GenICam 3.0 Faster, Smaller, 3D

Transcription

1 GenICam 3.0 Faster, Smaller, 3D Vision Stuttgart Nov 2014 Dr. Fritz Dierks Director of Platform Development at Chair of the GenICam Standard Committee 1

2 Outline Introduction Embedded System Support 3D Camera Support 2

3 Why GenICam? (1/2) Introduction What a TL does A TL does not deal with camera features 3

4 Why GenICam? (2/2) GenTL GenApi SFNC PFNC GenCP Standardizes programming interface for TLs. Makes TLs interchangeable Standardizes feature description language (XML) Maps features to register Standard feature naming convention (~1.700 entries) Exhaustive list of standardizes camera features Pixel format naming convention Generic Control Protocol 4

5 GenICam Standard Committee 146 member a/o Nov 2014 Two Meetings per year, rotating between Europe, America, and Asia Two days per meeting 18 contributing members with voting rights (Yokohama meeting Sep 2014) 5

6 Reference Implementation Used by most companies Not part of the standard Latest release v2.4 (Feb 14) *) Written in C++ Supports Win32/64 using Visual Studio Supports Linux32/64 using gcc Supports x86 and ARM processors Supports MacOS Strict focus on quality *) Static use case is not supported any more therefore the test code shrank 6

7 What s Next? Maintenance New OS & New Compilers Even more camera features New Transport layers Embedded System Support Shrink memory Footprint Speed-up XML file loading Simplify Installation 3D Camera Support Multi-part images New pixel types New camera features 7

8 Outline Introduction Embedded System Support 3D Camera Support 8

9 Deep Embedded Systems Embedded System Support PC-Based System Mostly x86 architecture Mostly Windows Large footprint ok GenICam v2.4 ok Deep Embedded System Mostly ARM architecture Mostly Linux Small footprint required GenICam v2.4 ok, but not ideal Need for GenICam v3.0 Other, e.g. CSI 9

10 Why GenICam v3.0? Embedded System Support The basic SW architecture was chosen ~2004 PC was target platform XML files were assumed to be small DOM parser for XML + XSTL for pre-processing was adequate Today, 10 years later, things have changed (Deep) embedded systems are used for image processing Today s camera are extremely feature rich and bear huge XML files GenICam v2.4 is rather too slow and too fat for embedded systems Standard Committee decided 1.5 years ago Re-build the XML loader section incl. pre-processing from scratch Make GenICam faster, smaller, and easier to install Maintain 100% backwards compatibility to existing XML files 10

11 V3.0 Timeline & Status Embedded System Support V2.3.1 V2.4 V2.4.1 V3.0 Dresden Sep 12 Decision Seoul Apr 13 Feasibility study Schongau Oct 13 Architecture decisions Now San Jose Mar 14 First prototype Yokohama Oct 14 Alpha Version London Apr 15 Release candidate 11

12 Performance Results Performance Results Test PC Lenovo T430 Laptop Intel Core i5-3320m 2.6 GHz 8 GB RAM Windows 7 SP1-64 bit Compiler Version VisualStudio 2013 (VS12), Service Pack 1 Code Version Revision

13 XML Testfiles and Cache Size Performance Results File Statistics XML File Name XML File Size NumNodes NumLinks NumProperties NumStrings Basler_Ace_GigE_Version_3_7.xml kb Basler_Ace_USB_Version_1_0.xml 349 kb pt1000_cl4_gev_0_2_0_23e62310.xml 611 kb XML File Name Basler_Ace_GigE_Version_3_7.xml Basler_Ace_USB_Version_1_0.xml pt1000_cl4_gev_0_2_0_23e62310.xml Cache File Size GenApi v3.0 GenApi v2.4 Cache File v3.0/v2.4 Cache w/o strings v3.0/v2.4 String Content String/Total Cache File 837 kb 20% 702 kb 17% 419 kb 50% kb 290 kb 18% 219 kb 14% 105 kb 36% kb 490 kb 24% 440 kb 22% 212 kb 43% kb The cache file size has shrunk to 20% 13

14 Code Size Performance Results GenICam v3.0 File Size GenICam v2.4 Module Release MinSize Embedded Module File Size GCBase.dll 127 kb 56 kb 56 kb GCBase.dll 105 kb Log.dll 72 kb 28 kb 28 kb Log.dll 36 kb Log4cpp.dll 387 kb 142 kb no log Log4cpp.dll 330 kb MathParser.dll 88 kb 30 kb 30 kb MathParser.dll 92 kb GenApi.dll kb kb kb GenApi.dll kb XMLParser.dll kb 390 kb cache only XMLLoader.dll 183 kb Total kb kb kb Xalan-C.dll kb Xerces-C.dll kb XalanMessages.dll 42 kb Size v3.0 / v2.4 45% 19% 13% Total kb The code size has shrunk to % depending on the compile type 14

15 Memory Footprint Performance Results XML File Name Basler_Ace_GigE_Version_3_7.xml Basler_Ace_USB_Version_1_0.xml pt1000_cl4_gev_0_2_0_23e62310.xml Peak Private Memory GenApi 3.0 GenApi 2.4 1st load v3.0/v2.4 cache load v3.0/v2.4 Base load 1st load cache load Base load kb 23% kb 19% kb kb kb kb kb 22% kb 18% kb kb kb kb kb 29% kb 25% kb kb kb kb Private Memory is the portion of a processes virtual address space that has been allocated for private use. It does not include shared or code memory. Peak Private Memory is the max amount of private memory Base Load describes what the test program uses without loading an XML file Net Peak Private Memory is (Peak Private Memory Base Load) The peak private memory has shrunk to 25% The net peak private memory for loading very large XML files is for 1 st time load <12 MByte for cache load <8 MByte 15

16 Loading Time Performance Results XML File Name Basler_Ace_GigE_Version_3_7.xml Basler_Ace_USB_Version_1_0.xml pt1000_cl4_gev_0_2_0_23e62310.xml Laoding Time GenApi v3.0 GenApi v2.4 1st load v3.0/v2.4 cache load v3.0/v2.4 1st load cache load 169 ms 12% 68 ms 17% ms 400 ms 57 ms 11% 29 ms 18% 500 ms 164 ms 134 ms 12% 51 ms 20% ms 260 ms The 1 st loading time has shrunk to 12% The cache loading time has shrunk to 20% Even with large XML files the 1 st load time is <170 ms Even with large XML files the cache load time is <70 ms 16

17 Performance Increase Conclusion GenICam Update Memory Footprint Code - Standard configuration 4 MB 45% Code - Deep Embedded 1,2) configuration 1.1 MB 13% Cache 3) < 0.7 MB 20% Private Memory 2,3) MB 25% Loading Time 3) 1 st time load <170 ms 12% Cache load < 70 ms 20% This is adequate even for deep embedded systems 1) no logging 2) load from cache 3) very large (1.2 MB) XML file 17

18 Outline Introduction Embedded System Support 3D Camera Support 18

19 3D Measurement Principles 3D Camera Support Stereo Structured Light Time-of-Flight 3D Cameras will be used a lot in future There are different measurement principles used The measurement results however can share the same format as can many camera features Idea: Extend GenICam to cover all kind of 3D cameras 19

20 New Topics in 3D Images 3D Camera Support Support area scan as well as line scan 3D cameras Have multiple data values per pixel Support new pixel formats Deal with Coordinate systems New camera Features Most of the following drawings are taken from presentations given by Mattias Johannesson, Sick 20

21 Area Scan / Line Scan 3D 3D Camera Support 21

22 Multiple Data Values per Pixel 22

23 Multipart Image The camera does not deliver one buffer Instead the user can configure what is transferred and select different parts of the transferred data GenTL extension required TL standards need to support multipart images. 23

24 Pixel Formats 3D Camera Support 24

25 Coordinate System) 3D Camera Support 25

26 3D Roadmap 3D Camera Support Still quite some work to be done Proof-of-concept prototypes available 3D Camera 3D Camera 3D Image Processing Library Visit the Standards Booth 1B09 26

27 Questions? Dr. Fritz Dierks Director of Platform Development Chair of the GenICam Standard Committee Basler AG An der Strusbek Ahrensburg Germany Phone: