and height tuple. set_output_res(out_res) Set frame resoultion. Parameters: out_res : tuple(int, int) Tuple contains (width, height) Returns: tuple(int, int) Assigned value width, height Returns:...

  • Page 45: Enum Cameramode

    get_timestamp_switch() Get timestamp on output image state. Returns: 0: Disable 1: Enabled pos_zero() Set lens focusing motor to home. See also: focus.Focus.pos_zero() Control by focus instance. focus_abs_position() Get lens focusing motor abs position. Returns: Motor position. See also: focus.Focus.position() Control by focus instance. 4.3.2 enum CameraMode class iCam500.CameraMode(value)

  • Page 46: Module Image

    module image 4.4.1 class CImage class image.CImage(camera) Camera image properties controls. property brightness Image brightness setting. Getter: Read sensor brightness setting. Setter: Set sensor brightness setting. Value: init value: 100  range: [0..255]  Type: Raises: ValueError Input value out of range. property gain Image gain setting.
  • Page 47 property saturation Color image saturation value. Enable property color_trans_op. Sku: color Getter: Read saturation value. Setter: Set saturation value. Value: init value: 0  range: [0..255]  Type: Raises: ValueError Input value out of range. property sharpness Image sharpness setting. Support ‘GRAY8’ and ‘YUY2’ pixel format. Getter: Read sensor sharpness setting.
  • Page 48 property awb_op Color image enable auto white balance setting. Sku: color Getter: Read enable auto white balance setting. Setter: Enable auto white balance setting. Value: init value: 1  range: [0,1]  0: Off, manual mode  1: Auto mode ...
  • Page 49 property awb_green Set color image AWB green channel value. Sku: color Setter: Set AWB green channel value in image.awb_op manual mode. Value: init value: 1024  range: [1..16376]  Type: Raises: ValueError Input value out of range. property awb_blue Set color image AWB blue channel value. Sku: color Setter:...
  • Page 50 Raises: ValueError Input value out of range. property color_trans_01 Color image color transform 01 value. CCM (color correction matrix) [C00, C01, C02] [C10, C11, C12] [C20, C21, C22] Sku: color Getter: Read color transform 01 value. Setter: Set color transform 01 value. Value: init value: 1024 ...
  • Page 51 property color_trans_11 Color image color transform 11 value. CCM (color correction matrix) [C00, C01, C02] [C10, C11, C12] [C20, C21, C22] Sku: color Getter: Read color transform 11 value. Setter: Set color transform 11 value. Value: init value: 1024  range: [-4096..4096] ...
  • Page 52 property color_trans_21 Color image color transform 21 value. CCM (color correction matrix) [C00, C01, C02] [C10, C11, C12] [C20, C21, C22] Sku: color Getter: Read color transform 21 value. Setter: Set color transform 21 value. Value: init value: 1024  range: [-4096..4096] ...
  • Page 53 property height Image height setting. Getter: Read image height setting. Setter: Set image height setting. Value: init value: 480  range: [240, 480, 960, 1080]  Type: Raises: ValueError Input value out of range. property exposure_time Camera sensor exposure time setting. Getter: Read sensor exposure time setting.
  • Page 54 property auto_exposure_range Camera sensor auto exposure time range setting. Getter: Read sensor exposure time range setting. Setter: Set sensor exposure time range. Value: tuple(min, max)  range: [1..10000]  Type: tuple(int, int) Raises: ValueError Input value out of range.  Minimum greater than maximum value.
  • Page 55 property digital_gain Camera sensor digital gain setting. Getter: Read sensor digital gain setting. Setter: Set sensor digital gain. Value: init value: 0  range: [-512..511]  Type: Raises: ValueError Input value out of range. property pixel_format Camera sensor pixel format. Getter: Read sensor pixel format setting.

  • Page 56: Module Focus

    module focus 4.5.1 class Focus class focus.Focus(camera) Camera image properties controls. property distance Lens focusing motor distance control. Example: camera.focus.pos_zero() # Set motor to position 0 camera.focus.direction = 1 # Motor foreward camera.focus.distance = 30 # Foreward 30 camera.focus.distance = 30 # Foreward 30 camera.focus.position() # Get position value is 60 Getter: Read motor movement step.

  • Page 57: Module Lighting

    pos_zero() Set lens focusing motor to position 0. module lighting 4.6.1 class Lighting class lighting.Lighting(camera) property selector LED lighting location mode control. 8 LED trigger location modes. Getter: Read LED lighting flash location. Setter: Set LED lighting flash location. Value: init value = 3 ...

  • Page 58: Module Board

    module board 4.7.1 class Board class board.Board(camera) ICAM-500 board I/O control module Digital I/O control instance. type: DigitalIO module digitalio 4.8.1 digital I/O code slice # Get camera instance. camera = cn2.get_device_by_name('iCam500') # Open camera device cn2.advcam_open(camera) # Setting do0 parameters camera.dio.do0.op_mode = 0 # DO op mode: user output camera.dio.do0.user_output = 0 # DO low, DI high camera.dio.do0.reverse = 0...

  • Page 59: Class Digitalio

    4.8.2 class DigitalIO class digitalio.DigitalIO(board) digital input 0. type: DigitalInput digital input 1. type: DigitalInput digital output 0 type: DigitalOutput digital output 1 type: DigitalOutput 4.8.2.1 class DigitalInput class lighting.Lighting(board, dev_name) property level Digital input level state. Getter: Read input level state. Value: 1: high ...
  • Page 60 Value: 0: None  1: rising edge  2: falling edge  3: both  Type: Raises: ValueError Input value out of range. property debounce_time DI trigger signal debounce time. Getter: Get debounce time value Setter: Set debounce time Value: range: [0..65535] ...
  • Page 61 4.8.2.2 class DigitalOutput class digitalio.DigitalOutput(board, dev_name) property user_output User set output level. This property works on op_mode is 0 Getter: Read output signal level. Setter: Set output signal level. Value: 0: low level  1: high level  Raises: ValueError Input value out of range.

  • Page 62: Module Device

    module device 4.9.1 class Network class device.Network info() Get ICAM-500 device network configuration Returns: tuple(str, str, str, str, str) Input value out of range. 1. mode : ‘dhcp’ or ‘static’ 2. IP: IPv4 address 3. netmask: IPv4 netmask 4. gateway: IPv4 gateway address 5.

  • Page 63: Exception

    4.10 Exception iCam500 properties value out of range would raise ValueError exceptions. try: camera.lighting.seletor = 8 except ValueError: print("lighting selector out of range") ICAM-500 Programming Guide...
  • Page 64 No part of this publication may be reproduced in any form or by any means, such as electronically, by photocopying, recording, or otherwise, without prior written permission from the publisher. All brand and product names are trademarks or registered trademarks of their respective companies. © Advantech Co., Ltd. 2022...

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